KR102591203B1 - Vehicle and controlling method thereof - Google Patents

Abstract

The disclosed invention relates to a vehicle and a control method thereof, including a sensor for detecting other vehicles around the vehicle; And based on the information detected through the sensor, the risk of collision with the vehicle in front is detected and stop control is initiated, and then the separation distance from the vehicle in front and whether a collision with the vehicle behind is possible are determined, based on the identified results. It may include a control unit for changing the stopping control state of the vehicle.

Description

Vehicle and its control method{VEHICLE AND CONTROLLING METHOD THEREOF}

It relates to vehicles and their control methods.

Vehicles are developing and installing a variety of additional vehicle service devices in consideration of driver convenience and safety.

More specifically, vehicle supplementary service devices include safety assistance devices such as a lane departure warning device that assists the driver's steering wheel operation when driving the vehicle on the road and prevents the driver from leaving the driving lane, as well as a route to the destination selected by the driver and It may include a device that provides additional services, such as a navigation system that guides surrounding information according to the route.

In addition, the vehicle's additional service device is the Blind Spot Detection (BSD), which detects vehicles in the rear blind spot and generates a notification, and provides a collision warning to the driver when detecting obstacles such as other vehicles in front while driving. It also includes Autonomous Emergency Braking (AEB), which supports emergency braking services if the vehicle does not respond.

Meanwhile, operators have been researching additional methods to provide a safer driving environment when driving a vehicle.

The disclosed embodiment seeks to provide a vehicle and a control method for controlling the stopping control state by determining the driving environment of the vehicle ahead and behind the vehicle after generating emergency braking according to the detection of the vehicle ahead.

As a technical means for achieving the above-described technical problem, a vehicle according to one aspect includes a sensor for detecting other vehicles around the vehicle; And after detecting the risk of collision with the vehicle ahead based on the information detected through the sensor, stopping control is generated, and the separation distance from the vehicle ahead and whether a collision with the vehicle behind is possible are determined, and the results obtained. It may include a control unit for changing the stopping control state of the vehicle based on.

Additionally, the control unit may release the stop control state when the brake pedal or the accelerator pedal is pressed by the driver and a stop control release signal is generated.

Additionally, the control unit may release the stop control state when the vehicle speed of the vehicle is 0 and the brake switch is in the on state, or when the amount of change in the accelerator pedal is greater than a reference value.

In addition, the control unit may maintain the stop control state when the vehicle speed is 0 and the brake switch is in the on state or the stop control release condition where the change amount of the accelerator pedal is greater than a reference value is not satisfied.

Additionally, if the expected collision time with the rear vehicle is less than the standard time and the separation distance from the front vehicle is within the standard distance range, the control unit may release the stop control state for a preset time.

Additionally, when releasing the stop control state for a preset time, the controller may differentially apply the stop control state release time according to the separation distance from the vehicle ahead.

Additionally, the control unit may maintain the stop control state when the expected collision time with the rear vehicle is greater than or equal to the reference time.

Additionally, the vehicle includes a brake pedal for generating a vehicle braking signal through pressure from the driver; and an accelerator pedal for generating an acceleration signal of the vehicle through pressure from the driver.

In addition, the vehicle may further include a display for displaying at least one of a collision risk notification with the vehicle ahead, a stop control status notification, and a guidance message on how to release the stop control status.

Additionally, the sensor may include at least one of a radar sensor, an ultrasonic sensor, a camera, and a lidar sensor.

In one aspect, a method of controlling a vehicle includes monitoring the presence of other vehicles around the vehicle; Generating stopping control as the risk of collision with the vehicle ahead is detected; Determine the separation distance from the front vehicle and whether a collision with the rear vehicle is possible; Based on the identified results, the vehicle's stopping control state can be changed.

In addition, after generating the stopping control and before determining whether the collision is possible, the status of the vehicle is monitored to check whether a stopping control release signal is generated, and as a result of the confirmation, the stopping control release signal is generated. In this case, the stop control state is released, and the stop control release signal of the vehicle may be a signal generated when the brake pedal or accelerator pedal is pressed by the driver.

In addition, after generating the stopping control and before determining whether the collision is possible, the state of the vehicle is monitored, and the vehicle speed is 0 and the brake switch is in the on state, or the accelerator pedal is It is checked whether the amount of change matches the stopping control release condition that is greater than or equal to the reference value, and as a result of the check, if it matches the stopping control release condition, the stopping control state can be released.

Additionally, the vehicle control method may maintain the stop control state when the stop control release condition does not match.

In addition, the vehicle control method is to change the stopping control state of the vehicle when the expected collision time with the rear vehicle is less than the standard time and the separation distance from the front vehicle is within the standard distance range. The control state can be released for a preset time.

Additionally, the vehicle control method may differentiate the stop control state release time according to the separation distance from the vehicle ahead when releasing the stop control state for a preset time.

Additionally, changing the vehicle's stop control state can maintain the stop control state when the expected collision time with the rear vehicle is longer than the reference time.

In addition, the vehicle control method further includes displaying a method for releasing the stop control state on the display in the form of a guidance message after generating the stop control but before changing the stop control state of the vehicle. can do.

According to the means for solving the above-mentioned problem, the stopping control state is adjusted after emergency braking according to the separation distance from the vehicle in front and the degree of possibility of collision with the vehicle behind, so collision accidents with front and rear vehicles that can still occur even after emergency braking. The effect of being able to prevent in advance can be expected.

1 is a diagram showing the exterior of a vehicle.
Figure 2 is a diagram showing the interior of a vehicle.
Figure 3 is a control block diagram showing the configuration of a vehicle.
4 and 5 are exemplary diagrams for explaining a vehicle stopping control method.
Figure 6 is a flowchart for explaining a vehicle stopping control method.

Like reference numerals refer to like elements throughout the specification. This specification does not describe all elements of the embodiments, and general content or overlapping content between the embodiments in the technical field to which the present invention pertains is omitted. The term 'unit, module, member, block' used in the specification may be implemented as software or hardware, and depending on the embodiment, a plurality of 'unit, module, member, block' may be implemented as a single component, or It is also possible for one 'part, module, member, or block' to include multiple components.

Throughout the specification, when a part is said to be “connected” to another part, this includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

Additionally, when a part "includes" a certain component, this means that it may further include other components rather than excluding other components, unless specifically stated to the contrary.

Terms such as first and second are used to distinguish one component from another component, and the components are not limited by the above-mentioned terms.

Singular expressions include plural expressions unless the context clearly makes an exception.

The identification code for each step is used for convenience of explanation. The identification code does not explain the order of each step, and each step may be performed differently from the specified order unless a specific order is clearly stated in the context. there is.

Hereinafter, the operating principle and embodiments of the present invention will be described with reference to the attached drawings.

1 is a diagram showing the exterior of a vehicle.

Referring to FIG. 1, the vehicle 1 includes a main body 10 that forms the exterior of the vehicle 1, a windscreen 11 that provides the driver with a view of the front of the vehicle 1, and a vehicle (11) that provides the driver with a view of the front of the vehicle 1. 1) A side mirror (12) that provides a rear view, a door (13) that shields the inside of the vehicle (1) from the outside, and a front wheel (21) located in the front of the vehicle and a rear wheel (22) located in the rear of the vehicle. It may include wheels 21 and 22 for moving the vehicle 1.

The wind screen 11 is provided on the front upper side of the main body 10 to enable the driver inside the vehicle 1 to obtain visual information in front of the vehicle 1. In addition, the side mirror 12 includes a left side mirror provided on the left side of the main body 10 and a right side mirror provided on the right side, and the driver inside the vehicle 1 provides visual information on the sides and rear of the vehicle 1. Make it possible to obtain.

The door 13 is rotatably provided on the left and right sides of the main body 10 to allow the driver to board the inside of the vehicle 1 when opened, and to shield the inside of the vehicle 1 from the outside when closed. You can.

In addition to the above-described configuration, the vehicle 1 includes a power device 16 that rotates the wheels 21 and 22, a steering device (not shown) that changes the direction of movement of the vehicle 1, and a braking device that stops the movement of the wheels ( (not shown) may be included.

The power unit 16 provides rotational force to the front wheels 21 or rear wheels 22 so that the main body moves forward or backward. Such a power device 16 may include an engine that generates rotational force by burning fossil fuel or a motor that generates rotational force by receiving power from a capacitor (not shown).

The steering device includes a steering wheel (42 in FIG. 2) that receives the driving direction from the driver, a steering gear (not shown) that converts the rotational movement of the steering wheel 42 into a reciprocating movement, and a steering gear (not shown). It may include a steering link (not shown) that transmits the reciprocating motion to the front wheel 21. Such a steering device can change the driving direction of the vehicle 1 by changing the direction of the rotation axis of the wheels.

The braking device includes a brake pedal (not shown) that receives braking operation from the driver, a brake drum (not shown) combined with the wheels 21 and 22, and a brake shoe that uses friction to brake the rotation of the brake drum (not shown). (not shown), etc. may be included. Such a braking device can brake the driving of the vehicle 1 by stopping the rotation of the wheels 21 and 22.

Figure 2 is a diagram showing the interior of a vehicle.

The interior of the vehicle (1) includes a dashboard (14) on which various devices are installed for the driver to operate the vehicle (1), a driver's seat (15) for the driver of the vehicle (1) to sit, and the vehicle (1). It includes a cluster display unit (51, 52, 53) that displays operation information, etc., and a navigation (70) that provides audio and video functions as well as a route guidance function that provides route guidance information according to the driver's operation commands. can do.

The dashboard 14 is provided to protrude from the lower part of the windscreen 11 toward the driver, and allows the driver to operate various devices installed on the dashboard 14 while looking ahead.

The driver's seat 15 is provided at the rear of the dashboard 14 so that the driver can operate the vehicle 1 in a stable posture while looking at the front of the vehicle 1 and various devices on the dashboard 14.

The cluster display unit 51, 52, and 53 is provided on the driver's seat side of the dashboard 14, and the driving speed gauge 51 displays the driving speed of the vehicle 1 and the rotation speed of the power unit (not shown). It may include an rpm gauge 52 that displays an rpm gauge 52 and a display unit 53 that displays driving-related notifications.

Referring to FIG. 2, the display unit 53 (hereinafter referred to as the cluster display unit) that displays driving-related notifications includes “pressing the brake pedal or accelerator pedal when releasing the stopping control,” which is a method for releasing the stopping control state, which will be described later. The same guidance message may be included.

The navigation system 70 may include a display that displays information on the road on which the vehicle 1 is traveling or the route to the destination the driver wants to reach, and a speaker 41 that outputs sound according to the driver's operation commands. Recently, AVN (Audio Video Navigation) devices, which integrate audio devices, video devices, and navigation devices, are being installed in vehicles.

The navigation system 70 may be installed on the center fascia. At this time, the center fascia refers to the control panel part between the driver's seat and the passenger seat of the dashboard (14). It is the area where the dashboard (14) and the shift lever meet vertically. This is where the navigation unit (70), air conditioner, Heater controllers, vents, cigar jacks, ashtrays, cup holders, etc. can be installed. Additionally, the center fascia, along with the center console, can also serve to distinguish between the driver's seat and the passenger's seat.

Additionally, a separate jog dial 60 may be provided for various driving operations including navigation 70.

The jog dial 60 of the disclosed invention not only has a method of performing a driving operation by rotating or applying pressure, but also has a touch pad with a touch recognition function, so that it can be used using the user's finger or a tool with a separate touch recognition function. Thus, handwriting recognition for driving operation can be performed.

In addition, in the disclosed invention, the on-off operation button 17 can be implemented on the inside of the door 13 on the driver's seat side to turn on and off the emergency braking service, and the location of the on-off operation button 17 is not limited to this. . At this time, the emergency braking service may mean stopping the vehicle when an obstacle such as another vehicle in front is detected while the vehicle is driving.

Figure 3 is a control block diagram showing the configuration of a vehicle.

Hereinafter, the vehicle stopping control method will be described with reference to FIGS. 4 and 5, which are exemplary diagrams for explaining the vehicle stopping control method.

Referring to FIG. 3, the vehicle 100 includes a sensor 110, a communication unit 121, an input unit 123, a storage unit 125, a display 150, an output unit 160, a brake pedal 171, and an acceleration It may include a pedal 173 and a control unit 190.

The sensor 110 may be configured to detect other vehicles around the vehicle 100.

Referring to FIG. 3, the sensor 110 may include at least one of a radar sensor 111, an ultrasonic sensor 113, a camera 115, and a lidar sensor 117. It is not limited to this, and any sensor equipped with the function to monitor surrounding traffic conditions, including other vehicles around the vehicle, is possible.

The radar sensor 111 can detect the presence of obstacles, including the vehicle in front, by irradiating a laser beam and reflecting it back from the obstacle, and can measure the distance between vehicles by measuring the time difference between the reflection and return.

The ultrasonic sensor 113 can detect an object through ultrasonic vibration.

The camera 115 is a CCD camera for checking the driver's blind spots on a monitor, a CMOS camera for image recognition such as lane detection, and a near-infrared or far-infrared method for securing visibility at night or detecting pedestrians. It can be applied according to the situation, including infrared cameras, etc.

The LiDAR sensor 117 can detect obstacles through its ability to recognize the surroundings in three dimensions.

Referring to FIG. 4, the sensor 110 detects the front vehicle (F1 in FIG. 5) of the vehicle in front (e.g., the radiator grille, front bumper, and front side of the room mirror). area, etc.) (placed at the FS position), or in the rear half of the vehicle (RS1, RS2 positions in Figure 4) to detect rear vehicles (R1 in Figure 5), but is not limited to this, and is not limited to this, and is provided at the operator's If necessary, it can be done anywhere where it is easy to detect nearby vehicles.

The communication unit 121 may include one or more components that enable communication with an external device, and may include, for example, at least one of a short-range communication module, a wired communication module, and a wireless communication module.

The short-range communication module transmits signals using a wireless communication network at a short distance, such as a Bluetooth module, infrared communication module, RFID (Radio Frequency Identification) communication module, WLAN (Wireless Local Access Network) communication module, NFC communication module, and Zigbee communication module. It may include various short-range communication modules that transmit and receive.

Wired communication modules include a variety of wired communication modules, such as Controller Area Network (CAN) communication modules, Local Area Network (LAN) modules, Wide Area Network (WAN) modules, or Value Added Network (VAN) modules. In addition to communication modules, various cable communications such as USB (Universal Serial Bus), HDMI (High Definition Multimedia Interface), DVI (Digital Visual Interface), RS-232 (recommended standard232), power line communication, or POTS (plain old telephone service) Can contain modules.

Wireless communication modules include Radio Data System-Traffic Message Channel (RDS-TMC), DMB (Digital Multimedia Broadcasting), Wi-Fi module, and WiBro (Wireless broadband) module, as well as GSM (global System for Supports various wireless communication methods such as Mobile Communication), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), UMTS (universal mobile telecommunications system), TDMA (Time Division Multiple Access), and LTE (Long Term Evolution) It may include a wireless communication module.

The wireless communication module may include a wireless communication interface including an antenna and a receiver for receiving traffic information signals. Additionally, the wireless communication module may further include a traffic information signal conversion module for demodulating an analog wireless signal received through a wireless communication interface into a digital control signal.

The input unit 123 may include hardware devices such as various buttons, switches, pedals, various levers, handles, and sticks for user input.

Additionally, the input unit 123 may include a GUI (Graphical User Interface), that is, a software device, such as a touch pad, for user input. The touch pad is implemented as a touch screen panel (TSP) and can form a mutual layer structure with the display 150.

Accordingly, the input unit 123 can recognize information input through a separate hardware button or the display 150 with a touch function.

The storage unit 125 stores all information related to the vehicle 100, including various criteria for changing the stopping control state (e.g., stopping control release conditions, reference distance from front and rear vehicles, stopping control release time, etc.). You can.

The storage unit 125 is a non-volatile memory device or RAM such as cache, read only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), and flash memory. It may be implemented as at least one of a volatile memory device such as (Random Access Memory) or a storage medium such as a hard disk drive (HDD) or CD-ROM, but is not limited thereto. The storage unit 125 may be a memory implemented as a separate chip from the processor described above in relation to the control unit 190, or may be implemented as a single chip with the processor.

The display 150 may be configured to display at least one of a collision risk notification with a vehicle ahead, a stopping control status notification, and a guidance message on how to release the stopping control status. It is not limited to this, and it will be natural that the display 150 can display various information related to the vehicle 100.

This display 150 may be implemented as a side mirror 151, a cluster display unit 153, a head-up display 155, and a navigation display 157, but is not limited thereto, and provides various information related to stopping control to the driver. Any configuration that has the ability to provide is possible.

For example, referring to FIG. 4, the side mirror 151 may display a collision risk notification in the form of an emoticon, and referring to FIG. 2, the cluster display unit 153 (53 in FIG. 2) may display a method of releasing the stopping control state (e.g. For example, when stopping control is released, the control pedal or accelerator pedal is pressed) may be displayed.

In addition, the display 150 does not display information related to stopping control through only one display 150 under the control of the controller 190, but simultaneously displays information related to stopping control through at least one display 150 depending on an emergency situation. It may be possible to display control-related information. It is not limited to this, and it is also possible to display information in the form of voice through the output unit 160 at the same time as displaying information related to stopping control on the display 150.

For example, in an emergency situation such as a risk of collision with a vehicle ahead, a collision risk notification is displayed simultaneously through the side mirror 151, cluster display unit 153, head-up display 155, and navigation display 157, This allows drivers to quickly recognize dangerous situations even while drowsy driving or using a cell phone.

The display 150 includes a cathode ray tube (CRT), a digital light processing (DLP) panel, a plasma display panel, a liquid crystal display (LCD) panel, and an electroluminescent ( Electro Luminescence (EL) panel, Electrophoretic Display (EPD) panel, Electrochromic Display (ECD) panel, Light Emitting Diode (LED) panel, or Organic Light Emitting Diode (OLED) ) It may be prepared as a panel, etc., but is not limited to this.

The brake pedal 171 may be configured to generate a vehicle braking signal through pressure from the driver.

The accelerator pedal 173 may be configured to generate an acceleration signal of the vehicle through pressure from the driver.

The control unit 190 generates stopping control as it detects the risk of collision with the vehicle ahead based on the information detected through the sensor 110, and then determines the separation distance from the vehicle ahead and whether a collision with the vehicle behind is possible. It may be configured to change the stopping control state of the vehicle based on the identified result.

At this time, stopping control may mean holding the brakes to stop the vehicle 100 when the vehicle 100 is below a certain speed after emergency braking to stop the vehicle 100 by increasing braking force. At this time, the control unit 190 can implement stopping control by operating the brake 131 and reducing the output of the engine 133, and the in-vehicle component 130 for stopping control includes the brake 131 and the engine 133. ), it is natural that additional information can be included.

In addition, after generating the stopping control as the risk of collision with the vehicle ahead is detected, the control unit 190 may provide guidance on how to release the stopping control state through the display 150, but is not limited to this, and may be provided in the form of a voice. A method of guiding is also possible. For example, as shown in FIG. 2, the cluster display unit 53 may display a guidance message such as “when stopping control is released, press the control pedal or accelerator pedal.”

Additionally, the control unit 190 may release the stop control state when the driver presses the brake pedal (171 in FIG. 2) or the accelerator pedal (173 in FIG. 2) and a stop control release signal is generated.

Specifically, the control unit 190 may release the stop control state when the vehicle speed is 0 and the brake switch is in the on state, or when the amount of change in the accelerator pedal is greater than the reference value.

In addition, the control unit 190 may maintain the stop control state when the vehicle speed is 0 and the brake switch is on or the stop control release condition where the change in the accelerator pedal is greater than the reference value is not satisfied.

In addition, if the expected time to collision (TTC) with the rear vehicle is less than the standard time and the separation distance from the front vehicle is within the standard distance range, the control unit 190 releases the stop control state for a preset time. can do.

For example, referring to FIG. 5, the control unit 190 calculates the expected collision time with the rear vehicle (R1) based on the speed of the rear vehicle (R1) and the separation distance (RD1) from the rear vehicle (R1). In a state where (TTC) is less than the standard time and there is a possibility of collision, if the separation distance (FD1) from the vehicle ahead (F1) is within the standard distance range sufficient to release the stop control state, the stop control state is activated. It is temporarily released to prevent a collision with the rear vehicle (R1).

Additionally, when releasing the stop control state for a preset time, the control unit 190 may differentially apply the stop control state release time according to the separation distance from the vehicle ahead.

For example, referring to Figure 5, when the control unit 190 needs to temporarily release the stop control state, the separation distance (FD1) between the vehicle 100 and the vehicle ahead is 7 m compared to 9 m. By setting the stopping control state release time shorter, the risk of collision with the rear vehicle (R1) is prevented while also taking into account the risk of collision with the front vehicle (F1).

In other words, the disclosed invention considers the driving environment with the front vehicle (F1) or rear vehicle (R1) that may additionally occur in addition to the primary control that generates stop control in the vehicle 100 in preparation for the risk of collision with the front vehicle. This allows the stopping control state to be applied flexibly depending on the situation. As a result, the effect of providing a safer driving environment to drivers can be expected.

The control unit 190 may maintain the stopping control state when the expected collision time with the rear vehicle is longer than the reference time.

For example, referring to FIG. 5, if the rear vehicle (R1) is driving far enough to maintain the stop control state relative to the vehicle 100, the stop control state is maintained as is and the front vehicle ( This is to secure a sufficient separation distance (FD1) between F1) and the vehicle 100.

The above-described control unit 190 includes a memory (not shown) that stores data for an algorithm for controlling the operation of components within the vehicle 100, including the navigation 70, or a program that reproduces the algorithm, and data stored in the memory. It can be implemented as a processor (not shown) that performs the above-described operations using . At this time, the memory and processor may each be implemented as separate chips. Alternatively, the memory and processor may be implemented as a single chip.

Figure 6 is a flowchart for explaining a vehicle stopping control method.

First, the vehicle 100 may monitor the presence of other vehicles around the vehicle (210).

Specifically, the vehicle 100 is equipped with a radar sensor (111 in FIG. 3), an ultrasonic sensor (113 in FIG. 3), a camera (115 in FIG. 3), and a lidar sensor (FIG. Using a sensor (110 in FIG. 3) including at least one of 117) in 3, the distance from other vehicles around the vehicle, the speed of other vehicles, etc. can be sensed.

Before step 210, when the vehicle 100 turns on the operation of the automatic emergency braking (AEB), it first determines whether there is a malfunction through self-diagnosis, and if the function is normal, step 220 Previously, the vehicle in front is detected, and depending on the level of danger, a warning sound is generated, partial braking control, and full braking control are sequentially performed. If the release conditions for full braking control are not met, the vehicle speed is below the standard speed for a certain period of time. A process of maintaining stopping control may be performed for a period of time (e.g., 2 seconds), and a detailed description thereof will be omitted.

Next, the vehicle 100 may generate stopping control as it detects the risk of collision with the vehicle ahead (220).

At this time, stopping control may mean holding the brakes to stop the vehicle 100 when the vehicle 100 is below a certain speed after emergency braking to stop the vehicle 100 by increasing braking force. At this time, the vehicle 100 can implement stopping control by operating the brake 131 and reducing the output of the engine 133, and the in-vehicle configuration 130 for stopping control includes the brake 131 and the engine 133. ), it is natural that additional information can be included.

After step 220 of generating the stop control and before the step of changing the stop control state of the vehicle, which will be described later, the vehicle 100 may display on the display 150 a method to release the stop control state in the form of a guidance message.

For example, as shown in FIG. 2, a guidance message such as “when stopping control is released, press the control pedal or accelerator pedal” can be displayed on the cluster display unit 53, but is not limited to this, and is not limited to this, and may be displayed on the cluster display unit 53. It is also possible to display guidance messages simultaneously or individually through 151), head-up display 155, and navigation display 157. In addition, it would also be possible to provide guidance on how to cancel the stopping control state through the output unit (160 in FIG. 3) in voice form rather than text form.

Next, the vehicle 100 can monitor its own status to check whether it matches the stopping control release condition (230).

At this time, the stopping control release condition may be a condition in which a stopping control release signal generated by pressing the brake pedal 171 or the accelerator pedal 173 by the driver is generated. Specifically, the stopping control release condition may be a condition in which the vehicle speed of the vehicle 100 is 0 and the brake switch is on, or the amount of change in the accelerator pedal is greater than the reference value.

As a result of the confirmation, if it does not match the stopping control release condition, the vehicle 100 can perform the following procedure while maintaining the stopping control state. That is, in a state in which a request to release the stopping control is not made by the driver, the vehicle 100 automatically changes the stopping control state through the following procedure.

Next, the vehicle 100 can determine the separation distance from the front vehicle and whether a collision with the rear vehicle is possible, and change the stopping control state of the vehicle 100 based on the determined results.

Specifically, the vehicle 100 can check whether the expected time to collision (TTC) with the rear vehicle is less than the reference time (240).

As a result of the confirmation, if the expected collision time with the rear vehicle is less than the reference time, the vehicle 100 can check whether the separation distance from the front vehicle exceeds the first reference distance (250).

As a result of the confirmation, if the separation distance from the vehicle ahead does not exceed the first reference distance, the vehicle 100 can check whether the separation distance from the vehicle ahead exceeds the second reference distance (260). At this time, the second reference distance may be shorter than the first reference distance. For example, when the first reference distance is 10m, the second reference distance may be 5m.

As a result of confirmation, if the separation distance from the vehicle ahead exceeds the second reference distance, the vehicle 100 may release the stop control state for a preset time (270).

That is, when the expected collision time with the rear vehicle is less than the reference time and the separation distance from the front vehicle is within the standard distance range (second reference distance < separation distance ≤ first reference distance), vehicle 100 stops the vehicle. The state is released for a preset period of time.

For example, referring to FIG. 5, the vehicle 100 has an expected collision time with the rear vehicle (R1) calculated based on the speed of the rear vehicle (R1) and the separation distance (RD1) from the rear vehicle (R1). In a state where (TTC) is less than the standard time and there is a possibility of collision, if the separation distance (FD1) from the vehicle ahead (F1) is within the standard distance range sufficient to release the stop control state, the stop control state is activated. It is temporarily released to prevent a collision with the rear vehicle (R1).

In step 270, when releasing the stop control state for a preset time, the vehicle 100 may differentially apply the stop control state release time according to the separation distance from the vehicle ahead.

For example, referring to FIG. 5, when the vehicle 100 needs to temporarily release the stop control state, the separation distance (FD1) between the vehicle 100 and the vehicle ahead is 7 m compared to 9 m. By setting the stopping control state release time shorter, the risk of collision with the rear vehicle (R1) is prevented while also taking into account the risk of collision with the front vehicle (F1).

Next, the vehicle 100 can release the stop control state for a preset time and switch back to the stop control state (280).

Meanwhile, the vehicle 100 monitors its own status and, if a stop control release signal is generated while performing step 230 to check whether a stop control release signal is generated, the vehicle 100 can release the stop control state. There is (290).

At this time, the vehicle stop control release signal may be a signal generated when the brake pedal 171 or the accelerator pedal 173 is pressed by the driver.

Specifically, if the confirmation result of step 230 matches the stop control release condition, the vehicle 100 may perform step 290 to release the stop control state.

At this time, the stopping control release condition may be a condition in which the vehicle speed of the vehicle 100 is 0 and the brake switch is in the on state, or the amount of change in the accelerator pedal is greater than the reference value.

On the other hand, as a result of confirmation in step 240, if the expected collision time (TTC) with the rear vehicle is greater than or equal to the reference time, the vehicle 100 can maintain the stop control state (280).

For example, referring to FIG. 5, if the rear vehicle (R1) is driving far enough to maintain the stop control state relative to the vehicle 100, the stop control state is maintained as is and the front vehicle ( This is to secure a sufficient separation distance (FD1) between F1) and the vehicle 100.

On the other hand, as a result of confirmation in step 250, if the separation distance from the vehicle ahead exceeds the first reference distance, the vehicle 100 may perform step 290 to release the stop control state.

On the other hand, as a result of confirmation in step 260, if the separation distance from the vehicle ahead is less than or equal to the second reference distance, the vehicle 100 may perform step 280 to maintain the stop control state.

The disclosed invention monitors the environmental conditions of surrounding vehicles and varies the stopping control operation time in the event of emergency braking to prevent the risk of rear-end collision accidents that may occur in the future.

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may create program modules to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

Computer-readable recording media include all types of recording media storing instructions that can be decoded by a computer. For example, there may be Read Only Memory (ROM), Random Access Memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage device, etc.

As described above, the disclosed embodiments have been described with reference to the attached drawings. A person skilled in the art to which the present invention pertains will understand that the present invention can be practiced in forms different from the disclosed embodiments without changing the technical idea or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

1, 100: vehicle 110: sensor
111: radar sensor 113: ultrasonic sensor
115: camera 117: radar sensor
121: communication unit 123: input unit
125: storage unit 131: brake
133: Engine 150: Display
151: side mirror 153: cluster display unit
155: Head-up display 157: Navigation display
160: output unit 171: brake pedal
173: Accelerator pedal 190: Control unit

Claims (18)

Sensors to detect other vehicles around the vehicle; and
After detecting the risk of collision with the vehicle ahead based on the information detected through the sensor, stopping control is generated, the separation distance from the vehicle ahead and whether a collision with the vehicle behind is possible is determined, and the determined results are reported. It includes a control unit for changing the stopping control state of the vehicle based on
The control unit,
If the expected collision time with the rear vehicle is less than the reference time, check whether the separation distance from the front vehicle exceeds the first reference distance,
As a result of the confirmation, if the separation distance from the preceding vehicle does not exceed the first reference distance, check whether the separation distance from the preceding vehicle exceeds a second reference distance shorter than the first reference distance,
If the separation distance from the vehicle ahead exceeds the second reference distance, the stopping control state is released for a preset time,
A vehicle that differentially applies the stop control state release time according to the separation distance from the vehicle ahead when releasing the stop control state for a preset time.
According to paragraph 1,
The control unit,
A vehicle that releases the stop control state when the brake pedal or accelerator pedal is pressed by the driver and a stop control release signal is generated.
According to paragraph 1,
The control unit,
A vehicle that releases the stop control state when the vehicle speed is 0 and the brake switch is on, or when the amount of change in the accelerator pedal is greater than a standard value.
According to paragraph 1,
The control unit,
A vehicle that maintains the stop control state when the vehicle speed is 0 and the brake switch is on or the stop control release condition where the change amount of the accelerator pedal is greater than the reference value is not satisfied.
According to paragraph 1,
The control unit,
A vehicle that releases the stop control state for a preset time when the expected collision time with the rear vehicle is less than the standard time and the separation distance from the front vehicle is within the standard distance range.
delete According to paragraph 1,
The control unit,
A vehicle that maintains the stop control state when the expected collision time with the rear vehicle is longer than the reference time.
According to paragraph 1,
A brake pedal for generating a vehicle braking signal through driver pressure; and
An accelerator pedal for generating an acceleration signal of the vehicle through driver pressure;
A vehicle further comprising:
According to paragraph 1,
A display for displaying at least one of a collision risk notification with the vehicle in front, a stopping control status notification, and a guidance message on how to release the stopping control status;
A vehicle further comprising:
According to paragraph 1,
The sensor is,
A vehicle that includes at least one of a radar sensor, ultrasonic sensor, camera, and lidar sensor.
monitor the presence of other vehicles around the vehicle;
Generating stopping control as the risk of collision with the vehicle ahead is detected;
Determine the separation distance from the front vehicle and whether a collision with the rear vehicle is possible;
Change the stopping control status of the vehicle based on the identified results,
If the expected collision time with the rear vehicle is less than the reference time, check whether the separation distance from the front vehicle exceeds the first reference distance,
As a result of the confirmation, if the separation distance from the preceding vehicle does not exceed the first reference distance, check whether the separation distance from the preceding vehicle exceeds a second reference distance shorter than the first reference distance,
If the separation distance from the vehicle ahead exceeds the second reference distance, the stopping control state is released for a preset time,
A vehicle control method for differentially applying the stop control state release time according to the separation distance from the vehicle ahead when releasing the stop control state for a preset time.
According to clause 11,
After generating the stopping control and before determining whether the collision is possible,
Monitor the status of the vehicle to check whether a stop control release signal is generated,
As a result of confirmation, if the stopping control release signal is generated, the stopping control state is released,
A vehicle control method in which the vehicle stop control release signal is a signal generated when the brake pedal or accelerator pedal is pressed by the driver.
According to clause 11,
After generating the stopping control and before determining whether the collision is possible,
Monitor the status of the vehicle,
Check whether the vehicle speed is 0 and the brake switch is on, or whether the amount of change in the accelerator pedal matches the stopping control release condition greater than the reference value,
A vehicle control method for canceling the stop control state when the verification result matches the stop control release condition.
According to clause 13,
A vehicle control method for maintaining the stop control state when the stop control release condition is not met.
According to clause 11,
Changing the stopping control state of the vehicle includes:
A vehicle control method for canceling the stop control state for a preset time when the expected collision time with the rear vehicle is less than the standard time and the separation distance from the front vehicle is within the standard distance range.
delete According to clause 11,
Changing the stopping control state of the vehicle includes:
A vehicle control method for maintaining the stop control state when the expected collision time with the rear vehicle is longer than the reference time.
According to clause 11,
After generating the stopping control and before changing the stopping control state of the vehicle,
A method of controlling a vehicle further comprising displaying a method for releasing the stop control state on a display in the form of a guidance message.

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