KR102592199B1 - Method for setting alerting area of vehicle and bind spot detection system for making the same - Google Patents

Abstract

The present embodiments determine whether platooning occurs, estimate the vehicle's rear warning area reflecting the variable vehicle length, and issue a no-entry warning when a surrounding vehicle or rear vehicle in a neighboring lane enters the estimated rear warning area. Provides a mechanism to
Accordingly, in the present embodiments, the rear warning area is accurately set to reflect the variable length of the vehicle, thereby ensuring the safety of the vehicle and driver by avoiding rear collision even for various types of vehicles.

Description

Method for setting an alarm area of a vehicle and a BSD system for the same {METHOD FOR SETTING ALERTING AREA OF VEHICLE AND BIND SPOT DETECTION SYSTEM FOR MAKING THE SAME}

The present embodiments relate to a method for setting an alarm zone for a vehicle and a BSD system therefor, and more specifically, to a method for setting an alarm zone for a vehicle to protect a vehicle accessing a rear alarm zone and a BSD system therefor.

In general, the BSD system (BSD) is a system that issues an alert when a vehicle enters the range of a pre-designated rear warning area for the possibility of collision with surrounding vehicles or rear vehicles entering the rear due to overtaking or changing lanes. refers to

However, the surrounding vehicles or rear vehicles may be of various types, for example, vehicles of different lengths, such as large trucks, tractors, general passenger cars, and buses.

Among these, general passenger cars and buses have approximately standardized lengths, but in the case of large trucks or tractors, the length of the vehicle is not fixed and may have different lengths depending on the type of trailer.

Accordingly, when the length of the vehicle varies, such as a large truck or tractor trailer, the rear warning area range to protect the rear vehicle must be changed frequently.

For example, in the case of vehicles with different trailer lengths, to know the exact length of the vehicle, measure the length of the trailer and change the range of the alarm area, or set the trailer length to the default value. There was no choice but to reflect it in the warning area.

However, this was highly impractical because it was not easy for the driver to change the alarm areas of the BSD system (BSD) one by one. Therefore, the accuracy of the warning area was bound to be low for vehicles whose trailer length (hereinafter referred to as 'variable vehicle length') was not determined.

The purpose of these embodiments is to provide a method and BSD system for setting a rear warning area that reflects the variable length of the vehicle.

According to one embodiment, as a method for setting an alarm area behind a vehicle through a vehicle controller that controls a plurality of vehicle sensors, the vehicle distance between a running vehicle and neighboring surrounding vehicles obtained through the plurality of vehicle sensors Determining whether to drive in a group using information or the number of surrounding vehicles; If the determination is platooning, estimating a rear warning area of the vehicle reflecting the vehicle length of the variable vehicle; and issuing a no-entry warning when the surrounding vehicle or rear vehicle in a neighboring lane enters the estimated rear warning area.

Optionally, in the step of determining whether the platooning is performed, the platooning operation may be performed when the vehicle distance information is within a predetermined radius range from the driving vehicle.

Optionally, the step of estimating the rear warning area of the vehicle may determine the vehicle length of the variable vehicle using the inter-vehicle distance and azimuth angle seen from the vehicle in the platoon and the rear vehicle, respectively.

Optionally, the step of estimating the rear warning area of the vehicle includes calculating a first vehicle distance (b(m)), which is the distance between vehicles, and a first azimuth angle (β°) toward the vehicle, through vehicle-to-vehicle communication. It may include obtaining from a rear vehicle among vehicles.

Optionally, the step of estimating the rear warning area of the vehicle may include a second azimuth angle (α°) at which the vehicle views the rear vehicle through a second sensor among the plurality of vehicle sensors and a second distance between the rear vehicles. The step of obtaining the vehicle distance (a(m)) may be further included.

Optionally, estimating the rear warning area of the vehicle comprises the obtained first azimuth (β°), first vehicle distance (b(m)), second azimuth (α°) and second vehicle distance (a A step of estimating the radius of curvature (R) of the lane based on (m)) may be further included.

Optionally, estimating the rear warning area of the vehicle may include determining a variable length of the vehicle based on the estimated radius of curvature; And it may further include determining the range of the rear warning area of the vehicle based on the determined variable length of the vehicle.

Optionally, the step of estimating the rear warning area of the vehicle may determine the rear warning area of the vehicle based on the variable length of the vehicle obtained using equations (1) and (2) below.

θ : b = Ｒθ .... Equation (1)

L = a × cosα- b × cos(θ - β) .... Equation (2)

Wherein a is the second vehicle distance, which is the distance between rear vehicles measured by the vehicle, b is the first vehicle distance (m), which is the distance between vehicles measured by the rear vehicle, and α is the moving direction of the vehicle. is the second azimuth angle from the reference point to the a, and β is the first azimuth angle from the reference point of the traveling direction of the rear vehicle to the b, and θ is the reference point of the traveling direction of the vehicle to the traveling direction of the rear vehicle. is the angle of the reference point, R is the radius of curvature of the lane, and L may represent the variable length of the vehicle.

Optionally, the plurality of sensors described above may be side and rear detection sensors.

According to one embodiment, as a method for setting an alarm area behind a vehicle through a vehicle controller that controls a plurality of vehicle sensors, the vehicle distance between a running vehicle and neighboring surrounding vehicles obtained through the plurality of vehicle sensors Determining whether or not to drive in groups using information; If the determination is platoon driving, determining whether the radius of curvature between the vehicle and the road on which the rear vehicle travels is greater than a preset radius of curvature; When the radius of curvature is smaller than the preset radius of curvature, calculating a variable length of the vehicle; determining a range of a rear warning area of the vehicle based on the calculated variable length of the vehicle; and, when the surrounding vehicle in a neighboring lane enters the determined rear warning area, issuing an entry prohibition warning to the surrounding vehicle.

Optionally, in the step of calculating the variable length of the vehicle, the vehicle length of the variable vehicle may be calculated using the inter-vehicle distance and azimuth angle seen from the vehicle in the platoon and the rear vehicle, respectively.

According to one embodiment, it is a BSD system for setting an alarm area behind a vehicle through a vehicle controller that controls a plurality of vehicle sensors, wherein the vehicle between the running vehicle and neighboring surrounding vehicles obtained through the plurality of vehicle sensors a platoon driving determination unit that determines whether platooning is possible using distance information; When the determination is platooning, a warning area estimation unit that estimates a rear warning area of the vehicle reflecting the vehicle length of the variable vehicle; and a route issuing unit that issues an entry prohibition warning when the surrounding vehicle in a neighboring lane enters the estimated rear warning area.

Optionally, the warning area estimator may determine the vehicle length of the variable vehicle using the inter-vehicle distance and azimuth angle seen from the vehicle in the platoon and the rear vehicle, respectively.

As described above, the present embodiments are expected to have the effect of ensuring the safety of the vehicle and driver by avoiding rear collisions even for various types of vehicles by accurately setting the rear warning area by reflecting the variable length of the vehicle.

To this end, the present embodiments ultimately determine the radius of curvature of the lane in cooperation with the vehicle behind, and determine the variable length of the vehicle based on this, thereby enabling more accurate setting of the rear warning area.

It is not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art to which the present embodiments belong from the description below.

1 is a flowchart illustrating an example of a method for setting an alarm area according to an embodiment.
FIG. 2 is a block diagram showing an example of a BSD system that implements the alarm area setting method of FIG. 1 according to an embodiment.
FIG. 3 is a diagram illustrating an example of steps 130 for estimating a rear warning area by a vehicle controller according to an embodiment.
Figure 4 is a diagram showing the relationship between a running vehicle and a rear vehicle required to estimate the rear warning area.
Figure 5 is a flowchart illustrating another example of a method for setting an alarm area according to an embodiment.
Figure 6 is a block diagram illustrating another example of a BSD system according to an embodiment.

The method and system disclosed in the following embodiments will be described in more detail with reference to the drawings. Terms disclosed in the following examples are used only to describe specific examples and are not limited thereto.

In addition, terms such as 'include' or 'consist of' disclosed in the following examples mean that the corresponding component may be included, excluding other components, unless specifically stated to the contrary. It should be understood as including other components.

In addition, the singular expression 'above' used in the description and patent claims disclosed in the following examples may be understood to also include plural expressions, unless the context clearly indicates otherwise, and 'or/ and' should be understood to include any and all possible combinations of one or more of the related items listed.

Based on this, the method for setting the warning area at the rear of the vehicle and the BSD system will be described in more detail in the following embodiments.

<Setting example of alarm area>

FIG. 1 is a flowchart illustrating an example of an alarm area setting method according to an embodiment, and FIG. 2 is a block diagram showing an example of a BSD system that implements the alarm area setting method of FIG. 1 according to an embodiment. .

The BSD system 200 shown in FIG. 2 may include a vehicle controller 210 and a vehicle sensor 220.

In one embodiment, the vehicle controller 210 may control the plurality of vehicle sensors 220, which will be described later, as well as mechanical or electronic components (electrical components) of the vehicle 210A.

This vehicle controller 210 may be an electronic control unit (ECU), or may be comprised of at least one high-performance processor or a combination thereof. This vehicle controller 210 may include a plurality of memories 211.

The memory may be DRAM (including dynamic random access memory, SDRAM (synchronous DRAM), DDR (double data rate) SDRAM, DDR2 SDRAM, RDRAM (Rambus DRAM)), SRAM, DDR RAM, or other random access solid state memory ( It may be at least one of high-speed random access memory, such as a solid state memory device, or non-volatile memory, such as one or more magnetic disk storage devices, optical disk storage devices, flash memory devices, or other non-volatile solid state storage devices.

In one embodiment, the vehicle sensor 220 consists of a plurality of vehicle sensors, for example, a first sensor and a second sensor, and from another perspective, may be any one of a rear and side rear sensor.

For example, if the vehicle sensor 220 is a side and rear sensor, it may be a BSD sensor (BSD radar sensor). The side and rear sensors are sensors placed between the rear and the side (SIDE) of the vehicle through vehicle-to-vehicle communication (V2V) with the sensors of the rear vehicle 230 and neighboring vehicles 230 on both sides. 230) and surrounding vehicles 230 can be detected or various information (information such as distance and azimuth) that will be described below can be obtained.

The process of implementing the method of FIG. 1 from the perspective of the vehicle controller 210 that controls the plurality of vehicle sensors 220 is as follows.

Referring to FIG. 1, the alarm area setting method 100 according to an embodiment includes steps 110 to 130 to set an alarm area at the rear of the vehicle through the vehicle controller 210 that controls a plurality of vehicle sensors 220. may include.

In step 110 of one embodiment, the vehicle controller 210 detects an occurrence between the driving vehicle 210A and neighboring vehicles 230 (neighboring vehicles in the same lane or different lanes) through a plurality of vehicle sensors 220. The vehicle distance information can be obtained, and the number (number information) of surrounding vehicles 230 detected from neighboring vehicles 230 through the plurality of vehicle sensors 220 can be further obtained.

Of course, such acquisition is possible through vehicle-to-vehicle communication (V2V) through sensors.

Accordingly, the vehicle controller 210 in step 110 may use the obtained vehicle distance information of the surrounding vehicles 230 and/or the number of surrounding vehicles 230 to determine whether or not to drive in a group.

For example, if the acquired vehicle distance information of surrounding vehicles 230 is within a preset distance range, platooning may be considered (recognized) as necessary, or if the vehicle distance information is within a preset distance range and the vehicle is close to If the number of surrounding vehicles 230 is within the range of the preset number of vehicles, platoon driving may be considered (recognized) as necessary.

Alternatively, if the vehicle controller 210 in step 110 determines that the obtained vehicle distance information is concentrated within a predetermined radius range from the running vehicle 210A, it may regard (recognize) that platoon driving is necessary.

In step 120 of one embodiment, if the determination result of step 110 described above is determined to be platooning, the vehicle controller 210 may estimate the rear warning area of the vehicle reflecting the vehicle length of the variable vehicle. The vehicle length of the variable vehicle may refer to the vehicle 210A being driven.

Here, in order to know the vehicle length of the variable vehicle, the vehicle controller 210 calculates the distance, azimuth, and radius of curvature of the road between the vehicle 210A and the rear vehicle 230 driving on the actual road, and determines the actual road environment and the driving distance. The state between the vehicle 210A and the rear vehicle 230 can be known, making it possible to know the variable length of the running vehicle 210A. A specific example of this will be explained later in FIG. 3.

Accordingly, the vehicle controller 210 can update the rear warning area and re-set the rear warning area by reflecting the calculated variable length of the vehicle 210A to the already set rear warning area. The setting of the new rear warning area is very likely to be in a real road environment such as a curved road.

In step 130 of one embodiment, the vehicle controller 210 may issue an entry prohibition warning when a surrounding vehicle or a rear vehicle 230 in a neighboring lane enters the rear warning area estimated by step 120 described above.

Preferably, the estimated rear warning area is to issue an entry prohibition warning to the rear vehicle 230. In other words, since the rear vehicle 230 can be identified from behind the vehicle 210A running in front, it is unrelated to the variable length of the vehicle 210A, but the surrounding vehicle 230 in the next lane is For example, when cutting into the rear of a vehicle (210A) running on a curved road, it is difficult to identify the vehicle length of the driving vehicle (210A), so as a warning against cutting into the surrounding vehicle (230), the driving vehicle (210A) This is the reason for resetting the rear warning area to reflect the variable length of the vehicle (210A).

The entry prohibition warning is preferably issued in the form of a traffic light using an LED, but may also be a sound signal.

<Specific Example of Step 120>

FIG. 3 is a diagram illustrating an example for estimating a rear warning area by a vehicle controller according to an embodiment, and FIG. 4 is a diagram showing the relationship between a running vehicle and a rear vehicle required to estimate the rear warning area. .

As shown, step 130 according to one embodiment may include steps 131 to 136.

First, in step 131, the vehicle controller 210 transmits a request message to the rear vehicle 230 through vehicle-to-vehicle communication.

In this case, the rear vehicle 230 acquires the first vehicle distance (b(m)), which is the distance between the running vehicles 240, and sets the first azimuth angle (β°) looking at the running vehicle 240. It can be acquired.

Accordingly, in step 132, the vehicle controller 210 may receive information on the first vehicle distance and the first azimuth from the rear vehicle 230 through vehicle-to-vehicle communication as a response to the request message.

In step 133, the vehicle controller 210 determines the second azimuth (α°) at which the vehicle 210A looks at the rear vehicle and the rear vehicle 230 from the perspective of the driving vehicle 210A through the plurality of vehicle sensors 220. ), the second vehicle distance (a(m)) can be obtained.

In step 134, the vehicle controller 210 determines the obtained first azimuth (β°), first vehicle distance (b(m)), second azimuth (α°), and second vehicle distance (a(m)). Based on this, the radius of curvature (R) of the lane can be estimated.

For example, the vehicle controller 210 can estimate the radius of curvature (R) of the road through equations (1) and (2) below.

θ : b = Ｒθ .... Equation (1)

L = a × cosα- b × cos(θ - β) .... Equation (2)

In the above equations (1) and (2), a is the second vehicle distance, which is the distance between the rear vehicles 230 measured by the vehicle 210A, and b is the vehicle distance measured by the rear vehicle 230. It may represent the first vehicle distance (m), which is the distance between (210A).

In addition, α is a second azimuth from a reference point in the direction of travel of the vehicle 210A to a, β is a first azimuth from a reference point in the direction of travel of the rear vehicle 230 to b, and θ is It is the angle between the reference point in the direction of travel of the vehicle 210A and the reference point in the direction of travel of the rear vehicle 230, R is the radius of curvature of the lane, and L may represent the variable length of the vehicle 210A.

In step 135, the vehicle controller 210 may determine the variable length (L) of the vehicle through the above-described equations (1) and (2) based on the estimated radius of curvature.

Accordingly, in step 136, the vehicle controller 210 can determine the range of the rear warning area of the vehicle based on the determined variable length. For example, the vehicle controller 210 may update the rear warning area by reflecting the determined variable length of the vehicle to the already set rear warning area and re-set the rear warning area.

In this way, in this embodiment, as described above, the rear warning area is updated and accurately set by reflecting the variable length of the vehicle in the rear warning area, thereby avoiding rear collision even for various types of vehicles, thereby ensuring safety for the vehicle and driver. can be secured.

<Other example settings of alarm area>

Figure 5 is a flowchart illustrating another example of a method for setting an alarm area according to an embodiment. The above-mentioned FIG. 2 is cited as an auxiliary when explaining FIG. 4.

Referring to FIG. 5, the alarm area setting method 300 according to an embodiment sets the alarm area at the rear of the vehicle 230 through the vehicle controller 210 that controls the plurality of vehicle sensors 220 shown in FIG. 2. To do this, steps 310 to 350 may be included.

Since step 310 is the same as step 110 of FIG. 1, its description will be omitted.

In step 320 of one embodiment, the vehicle controller 210 may calculate the radius of curvature between the road on which the vehicle 210A and the rear vehicle 230 travel when platooning occurs as a result of the determination in step 310.

Since the calculation of the radius of curvature was sufficiently explained in FIG. 3 above, its description will be omitted.

Subsequently, the vehicle controller 210 may determine whether the calculated radius of curvature (R) of the road is greater than a preset radius of curvature, for example, 500M.

For example, in step 330, the vehicle controller 210 may calculate the variable length of the vehicle if the calculated radius of curvature is smaller than the preset radius of curvature, otherwise, the length of the vehicle included in the rear warning area may be calculated. It can be kept as is.

The variable length (L) of the mentioned vehicle can be calculated by equations (3) and (4) below.

In step 340 of one embodiment, the vehicle controller 210 determines the range of the rear warning area of the vehicle by equations (3) and (4) below based on the variable length of the vehicle calculated by step 330 described above. You can.

In other words, the vehicle controller 210 reflects the calculated variable length of the vehicle within the range of the rear warning area of the vehicle, so that a new rear warning area of the vehicle can be set.

θ : b = Ｒθ .... Equation (3)

L = a × cosα- b × cos(θ - β) .... Equation (4)

In equations (3) and (4), a is the second vehicle distance, which is the distance between rear vehicles measured by the vehicle, and b is the first vehicle distance (m), which is the distance between vehicles measured by the rear vehicle. ), where α is the second azimuth from the reference point in the direction of travel of the vehicle to the a, and β may mean the first azimuth from the reference point in the direction of travel of the rear vehicle to the b.

In addition, θ is the angle between the reference point in the direction of travel of the vehicle and the reference point in the direction of travel of the rear vehicle, R is the radius of curvature of the lane, and L may represent the variable length of the vehicle.

Finally, in step 350 of one embodiment, when a surrounding vehicle 230 in a neighboring lane enters the rear warning area determined by step 340, the vehicle controller 210 issues an entry prohibition warning to the surrounding vehicle. can do.

The entry prohibition warning is preferably issued in the form of a traffic light using an LED, but may also be a sound signal.

In this way, in this embodiment, as described above, the rear warning area is updated and accurately set by reflecting the variable length of the vehicle in the rear warning area, thereby avoiding rear collision even for various types of vehicles, thereby ensuring safety for the vehicle and driver. can be secured.

Meanwhile, the above-described methods can be implemented as program instructions and deciphered by a computer-readable medium.

The computer-readable medium may be any medium accessible by a processor. Such media may include both volatile and non-volatile media, removable and non-removable media, communication media, storage media, and computer storage media.

Communication media may contain computer readable instructions, data structures, program modules, other data such as modulated data signals such as carrier waves or other transmission mechanisms, and may include any other form of information delivery medium known in the art.

The storage medium may be RAM, flash memory, ROM, EPROM, electrically erasable read-only memory (“EEPROM”), register, hard disk, removable disk, compact disk read-only memory (“CD-ROM”), or any other known memory. It may include other forms of storage media.

Computer storage media refers to removable and non-removable, volatile and non-removable implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. May contain volatile media.

These computer storage media include program instructions, such as RAM, ROM, EPROM, EEPROM, flash memory, other solid-state memory technology, CDROM, digital versatile disks (DVDs), or other optical storage devices, magnetic cassettes, magnetic tape, magnetic disk storage, etc. It may include a hardware device specifically configured to store and perform.

Examples of program instructions may include not only machine language code such as that created by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like.

<Other embodiments of the BSD system>

Figure 6 is a block diagram illustrating another example of a BSD system according to an embodiment.

Referring to FIG. 6, the BSD system 400 according to one embodiment may include a vehicle controller 410 and a vehicle sensor 420. Since the vehicle controller 410 and vehicle sensor 420 are the same as the vehicle controller 210 and vehicle sensor 220 of FIG. 2, their description will be omitted.

Here, setting the warning area behind the vehicle may be substantially performed by the vehicle controller 410.

That is, the vehicle controller 410 according to one embodiment uses the vehicle distance information between the running vehicle and neighboring surrounding vehicles obtained through a plurality of vehicle sensors 420 to determine whether or not the vehicle is traveling in a platoon (a platoon driving determination unit ( 411), when the determination is platooning, an alarm area estimation unit 412 estimates the rear warning area of the vehicle reflecting the vehicle length of the variable vehicle, and determines whether the surrounding vehicle in the neighboring lane will enter the estimated rear warning area. In this case, it may include a route issuing unit 413 that issues an entry prohibition warning.

Here, the warning area estimation unit 412 can determine the vehicle length of the variable vehicle using the inter-vehicle distance and azimuth angle seen from the vehicle in the platoon and the rear vehicle, respectively.

It is preferable that the target vehicle for determining the vehicle length of the variable vehicle is a running vehicle.

In particular, it may be desirable for the above-described warning area estimation unit 412 to determine the rear warning area of the vehicle based on the variable length (L) of the vehicle obtained using equations (5) and (6) below. there is.

θ : b = Ｒθ .... Equation (5)

L = a × cosα- b × cos(θ - β) .... Equation (6)

In equations (5) and (6), a is the second vehicle distance, which is the distance between rear vehicles measured by the vehicle, and b is the first vehicle distance, which is the distance between vehicles measured by the rear vehicle ( m), where α is the second azimuth from the reference point in the direction of travel of the vehicle to the a, and β may mean the first azimuth from the reference point in the direction of travel of the rear vehicle to the b.

In addition, in equations (5) and (6), θ is the angle between the reference point in the direction of travel of the vehicle and the reference point in the direction of travel of the rear vehicle, R is the radius of curvature of the lane, and L is the It may refer to the variable length of the vehicle.

However, since the above-described equations (5) and (6) are the same as the above-described equations (1) and (2), the functions described in FIG. 3 can also be performed by the alarm area estimation unit 412 of this embodiment. Of course it is possible.

In this way, in this embodiment, as described above, the rear warning area is updated and accurately set by reflecting the variable length of the vehicle in the rear warning area, thereby avoiding rear collision even for various types of vehicles, thereby ensuring safety for the vehicle and driver. can be secured.

It is obvious to those skilled in the art that the embodiments disclosed above can be embodied in other specific forms without departing from the spirit and essential features of the present invention.

Accordingly, the foregoing description should not be construed as restrictive in any respect and should be considered illustrative. The scope of this embodiment should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of this embodiment are included in the scope of this embodiment.

200,400: BSD system 210,410: Vehicle controller
220,420: vehicle sensor 210A: vehicle
230: Rear vehicle/surrounding vehicle 411: Group driving determination unit
412: Alarm area estimation unit 413: Path issuing unit

Claims (15)

A method for setting an alarm area at the rear of a vehicle through a vehicle controller that controls a plurality of vehicle sensors, comprising:
Determining whether to drive in a group using vehicle distance information between a running vehicle and neighboring vehicles obtained through the plurality of vehicle sensors or the number of nearby vehicles;
If the determination is platooning, estimating a rear warning area of the vehicle reflecting the vehicle length of the variable vehicle; and
When the surrounding vehicle or rear vehicle in a neighboring lane enters the estimated rear warning area, issuing an entry prohibition warning
Method, including. According to paragraph 1,
The step of determining whether platooning occurs is,
A method wherein the platoon driving is deemed necessary when the vehicle distance information is dense within a predetermined radius range from the driving vehicle. According to paragraph 1,
The step of estimating the rear warning area of the vehicle is,
A method of determining the vehicle length of the variable vehicle using the inter-vehicle distance and azimuth angle seen from the vehicle in the platoon and the rear vehicle, respectively. According to paragraph 1,
The step of estimating the rear warning area of the vehicle is,
Obtaining a first vehicle distance (b(m)), which is the distance between vehicles, and a first azimuth angle (β°) looking at the vehicle from a rear vehicle among the surrounding vehicles through vehicle-to-vehicle communication.
Method, including. According to paragraph 4,
The step of estimating the rear warning area of the vehicle is,
Obtaining a second azimuth (α°) through which the vehicle views the rear vehicle and a second vehicle distance (a(m)), which is the distance between the rear vehicles, through the plurality of vehicle sensors.
A method further comprising: According to clause 5,
The step of estimating the rear warning area of the vehicle is,
The radius of curvature (R) of the lane based on the obtained first azimuth (β°), first vehicle distance (b(m)), second azimuth (α°), and second vehicle distance (a(m)) Steps to estimate
A method further comprising: According to clause 6,
The step of estimating the rear warning area of the vehicle is,
determining a variable length of the vehicle based on the estimated radius of curvature; and
Determining the range of the rear warning area of the vehicle based on the determined variable length.
A method further comprising: According to paragraph 1,
The step of estimating the rear warning area of the vehicle is,
A method of determining a rear warning area of the vehicle based on the variable length of the vehicle obtained using equations (1) and (2) below.
θ : b = Ｒθ .... Equation (1)
L = a × cosα- b × cos(θ - β) .... Equation (2)
Wherein a is the second vehicle distance, which is the distance between rear vehicles measured by the vehicle, and b is the first vehicle distance (m), which is the distance between vehicles measured by the rear vehicle,
The α is a second azimuth from the reference point of the traveling direction of the vehicle to the a, and the β is the first azimuth from the reference point of the traveling direction of the rear vehicle to the b,
The θ is the angle between the reference point in the direction of travel of the vehicle and the reference point in the direction of travel of the rear vehicle, R is the radius of curvature of the lane, and L represents the variable length of the vehicle. The method according to any one of claims 1 to 8, wherein the plurality of vehicle sensors are BSD radar sensors. A method for setting an alarm area at the rear of a vehicle through a vehicle controller that controls a plurality of vehicle sensors, comprising:
Determining whether to drive in groups using vehicle distance information between a running vehicle and neighboring vehicles obtained through the plurality of vehicle sensors;
If the determination is platoon driving, determining whether the radius of curvature between the vehicle and the road on which the rear vehicle travels is greater than a preset radius of curvature;
When the radius of curvature is smaller than the preset radius of curvature, calculating a variable length of the vehicle;
determining a range of a rear warning area of the vehicle based on the calculated variable length of the vehicle; and
When the surrounding vehicle in a neighboring lane enters the determined rear warning area, issuing an entry prohibition warning to the surrounding vehicle
Method, including. According to clause 10,
The step of calculating the variable length of the vehicle is,
A method in which the vehicle length of the variable vehicle is calculated using the inter-vehicle distance and azimuth angle seen from the vehicle in the platoon and the rear vehicle, respectively. According to clause 10,
The method wherein the estimated radius of curvature and the variable length of the vehicle are calculated using equations (3) and (4) below.
θ : b = Ｒθ .... Equation (3)
L = a × cosα- b × cos(θ - β) .... Equation (4)
Wherein a is the second vehicle distance, which is the distance between rear vehicles measured by the vehicle, and b is the first vehicle distance (m), which is the distance between vehicles measured by the rear vehicle,
The α is a second azimuth from the reference point of the traveling direction of the vehicle to the a, and the β is the first azimuth from the reference point of the traveling direction of the rear vehicle to the b,
The θ is the angle between the reference point in the direction of travel of the vehicle and the reference point in the direction of travel of the rear vehicle, R is the radius of curvature of the lane, and L represents the variable length of the vehicle. A BSD system for setting an alarm area at the rear of a vehicle through a vehicle controller that controls a plurality of vehicle sensors,
a platooning determination unit that determines whether platooning is possible using vehicle distance information between a running vehicle and neighboring vehicles obtained through the plurality of vehicle sensors;
When the determination is platooning, a warning area estimation unit that estimates a rear warning area of the vehicle reflecting the vehicle length of the variable vehicle; and
A route issuing unit that issues an entry prohibition warning when the surrounding vehicle in a neighboring lane enters the estimated rear warning area.
BSD systems, including. According to clause 13,
The warning area estimation unit,
A BSD system that determines the vehicle length of the variable vehicle using the inter-vehicle distance and azimuth seen from the vehicle in the platoon and the rear vehicle, respectively. According to clause 13,
The warning area estimation unit,
A BSD system that determines the rear warning area of the vehicle based on the variable length of the vehicle obtained using equations (5) and (6) below.
θ : b = Ｒθ .... Equation (5)
L = a × cosα- b × cos(θ - β) .... Equation (6)
Wherein a is the second vehicle distance, which is the distance between rear vehicles measured by the vehicle, and b is the first vehicle distance (m), which is the distance between vehicles measured by the rear vehicle,
The α is a second azimuth from the reference point of the traveling direction of the vehicle to the a, and the β is the first azimuth from the reference point of the traveling direction of the rear vehicle to the b,
The θ is the angle between the reference point in the direction of travel of the vehicle and the reference point in the direction of travel of the rear vehicle, R is the radius of curvature of the lane, and L represents the variable length of the vehicle.

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