KR19990061934A - Vehicle tracking device - Google Patents

Vehicle tracking device Download PDF

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Publication number
KR19990061934A
KR19990061934A KR1019970082230A KR19970082230A KR19990061934A KR 19990061934 A KR19990061934 A KR 19990061934A KR 1019970082230 A KR1019970082230 A KR 1019970082230A KR 19970082230 A KR19970082230 A KR 19970082230A KR 19990061934 A KR19990061934 A KR 19990061934A
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South Korea
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vehicle
detecting
sub
state
main
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KR1019970082230A
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Korean (ko)
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박남규
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오상수
만도기계 주식회사
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Priority to KR1019970082230A priority Critical patent/KR19990061934A/en
Publication of KR19990061934A publication Critical patent/KR19990061934A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/22—Platooning, i.e. convoy of communicating vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/04—Monitoring the functioning of the control system
    • B60W50/045—Monitoring control system parameters
    • B60W2050/046—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
    • B60W2050/048—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS] displaying data transmitted between vehicles, e.g. for platooning, control of inter-vehicle distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/50—Magnetic or electromagnetic sensors
    • B60W2420/503—Hall effect or magnetoresistive, i.e. active wheel speed sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/60—Doppler effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/08—Predicting or avoiding probable or impending collision
    • B60Y2300/09—Taking automatic action to avoid collision, e.g. braking or steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/14—Cruise control
    • B60Y2300/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60Y2300/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

본 발명은 차량추적장치에 관한 것으로서, 상세하게는 다수의 차량이 군집운행을 할 때 전방차량이 자신의 운행상태를 후방차량에게 제공하고 후방차량은 앞차의 차량정보와 앞차까지의 거리를 이용하여 앞차를 일정한 거리를 두고 따라갈 수 있는 차량추적장치에 관한 것이다.The present invention relates to a vehicle tracking device. In detail, when a plurality of vehicles are clustered, the front vehicle provides its driving state to the rear vehicle and the rear vehicle uses the vehicle information of the front vehicle and the distance to the front vehicle. It relates to a vehicle tracking device that can follow the front car at a certain distance.

본 발명에 따른 차량추적장치는 차량들중에서 앞차의 상태를 감지하는 메인감지부, 메인감지부가 감지한 앞차의 상태에 대한 데이터를 메인송신기를 통하여 송신하는 메인제어부, 메인제어부가 메인송신기를 통하여 송신하는 데이터를 수신하는 서브수신기, 차량들중에서 뒤차의 상태를 감지하는 서브감지부, 뒤차에 근접한 장애물을 감지하는 장애물감지부, 뒤차의 상태를 제어하는 상태제어부, 서브수신기가 수신한 데이터와 장애물감지부가 감지한 내용에 따라서 상태제어부로 하여금 뒤차의 상태를 제어하게 하는 서브제어부를 구비한다.The vehicle tracking device according to the present invention includes a main control unit for detecting a state of a vehicle in front of a vehicle, a main control unit for transmitting data on the state of the front vehicle detected by the main detection unit through a main transmitter, and a main control unit transmitting through a main transmitter. A sub-receiver for receiving data, a sub-sensing unit for detecting a state of a vehicle behind the vehicle, an obstacle detecting unit for detecting an obstacle near the rear vehicle, a state control unit for controlling the state of the rear vehicle, data and obstacle detection received by the sub-receiver The sub-control unit may be configured to control the state of the rear vehicle according to the detected content.

본 발명에 따른 차량 추적장치에 의하여, 다수의 차량이 군집운행을 할 때 전방차량이 자신의 운행상태를 후방차량에게 제공하고 후방차량은 앞차의 차량정보와 앞차까지의 거리를 이용하여 앞차를 일정한 거리를 두고 안전하게 따라갈 수 있다.According to the vehicle tracking device according to the present invention, when a plurality of vehicles are crowded, the front vehicle provides its driving state to the rear vehicle and the rear vehicle maintains the front vehicle by using the vehicle information of the front vehicle and the distance to the front vehicle. You can safely follow the distance.

Description

차량 추적장치Vehicle tracking device

본 발명은 차량추적장치에 관한 것으로서, 상세하게는 다수의 차량이 군집운행을 할 때 전방차량이 자신의 운행상태를 후방차량에게 제공하고 후방차량은 앞차의 차량정보와 앞차까지의 거리를 이용하여 앞차를 일정한 거리를 두고 따라갈 수 있는 차량추적장치에 관한 것이다.The present invention relates to a vehicle tracking device. In detail, when a plurality of vehicles are clustered, the front vehicle provides its driving state to the rear vehicle and the rear vehicle uses the vehicle information of the front vehicle and the distance to the front vehicle. It relates to a vehicle tracking device that can follow the front car at a certain distance.

근래들어, 차량의 주행중에 발생할 수 있는 각종 안전사고를 미연에 방지하기 위한 시스템이 개발되어 차량에 탑재되고 있는 바, 그 예들로서 자차와 선행차량과의 충돌 위험성을 경보하는 전방충돌 방지 경보장치와 자차와 측방물체와의 충돌위험성을 경보하는 측방충돌 방지 경보장치가 있다.Recently, a system for preventing various safety accidents that may occur while driving a vehicle has been developed and mounted on a vehicle. For example, an anti-collision warning device that warns of a danger of collision between a host vehicle and a preceding vehicle is provided. There is a side collision warning system that alerts you of the risk of collision between the vehicle and side objects.

이러한 충돌방지 경보장치는 차량의 주행차선 변경시나 주차시 또는 주행시에 운전자의 시야가 미치지 못하는 사각지대에서의 차량 및 운전자의 안전성을 확보하기 위한 장치로서 초음파 센서 혹은 레이져 레이다등을 사용하여 충돌 가능성이 있는 장애물의 유무를 감지하게 된다.The collision avoidance alarm device is a device for securing the safety of the vehicle and the driver in a blind spot where the driver's vision does not reach when changing the driving lane of the vehicle or when parking or driving the vehicle. Detects the presence of obstacles.

도 1은 종래의 차량추적장치의 블럭도이다.1 is a block diagram of a conventional vehicle tracking device.

먼저, 도 1에 도시한 바와 같이, 종래의 차량 추적장치는 앞차와의 거리를 측정하는 전방레이다(11)와, 장애물을 감지하는 도플러센서(12)와, 역시 장애물을 감지하기 위한 초음파센서(13)와, 차속을 감지하는 차속감지부(20)와, 동작을 제어하는 제어부(30), 동작상태를 나타내는 표시부(40)와, 장애물의 감지시 경보를 하는 경보부(50)로 이루어진다.First, as shown in Figure 1, the conventional vehicle tracking device is a front lane 11 for measuring the distance to the front vehicle, the Doppler sensor 12 for detecting the obstacle, and also an ultrasonic sensor for detecting the obstacle ( 13), a vehicle speed detection unit 20 for detecting a vehicle speed, a control unit 30 for controlling an operation, a display unit 40 for indicating an operation state, and an alarm unit 50 for alarming an obstacle.

전체동작을 살펴보면 다음과 같다.The overall operation is as follows.

전방레이다(11)는 레이저를 이용하여 주행중인 자차와 앞차사이의 거리를 산출한다. 전방레이다(11)는 자차와 앞차와의 거리를 산출하여 제어부(30)로 출력한다.The front radar 11 calculates the distance between the traveling host vehicle and the front vehicle using a laser. The front radar 11 calculates a distance between the host vehicle and the front vehicle and outputs the distance to the controller 30.

도플러센서(12)와 초음파센서(13)는 자차의 측후면에 있는 장애물을 감지한다.The Doppler sensor 12 and the ultrasonic sensor 13 detect obstacles on the side and rear surfaces of the host vehicle.

초음파센서(13)는 40㎑의 주파수를 갖는 초음파신호를 발생시킨다. 초음파센서(13)에서 발생된 초음파신호는 물체에 의하여 반사되어 다시 초음파센서(13)에 수신된다. 자차와 장애물체까지의 거리계산은 초음파센서(13)로부터 발생된 초음파가 장애물에 반사되어 수신될 때 까지의 시간에 의하여 계산되는데 제어부에 의하여 왕복시간(t)=21(거리)/V(전달속도)으로 산출되어진다.The ultrasonic sensor 13 generates an ultrasonic signal having a frequency of 40 Hz. The ultrasonic signal generated by the ultrasonic sensor 13 is reflected by the object and received by the ultrasonic sensor 13 again. The distance calculation between the host vehicle and the obstacle body is calculated based on the time until the ultrasonic wave generated from the ultrasonic sensor 13 is reflected by the obstacle and is received. The round trip time (t) = 21 (distance) / V Speed).

제어부(30)는 자차와 장애물체와의 거리를 산출하고, 산출된 거리가 일정거리이내이면 자차와 장애물과의 충돌가능성이 있는 것으로 판단하여 경보부(50)를 구동시켜 경보를 발생시킨다.The controller 30 calculates the distance between the host vehicle and the obstacle, and if the calculated distance is within a certain distance, the controller 30 determines that there is a possibility of collision between the host vehicle and the obstacle and drives the alarm unit 50 to generate an alarm.

그런데 차량이 군집하여 운행할 경우 자차는 앞차에 대한 정보를 전방레이다에 의한 거리데이터만 얻을 수 있었다. 그래서 자차가 앞차를 따라가는데 있어서 운전자가 앞차에 대한 다양한 정보를 얻을 수 가 없었다. 그리하여 자차가 앞차와 일정거리를 유지하며 주행하는 것은 운전자의 감각에 의하여 이루어졌다.However, when the vehicles are crowded, the own vehicle could obtain only the distance data by the front radar. As a result, the driver could not obtain various information about the vehicle ahead. Thus, it was up to the driver's sense that the own car traveled a certain distance from the front car.

전술한 이유로 인하여 차량이 군집이동을 할 때 차량 사이의 거리가 너무 멀거나 너무 가까운 문제점이 발생하였다.For the above reason, when the vehicle moves in a group, the distance between the vehicles is too far or too close.

본 발명은 상기한 문제를 해결하기 위하여, 다수의 차량이 군집운행을 할 때 전방차량이 자신의 운행상태를 후방차량에게 제공하고 후방차량은 앞차의 차량정보와 앞차까지의 거리를 이용하여 앞차를 일정한 거리를 두고 따라갈 수 있는 차량 추적장치를 제공하는데 목적이 있다.The present invention is to solve the above problems, when a plurality of vehicles in cluster operation, the front vehicle provides its own driving state to the rear vehicle and the rear vehicle uses the vehicle information of the front vehicle and the distance to the front vehicle to An object of the present invention is to provide a vehicle tracking device that can follow a certain distance.

도 1은 종래의 차량추적장치의 블럭도이다.1 is a block diagram of a conventional vehicle tracking device.

도 2는 본 발명에 따른 차량추적장치의 블럭도이다.2 is a block diagram of a vehicle tracking device according to the present invention.

* 도면의 주요 부분에 대한 부호의 설명 *Explanation of symbols on the main parts of the drawings

상기 목적을 달성하기 위한 본 발명은 군집운행을 하는 차량들에 있어서, 차량들중에서 앞차의 상태를 감지하는 메인감지부, 메인감지부가 감지한 앞차의 상태에 대한 데이터를 메인송신기를 통하여 송신하는 메인제어부, 메인제어부가 메인송신기를 통하여 송신하는 데이터를 수신하는 서브수신기, 차량들중에서 뒤차의 상태를 감지하는 서브감지부, 뒤차에 근접한 장애물을 감지하는 장애물감지부, 뒤차의 상태를 제어하는 상태제어부, 서브수신기가 수신한 데이터와 장애물감지부가 감지한 내용에 따라서 상태제어부로 하여금 뒤차의 상태를 제어하게 하는 서브제어부를 구비하는 것을 특징으로 하는 장치이다.In order to achieve the above object, the present invention provides a main driving unit that detects a state of a vehicle in a group running vehicle, and transmits data on the state of the vehicle in front of the vehicle detected by the main detector. The control unit, the sub-receiver receiving the data transmitted by the main control unit through the main transmitter, the sub-sensing unit for detecting the state of the rear vehicle among the vehicles, the obstacle detection unit for detecting the obstacle near the rear vehicle, the state control unit for controlling the state of the rear vehicle And a sub controller configured to cause the state controller to control the state of the vehicle according to the data received by the sub receiver and the content detected by the obstacle detector.

이하에서는 첨부한 도면을 참조하여 양호한 실시예를 상세하게 설명하겠다.Hereinafter, exemplary embodiments will be described in detail with reference to the accompanying drawings.

도 2는 본 발명에 따른 차량추적장치의 블럭도이다.2 is a block diagram of a vehicle tracking device according to the present invention.

본 발명에 따른 차량 추적장치는 다음과 같은 구성을 가진다.Vehicle tracking apparatus according to the present invention has the following configuration.

먼저 군집운행을 하는 차량들중에서 앞차에 설치된 메인시스템(100)은, 차속을 감지하는 메인차속감지부(110)와, 스티어링휠의 회전각도를 감지하는 메인스티어링휠각도감지부(120), 브레이크의 동작여부를 감지하는 메인브레이크감지부(130)와, 뒤차로부터 정보를 수신하는 메인수신기(170)와, 뒤차로 정보를 송신하는 메인송신기(160)와, 앞차의 차량 추적장치를 제어하는 메인제어부(150)를 구비한다.First, the main system 100 installed in the front vehicle among the group driving vehicles, the main vehicle speed detection unit 110 for detecting the vehicle speed, the main steering wheel angle detection unit 120 for detecting the rotation angle of the steering wheel, the brake Main brake detection unit 130 to detect whether the operation, the main receiver 170 for receiving information from the rear vehicle, the main transmitter 160 for transmitting information to the rear vehicle, and the main control unit for controlling the vehicle tracking device of the front vehicle 150.

그리고 군집운행을 하는 차량들중에서 뒤차에 설치된 서브시스템(200)은, 앞차로부터 정보를 수신 받는 서브수신기(210)와, 정보를 송신하는 서브송신기(220)와, 장애물을 감지하는 장애물감지부(250)와, 차속을 감지하는 서브차속감지부(260)와, 스티어링휠의 회전각도를 감지하는 서브스티어링휠각도감지부(270)와, 스티어링휠을 제어하는 스티어링휠제어부와(281), 차속을 제어하는 차속제어부(282)와, 브레이크를 제어하는 브레이크제어부(283)와, 뒤차의 차량 추적장치를 제어하는 서브제어부(240)를 구비한다.And the sub-system 200 installed in the rear of the group of vehicles running, the sub-receiver 210 for receiving information from the front vehicle, the sub-transmitter 220 for transmitting the information, and the obstacle detection unit for detecting the obstacle ( 250, a sub vehicle speed detection unit 260 for detecting a vehicle speed, a sub steering wheel angle detection unit 270 for detecting a rotation angle of a steering wheel, a steering wheel control unit 281 for controlling a steering wheel, and a vehicle speed A vehicle speed control unit 282 for controlling, a brake control unit 283 for controlling a brake, and a sub control unit 240 for controlling a vehicle tracking device of a rear vehicle are provided.

먼저 메인제어부(150)는 앞차의 주행상태를 점검한다. 메인제어부(150)는 메인차속감지부(110)를 통하여 속도를 감지한다. 또한 메인스티어링휠각도감지부(120)를 통하여 운전자가 스티어링휠을 얼마나 돌리는지를 감지한다. 그리고 메인브레이크감지부(130)를 통하여 운전자가 브레이크를 조작하는지 하지 않는지를 감지한다.First, the main controller 150 checks the driving state of the front vehicle. The main controller 150 detects the speed through the main vehicle speed detecting unit 110. In addition, the main steering wheel angle detection unit 120 detects how much the driver turns the steering wheel. The main brake detection unit 130 detects whether or not the driver operates the brake.

메인제어부(150)는 속도와 스티어링휠의 각도와 브레이크조작여부를 감지하여 데이터를 메인송신기(160)를 통하여 뒤차로 송신을 한다.The main controller 150 detects the speed, the angle of the steering wheel, and whether the brake is operated, and transmits the data to the rear through the main transmitter 160.

뒤차의 서브제어부(240)는 앞차에서 메인송신기(160)를 통하여 송신되는 데이터를 서브수신기(210)로 수신한다.The sub-control unit 240 of the rear vehicle receives data transmitted through the main transmitter 160 from the front vehicle to the sub-receiver 210.

서브수신기(210)는 수신된 데이터를 서브제어부(240)가 인식하는 신호로 변환하여 서브제어부(240)로 출력한다.The sub receiver 210 converts the received data into a signal recognized by the sub controller 240 and outputs the signal to the sub controller 240.

서브제어부(240)는 서브차속감지부(260)를 통하여 차속을 감지한다. 또한 서브스티어링휠각도감지부(270)를 통하여 스티어링휠의 현재 각도를 감지한다.The sub controller 240 detects the vehicle speed through the sub vehicle speed detection unit 260. In addition, the sub-steering wheel angle detection unit 270 detects the current angle of the steering wheel.

서브제어부(240)는 수신된 앞차의 데이터와 감지한 차속과 스티어링휠의 각도를 이용하여 뒤차의 상태를 판단한다.The sub-control unit 240 determines the state of the rear vehicle by using the received front vehicle data, the detected vehicle speed, and the angle of the steering wheel.

또한 서브제어부(240)는 장애물감지부(250)를 통하여 차량의 근처에 존재하는 장애물을 감지한다.In addition, the sub-control unit 240 detects an obstacle existing near the vehicle through the obstacle detection unit 250.

장애물감지부(250)는 앞차와의 거리를 측정하는 전방레이다(251)와 측후면의 장애물을 감지하는 도플러센서(252)와 초음파센서(253)를 구비한다.The obstacle detecting unit 250 includes a front lane 251 for measuring a distance from the front vehicle, a Doppler sensor 252 for detecting an obstacle on the side, and an ultrasonic sensor 253.

전방레이다(251)는 레이저를 이용하여 앞차와의 거리를 측정하며 앞차와의 사이에 끼여드는 차량은 도플러센서(252)와 초음파센서(253)를 이용하여 감지한다.The front radar 251 measures a distance from the front vehicle by using a laser and detects a vehicle that is inserted between the front vehicle by using the Doppler sensor 252 and the ultrasonic sensor 253.

서브제어부(240)는 전술한 상태를 감지하여 현재 앞차와 뒤차사이의 거리와 상태를 판단한다.The sub-control unit 240 detects the above-described state and determines the distance and state between the current front car and the rear car.

서브제어부(240)는 판단에 따라서 스티어링휠제어부(281)를 통하여 스티어링휠의 각도를 제어한다. 또한 앞차와의 거리를 일정하게 유지하기 위하여 차속제어부(283)를 통하여 속도를 제어한다. 만약 앞차와의 거리가 멀다고 판단되면 서브제어부(240)는 차속제어부(282)를 통하여 뒤차의 속도를 높인다. 혹은 앞차와의 거리가 가깝다고 판단되면 서브제어부(240)는 브레이크제어부(283)를 통하여 뒤차의 속도를 낮춘다.The sub controller 240 controls the angle of the steering wheel through the steering wheel controller 281 according to the determination. In addition, the speed is controlled through the vehicle speed control unit 283 to maintain a constant distance from the vehicle ahead. If it is determined that the distance from the front car is far, the sub-control unit 240 increases the speed of the rear car through the vehicle speed control unit 282. Alternatively, when it is determined that the distance to the front vehicle is close, the sub-control unit 240 lowers the speed of the rear vehicle through the brake control unit 283.

물론 이러한 동작을 할 때 서브제어부(240)는 서브표시부(230)를 통하여 정보를 표시한다. 운전자는 서브표시부(230)에 표시된 정보에 따라서 서브제어부(20)가 행하는 차량제어에 맞추어 차량 조작을 행한다.Of course, in such an operation, the sub controller 240 displays information through the sub display unit 230. The driver performs the vehicle operation in accordance with the vehicle control performed by the sub controller 20 according to the information displayed on the sub display unit 230.

전술한 메인시스템(100)과 서브시스템(200)은 차량에 장착되어 군집차량이동을 하는데 있어서 안전하게 이동을 하는데 도움을 줄 수 있다.The main system 100 and the subsystem 200 described above may be mounted on a vehicle to help move safely in a group vehicle.

이상에서 상세하게 설명한 바와 같이 본 발명에 따른 차량 추적장치에 의하여, 다수의 차량이 군집운행을 할 때 전방차량이 자신의 운행상태를 후방차량에게 제공하고 후방차량은 앞차의 차량정보와 앞차까지의 거리를 이용하여 앞차를 일정한 거리를 두고 안전하게 따라갈 수 있다.As described in detail above, the front vehicle provides its driving state to the rear vehicle when a plurality of vehicles are crowded by the vehicle tracking device according to the present invention, and the rear vehicle includes the vehicle information of the front vehicle and the front vehicle. Using the distance, you can safely follow the car ahead at a certain distance.

Claims (6)

군집운행을 하는 차량들에 있어서,In vehicles that are clustered, 상기 차량들중에서 앞차의 상태를 감지하는 메인감지부,A main detection unit for detecting a state of the front vehicle among the vehicles, 상기 메인감지부가 감지한 앞차의 상태에 대한 데이터를 메인송신기를 통하여 송신하는 메인제어부,A main control unit which transmits data on the state of the front vehicle sensed by the main detection unit through a main transmitter; 상기 메인제어부가 상기 메인송신기를 통하여 송신하는 데이터를 수신하는 서브수신기,A sub-receiver for receiving data transmitted by the main controller through the main transmitter, 상기 차량들중에서 뒤차의 상태를 감지하는 서브감지부,A sub-sensing unit detecting a state of a rear vehicle among the vehicles; 뒤차에 근접한 장애물을 감지하는 장애물감지부,Obstacle detection unit that detects obstacles close to the vehicle behind, 뒤차의 상태를 제어하는 상태제어부,State control unit for controlling the state of the car 상기 서브수신기가 수신한 데이터와 상기 장애물감지부가 감지한 내용에 따라서 상기 상태제어부로 하여금 뒤차의 상태를 제어하게 하는 서브제어부를 구비하는 것을 특징으로 하는 차량추적장치.And a sub controller configured to cause the state controller to control the state of the vehicle in accordance with the data received by the sub receiver and the content detected by the obstacle detector. 제 1항에 있어서,The method of claim 1, 상기 메인감지부는 앞차의 차속을 감지하는 메인차속감지부와, 스티어링휠의 각도를 감지하는 메인스티어링휠각도감지부와, 브레이크의 동작여부를 감지하는 메인브레이크감지부를 구비하는 것을 특징으로 하는 차량추적장치.The main detecting unit includes a main vehicle speed detecting unit detecting a vehicle speed of a front vehicle, a main steering wheel angle detecting unit detecting an angle of a steering wheel, and a main brake detecting unit detecting whether a brake is operated. . 제 1항에 있어서,The method of claim 1, 상기 서브감지부는 뒤차의 차속을 감지하는 서브차속감지부와, 스티어링휠의 각도를 감지하는 서브스티어링휠각도감지부를 구비하는 것을 특징으로 하는 차량추적장치.The sub-sensing unit includes a sub-vehicle detecting unit for detecting a vehicle speed of a rear vehicle and a sub-steering wheel angle detecting unit detecting an angle of a steering wheel. 제 1항에 있어서,The method of claim 1, 상기 상태제어부는 뒤차의 차속을 제어하는 차속제어부와, 스티어링휠의 각도를 제어하는 스티어링휠각도제어부와, 브레이크 동작을 제어하는 브레이크제어부를 구비하는 것을 특징으로 하는 차량추적장치.The state control unit includes a vehicle speed control unit for controlling a vehicle speed of a rear vehicle, a steering wheel angle control unit for controlling an angle of a steering wheel, and a brake control unit for controlling a brake operation. 제 1항에 있어서,The method of claim 1, 상기 장애물감지부는 앞차와의 거리를 감지하는 전방레이다와, 근접하는 장애물을 감지하는 도플러센서와 초음파센서를 구비하는 것을 특징으로 하는 차량추적장치.The obstacle detecting unit includes a front radar for detecting a distance from the vehicle in front, and a Doppler sensor and an ultrasonic sensor for detecting an obstacle in proximity. 제 1항 내지 제 5항의 어느 한 항에 있어서,The method according to any one of claims 1 to 5, 상기 서브제어부는 상기 서브수신기가 수신한 데이터와 상기 장애물감지부가 감지한 내용에 따라서 상기 상태제어부로 하여금 뒤차의 상태를 제어하여 앞차와의 거리를 앞차의 차속에 따라서 일정한 거리를 유지하게 하는 것을 특징으로 하는 차량추적장치.The sub-control unit may control the state of the rear vehicle according to the data received by the sub-receiver and the content detected by the obstacle detection unit to maintain the distance between the front vehicle and the constant distance according to the speed of the front vehicle. Vehicle tracking device.
KR1019970082230A 1997-12-31 1997-12-31 Vehicle tracking device KR19990061934A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9037389B2 (en) 2013-02-26 2015-05-19 Hyundai Motor Company Vehicle apparatus and system for controlling platoon travel and method for selecting lead vehicle
KR20180040022A (en) * 2016-10-11 2018-04-19 주식회사 만도 Smart cruise control system using inter-vehicle communication and method for control thereof

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9037389B2 (en) 2013-02-26 2015-05-19 Hyundai Motor Company Vehicle apparatus and system for controlling platoon travel and method for selecting lead vehicle
KR20180040022A (en) * 2016-10-11 2018-04-19 주식회사 만도 Smart cruise control system using inter-vehicle communication and method for control thereof

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