KR20000026957A - System for alarming collision of vehicle - Google Patents

System for alarming collision of vehicle Download PDF

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Publication number
KR20000026957A
KR20000026957A KR1019980044723A KR19980044723A KR20000026957A KR 20000026957 A KR20000026957 A KR 20000026957A KR 1019980044723 A KR1019980044723 A KR 1019980044723A KR 19980044723 A KR19980044723 A KR 19980044723A KR 20000026957 A KR20000026957 A KR 20000026957A
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South Korea
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vehicle
signal
sensor
distance
unit
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KR1019980044723A
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Korean (ko)
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김홍기
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윤종용
삼성전자 주식회사
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Priority to KR1019980044723A priority Critical patent/KR20000026957A/en
Publication of KR20000026957A publication Critical patent/KR20000026957A/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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W40/06—Road conditions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B60W2420/408—
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60Y2300/095—Predicting travel path or likelihood of collision
    • B60Y2300/0952—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • 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
    • B60Y2300/095—Predicting travel path or likelihood of collision
    • B60Y2300/0954—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/301—Sensors for position or displacement
    • B60Y2400/3017—Radars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/303—Speed sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/90—Driver alarms

Abstract

PURPOSE: A system for alarming the collision of a vehicle is provided to realize the high performance of alarm system by combining a camera capable of recognizing a preceding vehicle on a curved road or a slope with a millimeter-wave radar sensor. CONSTITUTION: A millimeter-wave radar sensor(10) is composed of a digital signal processing unit(30), an outside sensor unit(40), a control unit(50), an alarm sound generating unit(60) and a display unit(70). Herein, if the distance between one's own vehicle and a preceding vehicle approaches the previously set up distance, a danger estimation sensing unit controls the alarm sound generation unit(60) by combining a signal capable of an adjacent environment of one's own vehicle and the relationship of the one's own vehicle and the preceding vehicle with a signal for sensing the surface state of the road input from a surface sensor(46) and a brake action signal input from a brake action sensor(45).

Description

차량 충돌경보 시스템Vehicle crash alarm system

본 발명은 차량 충돌경보 시스템에 관한 것이다.The present invention relates to a vehicle collision warning system.

보다 상세하게는 온도 및 기후 등에 강한 밀리웨이브 레이더 센서에 곡선도로 및 언덕길 등에서의 선행차량의 인식이 가능한 카메라를 결합시켜 고성능의 경보시스템을 구현하기 위한 차량 충돌경보 시스템에 관한 것이다.More specifically, the present invention relates to a vehicle collision warning system for implementing a high performance alarm system by combining a camera capable of recognizing a preceding vehicle on a curved road or a hill road with a milliwave radar sensor resistant to temperature and climate.

일반적으로 차량은 문명이 발달함에 따라 발전되어 온 기계 및 전자기술 등이 총체적으로 집약된 것으로서, 최근 생활의 윤택함과 더불어 시시각각으로 크게 변화되는 환경에 발맞추어 원활한 업무, 일상 생활의 편리, 여가 활용 등을 위해 보급이 크게 확대되고 있다.In general, the vehicle is a collection of mechanical and electronic technologies that have been developed with the development of civilization, and in accordance with the recent changes in daily life and the ever-changing environment, smooth work, convenience of daily life, leisure use, etc. The supply is expanding greatly for this purpose.

이와 같은 차량을 운행할 때 운전자는 각종 안전사고의 예방을 위해 다른 차량과의 안전거리를 유지하는 것이 반드시 필요하다.When driving such a vehicle, it is necessary for the driver to maintain a safe distance from other vehicles in order to prevent various safety accidents.

그렇지만 운전자는 차량 운행시 다른 차량 특히, 앞선 차량과의 거리 계산을 시각적으로만 판단하기 때문에 경우에 따라 운전자의 착각으로 인해 추돌 등의 안전사고가 발생될 우려가 있었다.However, since the driver only visually determines the distance calculation with other vehicles, especially the preceding vehicle, when driving the vehicle, there is a concern that a safety accident such as a collision may occur due to the driver's mistake.

그러므로 최근에는 운전자의 편의를 도모하기 위해 차량의 전방에 센서(초음파 센서 또는 레이저 센서 등)를 설치하여 다른 차량과의 거리를 자동으로 계산한 후 충돌우려가 있는 거리 이내에 차량이 있는 경우 경보음을 울려 운전자의 주의를 환기시키는 차량 충돌경보장치가 개발되어 사용되고 있다.Therefore, recently, for the convenience of the driver, a sensor (ultrasound sensor or laser sensor, etc.) is installed in front of the vehicle to automatically calculate the distance from other vehicles, and then, if there is a vehicle within a distance that is likely to crash, an alarm sound A vehicle collision warning device has been developed and used to ring the driver's attention.

또한, 사용주파수 대역이 24㎓에서 60㎓사이의 밀리웨이브 레이더 센서를 이용하여 차량 전방에 위치한 다른 차량과의 거리를 자동으로 계산한 후 상술한 것과 같이 경보음을 울려주는 경보시스템이 구축되어 있다.In addition, by using a milliwave radar sensor with a frequency band of 24 kHz to 60 kHz, an alarm system that calculates the distance from other vehicles located in front of the vehicle and sounds an alarm sound as described above is built. .

그러나, 상술한 것과 같은 밀리웨이브 레이더 센서만이 차량에 구축되어 있는 경우 곡선주로 상에서 마주 오는 차량을 인식할 수 있을 뿐만 아니라 언덕 또는 내리막길에서 선행차량을 감지할 수 없다는 문제점이 있으며, 주행중인 차량에 전방을 촬영하여 차량의 주변환경을 인식할 수 있는 비디오 시스템만이 구축되어 있는 경우 움직이는 물체에 대한 정보 검출이 미약하다는 문제점이 있기 때문에 상술한 두 시스템중 하나만을 차량에 구축하는 경우 차량의 안전한 주행을 보장할 수 없다는 문제점이 있었다.However, when only the milliwave radar sensor as described above is built in the vehicle, it is not only able to recognize the oncoming vehicle on a curved main road, but also cannot detect a preceding vehicle on a hill or a downhill road. If there is only a video system capable of recognizing the surroundings of the vehicle by photographing the front of the vehicle, the detection of information about moving objects is weak. There was a problem that driving cannot be guaranteed.

따라서, 본 발명의 목적은 전술한 문제점을 해결할 수 있도록 온도 및 기후 등에 강한 밀리웨이브 레이더 센서에 곡선도로 및 언덕길 등에서의 선행차량의 인식이 가능한 카메라를 결합시켜 고성능의 경보시스템을 구현하기 위한 차량 충돌경보 시스템을 제공함에 있다.Accordingly, an object of the present invention is to combine a camera capable of recognizing a preceding vehicle on a curved road and a hill road with a milliwave radar sensor resistant to temperature and climate to solve the above-mentioned problems, and to realize a high-performance alarm system. In providing an alarm system.

도 1은 본 발명인 차량 충돌경보 시스템의 구성을 설명하기 위한 블록도,1 is a block diagram for explaining the configuration of the present invention vehicle collision warning system,

도 2는 도 1에 적용된 제어부의 상세 블록도이다.FIG. 2 is a detailed block diagram of the controller applied to FIG. 1.

*도면의 주요부분에 대한 부호설명** Description of Signs of Main Parts of Drawings *

10 : 밀리웨이브 레이더 센서 20 : 디지털 스틸 카메라10: milliwave radar sensor 20: digital still camera

30 : 디지털신호 처리부 40 : 외부 센서부30: digital signal processing unit 40: external sensor unit

50 : 제어부 60 : 경보음 발생부50: control unit 60: alarm sound generating unit

70 : 디스플레이부 41 : 차속센서70: display unit 41: vehicle speed sensor

42 : 방향지시등 작동감지센서 43 : 조향센서42: direction indicator light sensor 43: steering sensor

44 : 와이퍼 작동감지센서 45 : 브레이크 작동감지센서44: wiper operation detection sensor 45: brake operation detection sensor

46 : 노면감지센서 51 : 신호처리부46: road surface detection sensor 51: signal processing unit

52 : 대상체 감지부 53 : 운전상황 감지부52: object detection unit 53: driving situation detection unit

54 : 위험평가 감지부54: risk assessment detection unit

이와 같은 목적을 달성하기 위한 본 발명에 따른 차량에 있어서, 본 발명의 장치는 선행차량에 소정 주파수대역의 신호를 전파하고, 선행차량에 의해 되돌아오는 신호를 수신하며, 수신된 신호에 의해 선행차량과의 상대거리 및 속도를 연산하는 밀리웨이브 레이더 센서와, 디지털 스틸 카메라를 통해 촬영된 전방의 차선 및 선행차량에 대한 디지털신호를 분석하여 자차와의 각도를 추정하여 대상체 각도신호를 출력하는 디지털신호 처리부와, 차량 운행시 차량의 각 부분에 설치된 센서를 통해 현재의 운전환경 변화를 감지하는 외부 센서부와, 밀리웨이브 레이더 센서의 상대거리 및 상대속도, 디지털신호 처리부의 대상체 각도, 외부 센서부의 자차에 대한 운전환경 변화를 판단하기 위한 신호를 입력받아 자차와 선행차량 상호간의 거리를 인식하고, 인식된 거리에 따라 거리표시 제어신호를 출력함과 동시에 인식된 거리와 설정된 경보거리를 비교하여 단속음 또는 연속적인 경보음이 출력되도록 제어하는 제어부와, 제어부의 제어신호에 따라 단속음 또는 연속적인 경보음을 발생시키는 경보음 발생부와, 제어부의 거리표시 제어신호에 따라 자차와 선행차량 상호간의 거리를 운전자가 알 수 있도록 표시하는 디스플레이부로 구성됨을 특징으로 한다.In the vehicle according to the present invention for achieving the above object, the device of the present invention propagates a signal of a predetermined frequency band to the preceding vehicle, receives a signal returned by the preceding vehicle, the preceding vehicle by the received signal Millimeter wave radar sensor that calculates the relative distance and speed with the digital signal, and digital signal that analyzes the digital signal of the front lane and the preceding vehicle captured by the digital still camera and estimates the angle with the own vehicle to output the object angle signal. External sensor unit for detecting the change in the current driving environment through the processing unit, sensors installed in each part of the vehicle when driving the vehicle, relative distance and relative speed of the milliwave radar sensor, the object angle of the digital signal processing unit, the vehicle of the external sensor unit Recognize the distance between own vehicle and preceding vehicle by receiving signal to judge the change of driving environment The control unit outputs the distance display control signal according to the recognized distance and compares the recognized distance with the set alarm distance to control the intermittent sound or continuous alarm sound, and the intermittent sound or continuous alarm according to the control signal of the controller. And an alarm sound generating unit for generating a sound, and a display unit for displaying the distance between the host vehicle and the preceding vehicle according to the distance display control signal of the controller.

이하, 첨부한 도면들을 참조하여 본 발명의 바람직한 실시 예를 상세히 기술하기로 한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 1은 본 발명인 차량 충돌경보 시스템의 구성을 설명하기 위한 블록도이고, 도 2는 도 1에 적용된 제어부의 상세 블록도로서, 그 구성은 다음과 같다.1 is a block diagram for explaining the configuration of the present invention vehicle collision warning system, Figure 2 is a detailed block diagram of the control unit applied to Figure 1, the configuration is as follows.

밀리웨이브 레이더 센서(10)는 선행차량에 소정 주파수대역의 신호를 전파하고, 선행차량에 의해 되돌아오는 신호를 수신하며, 수신된 신호에 의해 선행차량과의 상대거리 및 속도를 연산하고, 이에 대한 신호를 출력한다.The milliwave radar sensor 10 propagates a signal of a predetermined frequency band to the preceding vehicle, receives a signal returned by the preceding vehicle, calculates a relative distance and speed with the preceding vehicle based on the received signal, and Output the signal.

상술한 밀리웨이브 레이더 센서(10)는 77㎓ 주파수대역을 갖는 송수신 겸용 레이더 센서이다.The above-described milliwave radar sensor 10 is a dual transmit / receive radar sensor having a 77 kHz frequency band.

디지털신호 처리부(30)는 디지털 스틸 카메라(20)를 통해 촬영된 전방의 차선 및 선행차량에 대한 디지털신호를 분석하여 자차와의 각도를 추정하여 대상체 각도신호를 출력한다.The digital signal processor 30 analyzes the digital signals of the front lane and the preceding vehicle photographed by the digital still camera 20, estimates the angle with the host vehicle, and outputs an object angle signal.

즉, 상술한 디지털신호 처리부(30)는 카메라(20)에서 입력되는 화상신호를 이미지 프로세싱을 이용하여 차선을 구별하고, 라인 상에서의 자차의 위치를 판단하며, 전방의 물체가 차량인지 가로수인지를 구별하여 선행차량과의 대상체 각도신호를 출력하는 것이다.That is, the above-described digital signal processing unit 30 distinguishes lanes using image processing from an image signal input from the camera 20, determines the position of the host vehicle on the line, and determines whether the object in front is a vehicle or a roadside tree. Differentiating and outputting the object angle signal from the preceding vehicle.

외부 센서부(40)는 차량 운행시 차량의 각 부분에 설치된 센서를 통해 현재의 운전환경 변화를 감지하고, 이에 대한 신호를 각 출력한다.The external sensor unit 40 detects a change in the current driving environment through a sensor installed in each part of the vehicle while driving the vehicle, and outputs a signal for each.

상술한 외부 센서부(40)는 자차의 속도를 검출하는 차속센서(41)와, 좌측 또는 우측 회전시 운전자가 작동시키는 방향지시등의 작동신호를 감지하여 온 또는 오프의 방향지시등 작동신호를 출력하는 방향지시등 작동감지센서(42)와, 조향장치의 회전각도를 검출하는 조향센서(43)와, 운전자가 작동시키는 와이퍼의 작동여부를 감지하여 온 또는 오프의 와이퍼 작동신호를 출력하는 와이퍼 작동감지센서(44)와, 운전자가 작동시키는 브레이크의 작동여부를 감지하여 온 또는 오프의 브레이크 작동신호를 출력하는 브레이크 작동감지센서(45)와, 도로의 노면상태를 검출하여 노면감지신호를 출력하는 노면감지센서(46)로 구성된다.The external sensor unit 40 detects the vehicle speed sensor 41 that detects the speed of the host vehicle, and detects an operation signal such as a direction indicator that the driver operates when the driver rotates left or right to output an on or off direction indicator operation signal. Direction indicator light operation detection sensor 42, steering sensor 43 for detecting the rotation angle of the steering device, and the wiper operation detection sensor for outputting the wiper operation signal of the on or off by detecting the operation of the wiper operated by the driver (44), the brake operation detection sensor 45 for detecting whether the brake is operated by the driver to output an on or off brake operation signal, and the road surface detection for detecting the road surface condition of the road and outputting a road surface detection signal. It consists of a sensor 46.

제어부(50)는 밀리웨이브 레이더 센서(10)의 상대거리 및 상대속도, 디지털신호 처리부(30)의 대상체 각도, 외부 센서(40)의 자차에 대한 운전환경 변화를 판단하기 위한 신호를 입력받아 자차와 선행차량 상호간의 거리를 인식하고, 인식된 거리에 따라 거리표시 제어신호를 출력함과 동시에 인식된 거리와 설정된 경보거리를 비교하여 단속음 또는 연속적인 경보음이 출력되도록 제어한다.The controller 50 receives a signal for determining a relative distance and relative speed of the milliwave radar sensor 10, an object angle of the digital signal processor 30, and a change in driving environment with respect to the host vehicle of the external sensor 40. Recognizes the distance between the vehicle and the preceding vehicle, outputs the distance display control signal according to the recognized distance, and compares the recognized distance with the set alarm distance to control the intermittent sound or the continuous alarm sound.

상술 제어부(50)는 자차와 인식된 대상체와의 거리가 설정된 경보거리에 근접하는 경우 짧은 단속음이 발생되도록 제어하고, 인식된 거리가 설정된 경보거리보다 짧아지는 경우 연속적인 경보음이 발생되도록 제어한다.The controller 50 controls a short intermittent sound to be generated when the distance between the host vehicle and the recognized object is close to the set alarm distance, and generates a continuous alarm sound when the recognized distance is shorter than the set alarm distance. .

또한, 상술한 제어부(50)는 밀리웨이브 레이더 센서(10)에서 입력되는 상대거리 및 상대속도를 신호처리하여 출력하는 신호처리부(51)와, 디지털신호 처리부(30)의 대상체각도, 차속센서(41)의 자차속도, 조향센서(43)의 조향각도 및 신호처리부(51)의 출력신호에 의해 자차의 전방에 위치하는 대상체를 감지하는 대상체 감지부(52)와, 상술한 신호처리부(51)의 출력신호, 방향지시등 작동감지센서(42)의 방향지시등 작동신호, 조향센서(43)의 조향각도 및 와이퍼 작동감지센서(44)의 와이퍼 작동신호에 의해 현재 자차의 운전환경 변화를 감지하는 운전상황 감지부(53)와, 신호처리부(51)의 출력신호, 대상체 감지부(52)의 출력신호, 운전상황 감지부(53)의 출력신호, 노면감지센서(46)의 노면감지신호, 브레이크 작동감지센서(46)의 브레이크 작동신호 및 차속센서(41)의 자차속도에 의해 연산되는 자차와 대상체와의 거리가 설정된 경보거리에 근접했는지를 판단하여 경보신호를 출력하는 위험평가 감지부(54)로 구성된다.In addition, the controller 50 may include a signal processor 51 for signal-processing and outputting a relative distance and a relative speed input from the milliwave radar sensor 10, an object angle of the digital signal processor 30, and a vehicle speed sensor ( An object detector 52 for detecting an object located in front of the vehicle by the vehicle speed of the vehicle 41, the steering angle of the steering sensor 43, and the output signal of the signal processor 51, and the signal processor 51 described above. To detect a change in the driving environment of the current vehicle by the output signal of the direction indicator, the operation indicator of the operation detection sensor 42, the steering angle of the steering sensor 43, and the wiper operation signal of the wiper operation detection sensor 44 The situation detection unit 53, the output signal of the signal processing unit 51, the output signal of the object detection unit 52, the output signal of the driving situation detection unit 53, the road surface detection signal of the road surface detection sensor 46, the brake The brake operation signal of the operation detection sensor 46 and the vehicle speed sensor 41 It is composed of a risk evaluation detection unit 54 for outputting an alarm signal by determining whether the distance between the host vehicle and the object calculated by the host vehicle speed is close to the set alarm distance.

경보음 발생부(60)는 상술한 제어부(50)의 제어신호에 따라 단속음 또는 연속적인 경보음을 발생시킨다.The alarm sound generator 60 generates an intermittent sound or a continuous alarm sound according to the control signal of the controller 50 described above.

디스플레이부(70)는 상술한 제어부(50)의 거리표시 제어신호에 따라 자차와 선행차량 상호간의 거리를 운전자가 알 수 있도록 디스플레이하는데, 거리표시단위는 m이다.The display unit 70 displays the distance between the host vehicle and the preceding vehicle so that the driver knows the distance according to the above-described distance display control signal of the controller 50. The distance display unit is m.

이와 같이 구성된 본 발명에 따른 차량 충돌경보 시스템의 동작을 첨부한 도면을 참조하여 좀 더 구체적으로 설명한다.The operation of the vehicle collision warning system according to the present invention configured as described above will be described in more detail with reference to the accompanying drawings.

차량의 전방 소정의 위치에 밀리웨이브 레이더 센서(10)와 디지털 스틸 카메라(20)가 장착된 차량이 주행중일 경우 밀리웨이브 레이더 센서(10)에 구비된 송신부는 주기적으로 77㎓주파수대역의 신호를 전파하게 되고, 전파된 신호는 선행차량에 부딪쳐 자차로 되돌아오게 되면 밀리웨이브 레이더 센서(10)에 구비된 수신부가 이를 수신하여 자차와 선행차량 상호간의 거리 및 속도를 산출하여 제어부(50)로 출력한다.When the vehicle equipped with the milliwave radar sensor 10 and the digital still camera 20 is driving at a predetermined position in front of the vehicle, the transmitter provided in the milliwave radar sensor 10 periodically outputs a signal of 77 kHz frequency band. When the propagated signal hits the preceding vehicle and returns to the own vehicle, the receiver provided in the milliwave radar sensor 10 receives the received signal and calculates the distance and speed between the own vehicle and the preceding vehicle and outputs it to the controller 50. do.

또한, 디지털 스틸 카메라(20)는 주기적으로 자차의 전방 환경을 촬상하게 되고, 이 촬상된 화상신호를 디지털신호 처리부(30)로 출력한다. 그러면 디지털신호 처리부(30)는 화상신호를 처리하여 차선의 구별, 라인 상에서의 자차의 위치 및 자차의 전방에 위치하는 것이 차량인지 가로수인지 등을 구별하여 자차와 선행차량과의 대상체 각도를 산출하여 제어부(50)로 출력한다.In addition, the digital still camera 20 periodically photographs the front environment of the host vehicle, and outputs the captured image signal to the digital signal processing unit 30. Then, the digital signal processor 30 processes the image signal to calculate the object angle between the host vehicle and the preceding vehicle by distinguishing the lane, the position of the host vehicle on the line, and whether the vehicle is located in front of the host vehicle or the roadside tree. Output to the controller 50.

한편, 제어부(50)는 상술한 밀리웨이브 레이더 센서(10)와 디지털신호 처리부(30)에서 입력된 선행차량과의 거리와 속도정보 및 차선과 대상체의 각도 등에 의한 정보를 알 수 있으며, 또한 다수의 외부센서(40)인 와이퍼 작동감지센서(44)를 통해 기후를 감안하게 되고, 조향센서(43)에 의해 조향장치의 틀어짐에 의한 도로의 곡선상태를 알 수 있으며, 방향지시등 작동감지센서(42)에 의해 자차의 차선변경 유무 상태를 알 수 있다.On the other hand, the controller 50 can know the distance and the speed information of the preceding vehicle input from the above-described milliwave radar sensor 10 and the digital signal processing unit 30 and the information by the angle of the lane and the object, etc. Considering the weather through the wiper operation sensor 44, which is an external sensor of the 40, the steering sensor 43 can know the curved state of the road due to the steering device is distorted, the direction indicator light operation sensor ( 42) it is possible to know the lane change status of the own vehicle.

그러므로 제어부(50)에 구비된 신호처리부(51)는 상대거리 및 상대속도에 대한 정보를 제어부(50)가 인식할 수 있는 신호로 처리하여 대상체 감지부(52), 운전상황 감지부(53) 및 위험평가 감지부(54)로 출력한다.Therefore, the signal processor 51 provided in the controller 50 processes the information on the relative distance and the relative speed into a signal that can be recognized by the controller 50, thereby detecting the object detector 52 and the driving situation detector 53. And outputs to the risk assessment detection unit 54.

그러면, 대상체 감지부(52)는 차속센서(41)에서 입력되는 자차속도, 조향센서(43)에서 입력되는 조향각도를 신호처리부(51)에서 입력되는 선행차량과의 상대거리 및 속도와 결합하여 선행차량인 대상체의 위치를 감지하게 된다.Then, the object detecting unit 52 combines the host vehicle speed input from the vehicle speed sensor 41 and the steering angle input from the steering sensor 43 with the relative distance and the speed of the preceding vehicle input from the signal processor 51. The position of the object that is the preceding vehicle is sensed.

또한, 운전상황 감지부(53)는 방향지시등 작동감지센서(42)에서 입력되는 방향지시등 작동 유무신호와 조향센서(43)에서 입력되는 조향각도와 와이퍼 작동감지센서(44)의 와이퍼 작동 유무신호를 신호처리부(51)에서 입력되는 선행차량과의 상대거리 및 속도와 결합하여 현재 자차의 주위환경을 판단하게 된다.In addition, the driving condition detection unit 53 provides the direction indicator operation signal input from the direction indicator operation detection sensor 42 and the steering angle input from the steering sensor 43 and the wiper operation signal of the wiper operation detection sensor 44. The surrounding environment of the current host vehicle is determined by combining with the relative distance and the speed of the preceding vehicle input from the signal processor 51.

최종적으로 위험평가 감지부(54)는 상술한 블록(51)(52)(53)에서 입력되는 자차와 대상체인 선행차량과의 관계 및 자차의 주변환경을 판단할 수 있는 신호에 노면감지센서(46)에서 입력되는 주행중인 도로의 노면상태를 감지한 신호 및 브레이크 작동감지센서(45)에서 입력되는 브레이크 작동 유무신호를 결합시켜 자차와 선행차량 간의 거리가 설정된 경보거리에 근접하게 되면 위험평가 감지부(54)는 경보음 발생부(60)를 제어하여 짧게 단속음이 발생되도록 제어하고, 경보음 발생부(60)에서 짧게 단속음이 발생된 후에도 계속적으로 자차와 선행차량과의 거리가 가까워지게 되면 위험평가 감지부(54)는 연속적인 경보음이 발생될 수 있도록 경보음 발생부(60)를 제어하게 된다.Finally, the risk assessment detection unit 54 detects a road surface sensor in response to a signal capable of determining the relationship between the host vehicle input from the above-described blocks 51, 52, 53 and the preceding vehicle as an object, and the surrounding environment of the host vehicle. 46) combines a signal that detects the road surface condition of the road being driven and a brake operation presence signal input from the brake operation sensor 45 to detect a risk assessment when the distance between the own vehicle and the preceding vehicle approaches the set alarm distance. The control unit 54 controls the alarm sound generating unit 60 to generate a short intermittent sound and continues to approach the distance between the own vehicle and the preceding vehicle even after a short intermittent sound is generated in the alarm sound generating unit 60. The risk assessment detection unit 54 controls the alarm sound generation unit 60 to generate a continuous alarm sound.

물론, 자차와 선행차량과의 거리를 m 단위로 하여 디스플레이부(70)에 디스플레이시킴으로써, 선행차량과의 거리를 운전자가 인식하여 선행차량과의 일정하게 안전거리를 유지하면서 운전할 수 있도록 한다.Of course, by displaying the distance between the host vehicle and the preceding vehicle in m units, the display unit 70 displays the distance between the preceding vehicle and the driver so that the driver can drive while maintaining a constant safety distance with the preceding vehicle.

따라서, 상술한 바와 같이 본 발명은 밀리웨이브 레이더 센서와 디지털 스틸 카메라를 이용하여 차량 충돌경보 시스템을 구축함으로써, 곡선주로에서 마주 오는 차량을 쉽게 인식할 수 있으며, 언덕 또는 내리막길에서도 선행차량을 감지할 수 있으며, 움직이는 물체에 대해서도 정확하게 판단 할 수 있어 매우 안정적인 충돌경보 시스템을 구축시킬 수 있으며, 자차의 외부에 구비된 각종 센서로부터 입력되는 정보에 의해 보다 한국적 지형에 알맞은 충돌경보 시스템을 구축시킬 수 있다는 효과가 있다.Therefore, as described above, the present invention constructs a vehicle collision alarm system using a milliwave radar sensor and a digital still camera, thereby easily recognizing a vehicle facing a curved road, and detecting a preceding vehicle even on a hill or a downhill road. It is possible to accurately determine the moving objects, so it is possible to build a very stable collision alarm system, and to build a collision alarm system that is more suitable for Korean terrain by the information input from various sensors provided on the outside of the vehicle. There is an effect.

Claims (6)

선행차량에 소정 주파수대역의 신호를 전파하고, 선행차량에 의해 되돌아오는 신호를 수신하며, 수신된 신호에 의해 선행차량과의 상대거리 및 속도를 연산하는 밀리웨이브 레이더 센서;A milliwave radar sensor that propagates a signal of a predetermined frequency band to the preceding vehicle, receives a signal returned by the preceding vehicle, and calculates a relative distance and speed with the preceding vehicle based on the received signal; 디지털 스틸 카메라를 통해 촬영된 전방의 차선 및 선행차량에 대한 디지털신호를 분석하여 자차와의 각도를 추정하여 대상체 각도신호를 출력하는 디지털신호 처리부;A digital signal processor configured to analyze the digital signals of the front lane and the preceding vehicle photographed by the digital still camera to estimate an angle with the own vehicle and output an object angle signal; 차량 운행시 차량의 각 부분에 설치된 센서를 통해 현재의 운전환경 변화를 감지하는 외부 센서부;An external sensor unit for detecting a current driving environment change through a sensor installed in each part of the vehicle when the vehicle is driven; 상기 밀리웨이브 레이더 센서의 상대거리 및 상대속도, 디지털신호 처리부의 대상체 각도, 외부 센서부의 자차에 대한 운전환경 변화를 판단하기 위한 신호를 입력받아 자차와 선행차량 상호간의 거리를 인식하고, 인식된 거리에 따라 거리표시 제어신호를 출력함과 동시에 인식된 거리와 설정된 경보거리를 비교하여 단속음 또는 연속적인 경보음이 출력되도록 제어하는 제어부;Recognizes the distance between the host vehicle and the preceding vehicle by receiving a signal for determining the relative distance and relative speed of the milliwave radar sensor, the object angle of the digital signal processor, and a change in the driving environment for the host vehicle of the external sensor unit. A control unit for outputting a distance display control signal and controlling the output of an intermittent sound or a continuous alarm sound by comparing the recognized distance with a set alarm distance; 상기 제어부의 제어신호에 따라 단속음 또는 연속적인 경보음을 발생시키는 경보음 발생부; 및An alarm sound generator for generating an intermittent sound or a continuous alarm sound according to the control signal of the controller; And 상기 제어부의 거리표시 제어신호에 따라 자차와 선행차량 상호간의 거리를 운전자가 알 수 있도록 디스플레이하는 디스플레이부로 구성된 것을 특징으로 하는 차량 충돌경보 시스템.And a display unit configured to display the distance between the own vehicle and the preceding vehicle so that the driver knows the distance between the own vehicle and the preceding vehicle according to the distance display control signal of the controller. 제 1 항에 있어서, 상기 밀리웨이브 레이더 센서는;The method of claim 1, wherein the milliwave radar sensor; 77㎓ 주파수대역을 갖는 송수신 겸용 레이더 센서임을 특징으로 하는 차량 충돌경보 시스템.Vehicle collision warning system characterized in that the transmission and reception radar sensor having a 77 kHz frequency band. 제 1 항에 있어서, 상기 디지털신호 처리부는;The digital signal processing apparatus of claim 1, wherein the digital signal processing unit; 카메라에서 입력되는 화상신호를 이미지 프로세싱을 이용하여 차선을 구별하고, 라인 상에서의 자차의 위치를 판단하며, 전방의 물체가 차량인지 가로수인지를 구별하여 대상체 각도신호를 출력함을 특징으로 하는 차량 충돌경보 시스템.Vehicle collision characterized in that the image signal input from the camera is distinguished between lanes by using image processing, the position of the host vehicle on the line is determined, and the object angle signal is output by distinguishing whether the object in front of the vehicle is a vehicle or a roadside tree. Alarm system. 제 1 항에 있어서, 상기 외부 센서부는;The apparatus of claim 1, wherein the external sensor unit; 자차의 속도를 검출하는 차속센서;A vehicle speed sensor detecting a speed of the host vehicle; 좌측 또는 우측 회전시 운전자가 작동시키는 방향지시등의 작동신호를 감지하여 온 또는 오프의 방향지시등 작동신호를 출력하는 방향지시등 작동감지센서;A direction indicator operation detection sensor which detects an operation signal of a direction indicator that the driver operates when the driver turns left or right and outputs an operation signal of an on or off direction; 조향장치의 회전각도를 검출하는 조향센서;A steering sensor for detecting a rotation angle of the steering device; 운전자가 작동시키는 와이퍼의 작동여부를 감지하여 온 또는 오프의 와이퍼 작동신호를 출력하는 와이퍼 작동감지센서;A wiper operation sensor for detecting whether the driver operates the wiper and outputting an on or off wiper operation signal; 운전자가 작동시키는 브레이크의 작동여부를 감지하여 온 또는 오프의 브레이크 작동신호를 출력하는 브레이크 작동감지센서; 및A brake operation detection sensor configured to output a brake operation signal of on or off by sensing whether the driver operates the brake; And 도로의 노면상태를 검출하여 노면감지신호를 출력하는 노면감지센서로 구성된 것을 특징으로 하는 차량 충돌경보 시스템.A vehicle collision warning system comprising a road surface detection sensor for detecting a road surface condition of the road and outputting a road surface detection signal. 제 1 항에 있어서, 상기 제어부는;The method of claim 1, wherein the control unit; 자차와 인식된 대상체와의 거리가 설정된 경보거리에 근접하는 경우 짧은 단속음이 발생되도록 제어하고, 인식된 거리가 설정된 경보거리보다 짧아지는 경우 연속적인 경보음이 발생되도록 제어하는 것을 특징으로 하는 차량 충돌경보 시스템.When the distance between the own vehicle and the recognized object is close to the set alarm distance, a short intermittent sound is generated, and when the recognized distance is shorter than the set alarm distance, the vehicle collision is controlled to generate a continuous alarm sound. Alarm system. 제 1 항에 있어서, 상기 제어부는;The method of claim 1, wherein the control unit; 상기 밀리웨이브 레이더 센서에서 입력되는 상대거리 및 상대속도를 신호처리하여 출력하는 신호처리부;A signal processor for signal-processing and outputting a relative distance and a relative speed input from the milliwave radar sensor; 상기 디지털신호 처리부의 대상체각도, 외부 속도센서의 자차속도, 조향센서의 조향각도 및 신호처리부의 출력신호에 의해 자차의 전방에 위치하는 대상체를 감지하는 대상체 감지부;An object detector for detecting an object located in front of the host vehicle by an object angle of the digital signal processor, a host vehicle speed of an external speed sensor, a steering angle of a steering sensor, and an output signal of the signal processor; 상기 신호처리부의 출력신호, 방향지시등 작동센서의 작동신호, 조향센서의 조향각도 및 와이퍼 작동센서의 작동신호에 의해 현재 자차의 운전환경 변화를 감지하는 운전상황 감지부; 및A driving situation detection unit for detecting a change in the driving environment of the current vehicle by an output signal of the signal processing unit, an operation signal of a direction indicator light operation sensor, a steering angle of a steering sensor, and an operation signal of a wiper operation sensor; And 상기 신호처리부의 출력신호, 대상체 감지부의 출력신호, 운전상황 감지부의 출력신호, 외부 노면감지센서의 노면감지신호, 브레이크 작동센서의 작동신호 및 속도센서의 자차속도에 의해 연산되는 자차와 대상체와의 거리를 설정된 경보거리와 비교하여 경보신호를 출력하는 위험평가 감지부로 구성된 것을 특징으로 하는 차량 충돌경보 시스템.Between the subject and the subject calculated by the output signal of the signal processor, the output signal of the object detection unit, the output signal of the driving condition detection unit, the road surface detection signal of the external road surface sensor, the operation signal of the brake operation sensor and the vehicle speed of the speed sensor Vehicle collision alarm system comprising a risk assessment detection unit for outputting an alarm signal by comparing the distance with the set alarm distance.
KR1019980044723A 1998-10-24 1998-10-24 System for alarming collision of vehicle KR20000026957A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100471268B1 (en) * 2002-10-28 2005-03-10 현대자동차주식회사 Method for detecting vehicle distance
KR101115138B1 (en) * 2005-10-04 2012-02-24 현대자동차주식회사 Car pre-crash safety system
US8604967B2 (en) 2009-10-07 2013-12-10 Electronics And Telecommunications Research Institute System and method for providing driving safety

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100471268B1 (en) * 2002-10-28 2005-03-10 현대자동차주식회사 Method for detecting vehicle distance
KR101115138B1 (en) * 2005-10-04 2012-02-24 현대자동차주식회사 Car pre-crash safety system
US8604967B2 (en) 2009-10-07 2013-12-10 Electronics And Telecommunications Research Institute System and method for providing driving safety

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