KR20000034316A - Apparatus for automatic safety driving of automobile and its control method using traffic lane tracer - Google Patents

Abstract

PURPOSE: An apparatus for automatic safety driving of automobile and its control method using a traffic lane tracer is provided to chase the traffic lane of a drive way automatically by measuring a distance between the front-located object and the automobile itself. CONSTITUTION: An apparatuses are located on the front and lateral sides each, and comprises the followings of: generating the control signal for the distance difference between the lateral tracers of the automobile and the traffic lanes on left and right sides, traffic lane tracer; controlling the wheel direction by rotating a steering column with the response for the control signal of the steering wheel rotation, steering wheel controller; measuring the distance between the front-located object and the automobile by the front tracer, distance measuring apparatus for the front-direction; breaking the wheel rotation with the response for the control signal of the brake, brake controller; supplying the control signal of the steering wheel rotation comparative to the traffic lane tracer above by the steering wheel equalizer above and generating the brake control signal with the response for the distance measurement for the front-direction under the pre-settled distance, controller.

Description

Automatic safe driving device of vehicle using lane tracker and control method thereof

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for automatic safety driving of automobiles, and more particularly, to an apparatus for automatically driving a vehicle along a lane of a lane using a traffic lane tracer and a control method thereof. .

When driving a car, a car collides with a vehicle traveling in front of the driver due to carelessness or poor watch. That is, traffic accidents due to lane departure due to poor visibility and lack of driver's concentration during long distance driving, rainy weather or night driving, and collision with the driving vehicle are increasing. In addition, an inexperienced driver, such as a novice driver, may cause a collision accident without being able to estimate the distance and the driving speed of the vehicle in front of him.

In order to prevent such a collision, a collision prevention system having a near radar attached to a vehicle has been devised. However, in the collision avoidance method, the distance measurement with the front driving vehicle can be detected relatively accurately, but information about the driving lane of the vehicle cannot be detected. In addition, the collision avoidance system using the radar has a problem in that it is not possible to accurately perform the collision avoidance function without measuring the distance from the vehicle in front of the curved lane or the uneven lane during driving.

In order to solve the above problems, the conventional anti-collision system having the radar attached to a plurality of radar in front of the vehicle to detect the vehicle distance information in various directions, or to adjust the direction of the radar using a scanning method Using the method, we tried to solve the problem of fixing the radar view range. However, such a collision avoidance system complicates the adjustment of the radar view range and also has a limitation of the view range.

Accordingly, an object of the present invention is to provide a lane tracker for automatically tracking a lane on a lane.

Another object of the present invention is to provide an automatic safety driving apparatus and a method for automatically following a lane using a lane tracer for tracking a traffic lane marked on a lane.

Another object of the present invention is to provide an automatic safety device and a control method thereof, which can safely drive a vehicle automatically by detecting a lane marked on a lane and measuring a distance between an object located in front of the lane and itself.

The above object of the present invention is to generate a lane tracking control signal indicating a distance difference between left and right sides by comparing and comparing the distance between a traffic lane and a traffic lane located on the front and side sides of the vehicle and located on the left and right sides of the vehicle body, respectively. A lane tracer, a steering wheel adjuster that controls the wheel direction by rotating a steering column in response to a steering wheel rotation control signal, and measures a distance between an object positioned in front of the vehicle and a vehicle positioned in front of the vehicle An omnidirectional distance measurer, a brake control unit for braking the wheel in response to the brake control signal, and a steering wheel rotation control signal corresponding to the lane tracking signal to the steering wheel adjuster, wherein the distance information between the vehicles is preset And a control unit for generating a brake control signal in response to the following. All.

1 is a block diagram of an automatic safety driving apparatus for a vehicle using a line tracker using a lane tracker according to an exemplary embodiment of the present invention.

2A, 2B and 2C are diagrams for explaining an automatic safety driving of a vehicle equipped with an automatic safety driving apparatus for a vehicle using a lane tracker according to an embodiment of the present invention. FIG. 2A is a side view and FIG. 2B is a plan view. Indicates.

3 is a flowchart illustrating an automatic safe driving control using a lane tracker according to an exemplary embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that in the following description, only parts necessary for understanding the operation according to the present invention will be described, and descriptions of other parts will be omitted so as not to obscure the subject matter of the present invention.

1 is a block diagram of an automatic safety driving apparatus for a vehicle using a lane tracker according to an exemplary embodiment of the present invention.

2a, 2b and 2c is an example for explaining the automatic safety driving with the automatic safety driving device using the lane tracker according to an embodiment of the present invention Figure 2a is a side view, Figure 2b is a plan view.

Referring to FIG. 1, reference numeral 10 denotes a lane tracker, which is located on both sides of the front bumper of the vehicle and the lower side of both side doors of the vehicle, to track lanes (white or yellow) drawn on the ground, respectively. First, second, third and fourth tracng haed (12, 14, 16, 18) for detecting and outputting the distance (L1, L2, L3, L4) between the vehicle and the lane, respectively, And a tracking information generator 20 connected to its output. Each of the first to fourth tracking heads 12 to 18 has a lamp (eg, a laser diode) that emits light, a photo transistor, and a mechanism to follow the light emitted from the lamp to a lane on a road.

For example, it includes an optical system for forming the focus of the light emitted from the lamp at a predetermined distance, and a scan motor and a synchronous motor for driving the optical system with the vertical and horizontal axes and the zooming (X, Y, Z axis). In addition to this method, a method of detecting a lane using only an omnidirectional laser diode and a photodiode may be applied. Each of the first to fourth tracking heads 12 to 18 having the above configuration is separately installed on the left and right sides of the vehicle front bumper and the lower sides of both sides, as shown in FIGS. 2A and 2B.

The tracking information generator 20 is distance detection information L1, L2, L3, and L4 output from the first and second tracking heads 12 and 14 and the third and fourth tracking heads 16 and 18, respectively. The first and second lane tracking control signals DELTA L1 and DELTA L2 (where DELTA L1 = L1-L2 and DELTA L2 are calculated values) representing the distance differences between the vehicle and the left and right sides are compared. Accordingly, the vehicle is driven in any lane of both lanes of the vehicle according to a state in which the values of the first and second lane tracking control signals ΔL1 and ΔL2 have a positive or negative value. It is input to the control unit 28 as information which can know whether there exists.

Reference numeral 22 is an inter-vehicle distance detector that measures the distance between the front object and the vehicle by detecting the beam reflected from the front object by firing the laser beam in all directions. In addition to the laser detection method, the inter-vehicle distance detector 22 may also use an apparatus that calculates a distance between a front object and a vehicle by detecting an image output from a charge coupled device (CCD) camera installed in an area of the wind shield. The inter-vehicle distance information FDL output from the inter-vehicle distance detector 22 is input to the controller 28.

The control unit 28 analyzes the first and second tracking control signals ΔL1 and ΔL2 and sets the values to a preset yawing range (a degree of swinging the vehicle body to the left and right as about 1/10 of the lane width). In the case of a value outside the above, the steering wheel control signal corresponding to the value is supplied to the steering wheel adjuster 24 connected to the output node. For example, when the absolute values of the first and second lane tracking control signals ΔL1 and ΔL2 exceed a preset yaw range value, the controller 28 may control the first and second lane tracking control signals ΔL1. , If the value of ΔL2 is a positive value, a steering wheel control signal for rotating the steering in the right direction is output, and a negative value of the ΔL2) outputs a steering wheel control signal for rotating to the left.

In addition, the controller 28 compares the inter-vehicle distance information FDL with preset safety distance information and supplies a brake control signal to the brake control unit 26 connected to the output node when the safety distance signal value is smaller than the safety distance signal value. In this case, the steering wheel control signal is a signal having a rotational direction and a signal for driving a motor for rotating a steering column (not shown) left or right.

The steering wheel adjuster 24 controls the rotation of a steering motor (not shown) connected to a rotating shaft to a steering column according to the input state of the steering wheel control signal to rotate the steering column to the right or left to change the driving direction. Let's do it. Such a steering wheel adjuster 24 can be easily implemented using Utility Model Registration No. 98-20507 (vehicle steering device) filed by the applicant of October 26, 1998.

Meanwhile, the brake controller 26 holds and brakes the brake shoes installed on the four wheels in response to the brake signal output from the controller 28. The brake control unit 26 may use an anti-lock brake system (ABS) which is widely used in this field, or may be electrically operated.

In the above-described automatic safety driving device having the configuration as shown in Figs. 1 and 2, the lanes located on the left and right sides of the driving lane are respectively positioned on the left and right sides of the front bumper and on the lower sides of the vehicle body, respectively. The lane tracker 10 including the third and fourth tracking heads 12, 14, 16, and 18 detects the distance difference ΔL1, ΔL2 between the vehicle and the left and right lanes, and detects the distance difference ΔL1, It can be seen that the vehicle is driven by automatically adjusting the steering by judging which direction the vehicle is driven by ΔL2).

Therefore, the vehicle equipped with the automatic safety driving device according to the embodiment of the present invention can prevent the lane departure accident due to the drowsy driving by automatically driving to the center portion of the road marked with the lane.

3 is a flowchart illustrating an automatic safe driving control using a lane tracker according to an exemplary embodiment of the present invention, which is programmed in a memory in the control unit 28 shown in FIG.

When the apparatus as shown in FIG. 1 is operated, the controller 28 detects the presence or absence of a speed sensing pulse output from a speed sensor (not shown) in step 30 of FIG. 3 to search for driving. If the search result is being driven, the controller 28 inputs the first and second tracking control signals ΔL1 and ΔL2 output from the tracking information generator 20 and the output FDL of the inter-vehicle distance detector 22 in step 32. Then, it is searched whether the values of the first and second tracking control signals ΔL1 and ΔL2 are within a preset yawing range. Here, the yaw range value is a reference tolerance value for determining that the vehicle is in a normal driving state even when the vehicle is biased in a predetermined direction.

If it is determined that the values of the first and second tracking control signals ΔL1 and ΔL2 exceed the preset yaw range in step 34, the controller 28 may determine the first and second tracking control signals ΔL1 in step 36. , ΔL2) determines whether the value has a positive value or a negative value. For example, when the values of the first and second tracking control signals ΔL1 and ΔL2 have positive values (when the values of L1 and L3 are relatively larger than the values of L2 and L4), the controller 28 In step 38, a steering wheel control signal for controlling the steering wheel to the right is output.

By such a control signal, the steering wheel adjuster 24 adjusts the front wheel to the right direction to control the driving direction of the vehicle. If the values of the first and second tracking control signals ΔL1 and ΔL2 have negative values (when the values of L1 and L3 are relatively smaller than the values of L2 and L4), the controller 28 may perform the process in step 40. The front wheel is moved in the right direction by outputting a steering wheel control signal for controlling the steering wheel in the left direction. Therefore, by controlling the steering motor connected to the steering column so that the values (ΔL1, ΔL2) of the distance difference between both sides and both sides of the front of the vehicle are almost " 0 " The vehicle will travel in the center of the lanes without adjusting the steering wheel.

On the other hand, the controller 28 performing the process 38 or 40 detects whether the inter-vehicle distance information FDL is within a preset safety distance in step 42. Here, the safety distance is a distance corresponding to the speed and is automatically set to a value of about 1/10 of the traveling speed. For example, if the driving speed is 100km / h, the safety distance is about 100m. If it is determined that the inter-vehicle distance information FDL is less than the safety distance value, the controller 28 outputs a brake control signal to the brake controller 26 in step 44 of FIG. Slow down.

Therefore, the automatic safety driving device having control processes as shown in FIG. 3 automatically tracks the marked lanes on the road, and automatically brakes when the distance between the front object and the vehicle is less than the safety distance. By securing it, accidents caused by drowsy driving can be prevented. In addition, when operating in conjunction with the navigation system it is possible to automatically drive the vehicle to the desired destination can improve the performance of the vehicle.

As described above, the present invention automatically tracks lanes marked on both sides of the lane and travels therein, and measures the distance between objects located in front of the vehicle to automatically adjust the speed to prevent accidents such as drowsy driving. To prevent it. In addition, since the vehicle is automatically driven on the lane marked lanes, the vehicle can be driven very conveniently to a desired destination by linking with a navigation device, and thus will be very useful for an inexperienced driver.

Claims (5)

In the safe driving device of a vehicle using a lane tracker, A lane tracker which is located at the front and side of the vehicle, respectively, and measures first and second lane tracking control signals indicating the distance difference between the left and right sides by measuring and comparing the distance between the lanes located at the left and right sides of the vehicle body and the side of the vehicle body; A steering wheel adjuster for controlling wheel direction by rotating a steering column in response to a steering wheel rotation control signal; And a controller for supplying a steering wheel rotation control signal for rotating the steering column to the steering wheel adjuster so that the subtracted values of the generated first and second lane tracking signals are similar. Automatic safe driving device. The first and second lane trackers of claim 1, wherein the lane trackers are located on both sides of the front bumper of the vehicle and the lower side of both side doors of the vehicle, respectively, to detect the distance between the vehicle and the lane by tracking lanes drawn on the ground. And third and fourth tracking heads, and distance detection information output from the first and second tracking heads and the third and fourth tracking heads, respectively, to indicate the distance difference between the vehicle and the left and right sides, respectively. A vehicle safety driving device using a lane tracker, characterized in that consisting of a tracking information generator for generating a two-lane tracking control signal. The apparatus of claim 1, further comprising an omnidirectional distance measurer which is located in the omnidirectional side of the vehicle and measures a distance between an object positioned in front of the vehicle and a brake controller that brakes rotation of the wheel in response to the brake control signal. A vehicle safe driving device using a lane tracker. The apparatus of claim 3, wherein the controller generates and supplies a brake control signal to the brake controller in response to the inter-vehicle distance information being less than or equal to a predetermined distance. 5. In a method for automatically safe driving control of a vehicle having a steering wheel adjuster for controlling a wheel direction by rotating a steering column in response to a steering wheel rotation control signal, A lane tracking control signal generation process indicating a distance difference between left and right sides by measuring and comparing the distance between the lanes located on the front and side surfaces of the vehicle and the left and right sides of the vehicle body, and Inputting the generated lane tracking control signal and searching whether the value is positive or negative; And a steering adjustment process for rotating the steering column to the right when the lane tracking control signal is a positive value, and rotating the steering column to the outward direction when the lane tracking control signal is a negative value. Way.