KR20010095460A - The method and device of vehicle control to follow the rear of the previous car with a fixed distance at low speed. - Google Patents

The method and device of vehicle control to follow the rear of the previous car with a fixed distance at low speed. Download PDF

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Publication number
KR20010095460A
KR20010095460A KR1020000016509A KR20000016509A KR20010095460A KR 20010095460 A KR20010095460 A KR 20010095460A KR 1020000016509 A KR1020000016509 A KR 1020000016509A KR 20000016509 A KR20000016509 A KR 20000016509A KR 20010095460 A KR20010095460 A KR 20010095460A
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front vehicle
vehicle
distance
handle
process unit
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KR1020000016509A
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Korean (ko)
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한민홍
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한민홍
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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
    • 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
    • B60W30/143—Speed control
    • 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
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • 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
    • 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
    • B60W2420/54—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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2540/12—Brake pedal position
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—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
    • B60Y2300/14—Cruise control
    • B60Y2300/143—Speed control
    • 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

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Controls For Constant Speed Travelling (AREA)

Abstract

PURPOSE: Device and method for self-travelling by maintaining a specific distance with a front vehicle are provided to check a middle portion of the front vehicle and a lane through an image proves system and to control a handle and a pedal along the front vehicle by maintaining the specific distance. CONSTITUTION: An image process system detects a lane and a front vehicle and transmits information about position of the front vehicle into a central process unit. The central process unit calculates a target value for rotating a handle by the position information. In addition, the central process unit commands the speed and the direction of the handle by comparing with AD value of the handle indicating the position of the handle. A distance detect device calculates distance with the front vehicle and supply into the central process unit. Therein, the central process unit calculates relative speed by detecting change of the distance with the front vehicle. Then, the central process unit decides a control target value of an acceleration pedal and a brake pedal by the distance with the front vehicle and the relative speed. Thereby, the image process system controls the pedal and handle by checking a middle portion of the front vehicle and a lane.

Description

저속주행 시 전방차량을 일정거리를 유지하면서 따라가는 자율주행 방법과 그 장치.{The method and device of vehicle control to follow the rear of the previous car with a fixed distance at low speed.}{The method and device of vehicle control to follow the rear of the previous car with a fixed distance at low speed.}

본 발명은 차량 자율주행 기술에 속하는 것으로 , 더욱 상세하게는 저속 주행 시 차량 스스로 차선을 지키고 전방 차량과는 일정한 거리를 유지하면서 전방차량을 정확히 따라가도록 하는 기술이다.The present invention belongs to a vehicle autonomous driving technology, and more particularly, a technology for accurately following a front vehicle while keeping a lane by itself and maintaining a constant distance from the front vehicle when driving at a low speed.

이와 관련된 종래 기술은 차량 정속 주행 기술과 찻간 거리 유지 기술이다. 그런데 종래의 기술은 차량의 속도가 고속일 경우에만 적용될 수 있었으며 앞차의 중앙을 인식하여 이를 따라가는 것은 가능하지 않았다.The related art is a vehicle constant speed driving technology and a distance keeping technology. However, the conventional technology could be applied only when the speed of the vehicle is high, and it was not possible to recognize the center of the front vehicle and follow it.

본 발명이 이루고자 하는 것이 가능하기 위해서는 우선 영상처리 시스템을 통해서 정확한 차선의 검지 및 전방 차량의 중앙부분 검지가 필요하다. 차선은 도로의 명암과 차선의 명암이 뚜렷이 구분되는 성질을 이용하여 통계적 처리를 통해 검지 할 수 있다. 전방 차량의 중앙부분 검지는 세가지 방식으로 감지 할 수 있는데 첫 번째는 일반 차량의 번호판이 대개 차량의 중앙에 위치한다는 사실을 이용하여 전방 차량 후미의 번호판의 위치를 탐지하는 방법이다. 두 번째 방식은 전방차량의 미등이 좌우 대칭이 되는 성질을 이용한다. 즉 차량의 미등은 브레이크를 밟을 경우 불이 들어오게 되고 이때 화면에 나타나는 특징을 이용하여 미등을 인식할 수 있다. 미등이 인식된 경우 두 개의 미등 가운데를 차량의 중앙으로 인식하면 된다. 세 번째 방식은 차량의 양 옆 윤곽을 영상처리를 통하여 인식하는 것이다.In order to be able to achieve the present invention, first, accurate lane detection and center portion detection of the front vehicle are required through an image processing system. Lanes can be detected through statistical processing using the distinction between road contrast and light contrast. The central part of the vehicle in front of the vehicle can be detected in three ways. The first method is to detect the position of the license plate at the rear of the vehicle by using the fact that the license plate of a general vehicle is usually located in the center of the vehicle. The second method uses the property that the taillights of the vehicle ahead are symmetrical. In other words, the tail light of the vehicle is turned on when the brake is applied, and the tail light can be recognized by using the features displayed on the screen. If the taillights are recognized, the middle of the two taillights can be recognized as the center of the vehicle. The third method is to recognize the side contours of the vehicle through image processing.

차선과 전방차량의 중앙부분이 검지된 다음 필요한 것은 일정한 거리를 유지하면서 전방차량을 정확히 따라갈 수 있도록 하는 핸들과 페달의 제어이다. 핸들 제어는 영상처리시스템으로부터 전송되는 차선 및 전방 차량의 위치(전방차량중앙의 위치)정보를 이용한다. 즉 전송되는 위치정보로부터 차량이 나아가야 할 방향을 계산할 수 있으며 이를 핸들을 돌려야하는 목표 값으로 환산하여 핸들제어 모터를 구동하면 된다.After the center of the lane and front vehicle has been detected, all that is needed is the control of the steering wheel and pedals to keep the vehicle ahead of the vehicle at a constant distance. The steering wheel control uses the position of the lane and the front vehicle (position of the front vehicle center) transmitted from the image processing system. That is, it is possible to calculate the direction in which the vehicle should go from the transmitted position information, and convert the result to the target value to turn the steering wheel drive motor.

본 발명에서 페달제어는 전방 차량에 대한 상대속도 값과 전방 차량과의 거리를 이용하여 이루어진다. 즉 상대속도(상대속도 = 전방차량의 속도 - 개발 시스템 차량의 속도)가 클수록 가속 페달을 밟아주어야 하며 상대속도가 작을수록 브레이크 페달을 밟아 주어야 한다. 그리고 차량간의 거리가 줄어들수록 브레이크 페달을 밟아 주어야 하며 거리가 늘어날수록 가속페달을 밟아 주어야 할 것이다. 그래서 본 발명 시스템에서는 다음과 같은 계산식을 이용하여 페달을 제어하도록 한다.In the present invention, pedal control is performed by using a relative speed value for the front vehicle and a distance between the front vehicle. In other words, the higher the relative speed (relative speed = the speed of the front vehicle-the speed of the development system vehicle), the more you must step on the accelerator pedal. The smaller the relative speed, the more you must step on the brake pedal. And as the distance between vehicles decreases, the brake pedal should be pressed, and as the distance increases, the accelerator pedal should be pressed. So, in the present system, the pedal is controlled using the following equation.

Val = α상대속도 + β(차간거리-일정유지거리)Val = α relative speed + β (vehicle distance-constant distance)

Val : 페달제어를 위한 계산 값, α : 상대속도의 가중치, β: 찻간거리의 가중치Val: Calculated value for pedal control, α: Weight of relative speed, β: Weight of car distance

즉, Val값이 양수이면 가속페달을 밟아주며 음수이면 브레이크 페달을 밟아 준다.In other words, if the Val value is positive, the accelerator pedal is pressed. If the val value is negative, the brake pedal is pressed.

찻간거리나 상대속도 값은 영상처리 시스템에서 구할 수도 있고, 기존에 제품화되어 나오는 레이저 거리계를 사용하여 얻어낼 수 있다.The distance and relative velocity values can be obtained from an image processing system, or can be obtained using conventional laser rangefinders.

도 1은 전방차량의 인식 및 거리 측정의 방식을 나타낸다.1 illustrates a method of recognizing a front vehicle and measuring a distance.

도 2는 본 발명에서의 차량내 구성장치를 나타낸 것이다.2 shows an in-vehicle device according to the present invention.

도 3은 영상처리시스템에서 영상 처리의 대상과 그 처리 화면을 나타낸 것이다.3 shows an object of an image processing and a processing screen thereof in the image processing system.

도 4는 본 발명시스템의 전체 구조와 그 구성부분의 상호 연관관계 및 각 데이터의 이동을 나타낸 시스템 흐름도 이다.4 is a system flow diagram showing the correlation between the overall structure of the system and its components and the movement of each data.

본 발명 시스템은 차량 전방의 차선검출과 전방 차량 검출을 위한 영상처리 시스템, 전방 차량과의 거리측정을 위한 거리 측정 장치, 차량의 속도를 검출하기 위한 속도 측정 장치, 핸들/페달 제어를 위한 제어장치, 각종 데이터를 분석하고처리하는 중앙처리장치로 구성된다.The present system is an image processing system for detecting lanes in front of a vehicle and detecting a vehicle in front of the vehicle, a distance measuring device for measuring a distance to the vehicle in front of the vehicle, a speed measuring device for detecting a vehicle speed, and a control device for steering wheel / pedal control It consists of a central processing unit that analyzes and processes various data.

영상처리 시스템은 차선과 전방 차량을 검출하여 차선과 전방차량의 위치 정보를 중앙처리 장치로 보내준다. 그러면 중앙처리 장치는 이 위치정보를 이용하여 핸들을 돌려야 할 목표 값을 계산하고 이 목표 값과 현재 핸들의 위치를 나타내는 핸들의 AD값을 비교하여 핸들제어회로 쪽으로 핸들이 얼마나 빨리 어느 방향으로 돌아가야 할지 명령을 내린다. 거리측정장치는 전방 차량과의 거리를 산출해 내어 중앙처리 장치로 보내준다. 이 때 중앙처리장치는 전방 차량과의 거리의 변화를 탐지하여 상대속도를 계산해 내며 상대속도와 앞차와의 거리를 이용하여 브레이크 페달과 가속페달의 제어 목표치를 판단한다. 그런 다음 중앙처리장치는 브레이크페달과 가속페달의 AD값을 읽어내어 제어 목표치와 비교한 후 페달제어장치 쪽으로 브레이크페달과 가속페달을 얼마만큼 어떤 방향으로 움직여야 할 지 명령을 내린다.The image processing system detects lanes and vehicles ahead and sends position information of the lanes and vehicles ahead to the central processing unit. The central processing unit then uses this position information to calculate the target value for which the handle should be turned, and compares this target value with the AD value of the handle that represents the current handle position, and how quickly the handle should return to the handle control circuit. You are told to do it. The range finder calculates the distance to the vehicle ahead and sends it to the central processing unit. At this time, the central processing unit detects the change in distance from the vehicle ahead and calculates the relative speed, and determines the control target value of the brake pedal and the accelerator pedal using the relative speed and the distance between the vehicle ahead. The central processing unit then reads the AD values of the brake pedal and accelerator pedal, compares them to the control targets, and commands the pedal controller how far and how much to move the brake pedal and accelerator pedal.

본 발명에 의하면 운전자는 설이나 추석 귀향 길 도로 정체 상황이나 출퇴근 차량 정체 상황에서 저속 주행하면서 가다 서기를 반복하는 운전을 직접 해야하는 대신에 차량 스스로 운전하도록 맡기면 된다. 즉 운전자는 운전을 차량에 맡긴 채 신문을 보거나 노트북을 이용하여 인터넷에 접속하는 것과 같이 자신이 하고 싶은 일을 할 수 있다. 정체상황에서 저속주행의 상황이 해제되어 운전자에게 "정체가 해제되었으니 운전을 직접 하십시오."라는 경고 방송이 나올 때까지는 운전자는 자신이 하고 싶은 일을 할 수 있어 운전에 빼앗기는 시간을 활용할 수 있다.According to the present invention, the driver may leave the driver to drive the vehicle by himself instead of repeatedly driving while driving at low speed in a snowy or Chuseok returning road congestion or commuting vehicle. This means that the driver can do what he / she wants to do, such as reading a newspaper or using a laptop to access the Internet while leaving the vehicle in the car. The driver can do what he / she wants to do and take advantage of the time it takes to drive until the low speed driving situation is cleared and the driver is alerted, "Please stop driving."

Claims (3)

저속주행 시 차량 스스로 앞차를 일정거리를 유지하면서 따라가는 자율주행방법.Self-driving method that follows the vehicle in front of you at a low speed while maintaining a certain distance. 본 발명에 따른 차량 전반의 구축 시스템.Building system of the overall vehicle according to the present invention. 전방 차량을 영상으로 검지 하는 방식How to detect the vehicle ahead
KR1020000016509A 2000-03-30 2000-03-30 The method and device of vehicle control to follow the rear of the previous car with a fixed distance at low speed. KR20010095460A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101102989B1 (en) * 2009-01-22 2012-01-05 한국수력원자력 주식회사 Overhead crane for inert atmosphere cell
WO2013096277A1 (en) * 2011-12-22 2013-06-27 Caterpillar Inc. System and method for controlling a multi-machine caravan
WO2020014683A1 (en) * 2018-07-13 2020-01-16 Kache.AI Systems and methods for autonomous object detection and vehicle following
US12025981B2 (en) 2020-02-20 2024-07-02 Kache.Al System and method for automatically detecting erratic behaviour of another vehicle with a vehicle's autonomous driving system

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101102989B1 (en) * 2009-01-22 2012-01-05 한국수력원자력 주식회사 Overhead crane for inert atmosphere cell
WO2013096277A1 (en) * 2011-12-22 2013-06-27 Caterpillar Inc. System and method for controlling a multi-machine caravan
WO2020014683A1 (en) * 2018-07-13 2020-01-16 Kache.AI Systems and methods for autonomous object detection and vehicle following
US11422556B2 (en) 2018-07-13 2022-08-23 Kache.AI System and method for detecting a condition prompting an update to an autonomous vehicle driving model
US11573569B2 (en) 2018-07-13 2023-02-07 Kache.AI System and method for updating an autonomous vehicle driving model based on the vehicle driving model becoming statistically incorrect
US11994861B2 (en) 2018-07-13 2024-05-28 Kache.AI System and method for determining a vehicle's autonomous driving mode from a plurality of autonomous modes
US12025981B2 (en) 2020-02-20 2024-07-02 Kache.Al System and method for automatically detecting erratic behaviour of another vehicle with a vehicle's autonomous driving system

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