KR20030001014A - Device and method for crash warning system - Google Patents

Abstract

PURPOSE: A collision alarming apparatus of a vehicle and a method thereof are provided to prevent accidents by alarming the danger of collision promptly and accurately with estimating speed of a vehicle and deciding the collision according to operation of an accelerator and a brake. CONSTITUTION: A collision warning device is composed of a forward distance detecting unit(110) measuring distance from the front obstacle; a rotation detecting unit(120) deciding rotation of a vehicle; a braking detecting unit(130) detecting braking; an acceleration detecting unit(140); a speed detecting unit(150) measuring travel speed; a road state input unit(160) inputting the road surface state; an audio operation detecting unit(170); a central control unit(200) analyzing signals from detecting units, and outputting control signals for lighting brake lamps, stopping the audio system and displaying the distance from the front obstacle; an alarm unit(310) outputting an alarm signal; a brake lamp lighting unit(320) lighting the brake lamps; an audio stop unit(330) stopping the audio system temporarily; and a display unit(340) showing the distance from the front obstacle according to control signals. Accidents are prevented by warning the collision in detecting the obstacle.

Description

Collision warning device of vehicle and its method {Device and method for crash warning system}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a collision warning of a vehicle, and more particularly, to a collision warning apparatus and a method of a vehicle for detecting an obstacle in front of a vehicle and accurately alerting a driver of an own vehicle and a rear vehicle when an obstacle is found.

Usually, in the case of a collision accident that occupies most of traffic accidents, it is often caused by drowsy driving or carelessness of the driver.

In order to prevent such a collision in advance, a system that detects a road ahead of a car to identify an obstacle on the road and warns to avoid a collision with another vehicle when an obstacle is detected is studied.

The conventional warning system researched on the concept as described above measures the distance to the vehicle in the forward direction, and then obtains the relative speed with the front vehicle from the change in time of the measured distance, and compares the relative speed with the relative speed. By calculating, the speed of the front vehicle can be obtained. The speed of the vehicle ahead and the speed of the car can be used to calculate the safety distance required for sudden braking. By comparing the safety distance with the current distance, if the current distance is smaller than the required safety distance, a danger alarm is issued.

As a sensor for detecting the road ahead, various sensor technologies such as a laser, a millimeter wave, and a method using a CCD camera have been studied, but an algorithm for applying such a detector to a vehicle, in particular, to effectively transmit an alarm to a human being The method is weak.

For example, the existing alarm system through the buzzer may cause discomfort to the driver when listening for a long time, which may cause the driver to turn off the alarm device. There is a risk of not recognizing it.

In addition, the existing warning system only warns the driver of the vehicle, and has a disadvantage of not immediately alerting the vehicle chasing the rear of the vehicle, in particular, after the driver takes the brake for about one second to brake Since the brake lights were on, there was a risk of the rear vehicle crashing.

In addition, the existing warning system may cause the driver's concentration to be distracted when the audio light is turned on when the vehicle rotates at the intersection, and inadvertent when a signal is sent from the surrounding vehicles.

In addition, the existing warning system, there is a disadvantage that does not properly utilize the signals of the vehicle's accelerator pedal and brake pedal. For example, the higher the speed of the vehicle, the longer the safety distance with the vehicle ahead. The speed of the vehicle can predict the potential for change in the future, depending on whether the accelerator and brake pedals are activated. That is, the estimated speed of the vehicle can be known in advance. Therefore, it can be used to quickly provide the driver with a warning of the danger of the vehicle, and even though it can greatly contribute to safety, the existing warning system has a disadvantage of not using the signals of the accelerator pedal and brake pedal of the vehicle properly. .

In addition, the existing warning system, by using a steering angle detector to prevent a malfunction during the turning of the vehicle, such a steering angle detector has a disadvantage that it is very difficult to install spatially, there is also a disadvantage that is bulky.

Accordingly, the present invention has been proposed to solve various problems occurring in the warning system of the related art as described above.

SUMMARY OF THE INVENTION An object of the present invention is to provide a collision warning device and a method of a vehicle that detects an obstacle in front of a vehicle and accurately alerts a driver of an own vehicle and a driver of a rear vehicle when an obstacle is detected.

The "collision warning device for cars" according to the present invention for achieving the above object,

A front distance detector for measuring a distance from an obstacle in front of a vehicle currently being driven;

A rotation detector for determining whether the vehicle is rotated;

A braking detector which detects braking of the vehicle;

An acceleration detector for detecting whether the vehicle is accelerated;

A speed sensor for measuring a driving speed of the vehicle;

A road surface state input unit for inputting a road surface state of the vehicle;

An audio motion detection unit configured to detect whether audio of the vehicle is performed;

Analyzes the sensing / input signals output from the front distance detector, the rotation detector, the brake detector, the acceleration detector, the speed detector, the road surface input unit, and the audio motion detector, respectively, and does not collide the collision according to the analysis result. It generates a control signal for generating an alarm / rear braking light to prevent an alarm, a control signal for pausing audio / audio output or a tape playback device, and generating a control signal for displaying a distance to an obstacle in front of it. A central control unit;

An alarm unit for transmitting an alarm signal to the outside according to an alarm control signal output from the central control unit;

A brake light lighting unit for lighting the rear brake light according to the rear brake light lighting control signal output from the central control unit;

An audio stop unit for temporarily stopping audio output from the central control unit or stopping audio output according to a pause control signal of a tape player;

And a display unit for visually displaying the distance to the front obstacle according to the distance display control signal output from the central control unit.

"Crash warning method of the vehicle" according to the present invention for achieving the above object,

Initializing various variables through an initialization process, and determining whether to brake when the initialization is completed;

Calculating a distance to the vehicle in front of the vehicle after receiving a parameter relating to a road surface state input by the driver if the braking state is not determined;

Determining whether to accelerate after calculating the distance, and resetting the distance in a direction of decreasing the calculated distance when it is determined as acceleration;

Comparing the measured distance with the distance measured immediately before the distance is reset or if it is determined to be unaccelerated;

Calculating a relative speed when the current measured distance is smaller than the previous distance as a result of the comparison;

Comparing the calculated relative speed with the speed of the current vehicle, and if the speed of the current vehicle is greater than or equal to the relative speed, determining that the vehicle moves in the same direction, and calculating the speed and safety distance of the vehicle ahead. Wow;

If the relative speed is greater than the speed of the current vehicle, determining that the front vehicle is traveling in the opposite direction and calculating a safety distance;

Comparing the measured current distance with the calculated safety distance and performing an alarm according to the magnitude;

Displaying the measured distance, an alarm determined state, and the like;

And replacing the current measured value with the value measured immediately before the measurement.

1 is a block diagram showing the configuration of a collision warning device for a vehicle according to the present invention,

2 is a flowchart illustrating a collision warning method for a vehicle according to the present invention;

3 is a flowchart illustrating an alarm performing process of FIG. 2;

FIG. 4 is a conceptual diagram of turning measurement in a steady state by a bicycle model in the present invention.

Explanation of symbols for the main parts of the drawings

110 ..... Forward distance detector 120 ..... Rotation detector

130 ..... Braking detector 140 ..... Acceleration detector

150 ..... speed detector 160 ..... road surface input

170 ..... audio motion detector

200 ..... Central control unit 310 ..... Alarm unit

320 ..... brake light on 330 ..... audio stop

340 ..... Display

Hereinafter, described in detail with reference to the accompanying drawings, preferred embodiments of the present invention according to the technical spirit as described above.

Example 1

1 is a block diagram showing the configuration of a collision warning apparatus for a vehicle according to the present invention.

Here, reference numeral 110 denotes a front distance sensing unit installed in front of the vehicle to measure a distance to an obstacle in front of the vehicle in operation by using a laser, a millimeter wave, a CCD camera, etc., and reference numeral 120 determines whether the vehicle is rotated. The reference numeral 130 denotes a brake detecting unit for detecting whether the vehicle is braked, the reference numeral 140 denotes an acceleration detecting unit for detecting whether the vehicle is accelerated, and the reference numeral 150 denotes a driving speed of the vehicle. A speed sensing unit to measure is indicated, reference numeral 160 denotes a road surface state input unit for inputting a road surface state of the vehicle, and reference numeral 170 denotes an audio motion detector that detects whether the vehicle is operating audio.

In addition, reference numeral 200 denotes the front distance detector 110, the rotation detector 120, the brake detector 130, the acceleration detector 140, the speed detector 150, the road surface input unit 160, Analyzes the sensing / input signals output from the audio motion detection unit 170, respectively, and generates an alarm / rear brake light control signal for preventing a collision in advance, and pauses or outputs audio / audio output. A control unit for generating a control signal for the pause of the playback apparatus and generating a control signal for displaying the distance to the front obstacle is shown.

In addition, reference numeral 310 denotes an alarm unit for transmitting an alarm signal to the outside according to the alarm control signal output from the central control unit 200, reference numeral 320 is a rear brake light on control signal output from the central control unit 200. Accordingly, a brake lamp lighting unit for lighting the rear brake lamp is shown, and reference numeral 330 denotes an audio stop unit for pausing audio audio output from the central control unit 200 or pausing the audio output according to a pause control signal of a tape player. Reference numeral 340 denotes a display unit for visually displaying the distance to the front obstacle according to the distance display control signal output from the central control unit 200.

Referring to the operation of the collision warning device for a vehicle according to the present invention configured as described above is as follows.

First, the central control unit 200 initializes each input and output port to determine whether the vehicle collides, and analyzes signals transmitted through the respective sensing unit and the input unit while initializing the variables.

That is, the front distance detecting unit 110 is installed in front of the vehicle, and measures the distance to the front vehicle (or obstacle) by using a laser, a millimeter wave, a CCD camera, and transmits the measured distance to the central control unit 200.

In addition, the rotation detector 120 detects whether the vehicle is rotated by using a steering angle detector installed at the steering wheel of the vehicle or an acceleration sensor that detects lateral acceleration as shown in FIG. 4, and detects the detected value by the central controller 200. To pass on.

In addition, the brake detecting unit 130 checks the voltage of the braking lamp, or mounts a detector on the brake pedal, or mounts a detector on the accelerator pedal to detect that the accelerator pedal floats momentarily, or the stage of the manual transmission is lowered to the bottom. The controller detects whether the brake is detected by using a method such as detecting the detected value, and transmits the detected value to the central controller 200.

In addition, the acceleration detection unit 140 is equipped with a sensor to the acceleration pedal detects the movement of the pedal in the direction of further step change to detect whether the acceleration, and transmits the detection value to the central control unit 200.

In addition, the speed detecting unit 150 measures the driving speed of the vehicle and inputs the same to the central control unit 200, and the road surface state input unit 160 provides a road surface such as a type of road operated by a driver or a type of road friction. The state value is transmitted to the central controller 200.

Next, the audio motion detection unit 170 monitors whether there is a signal change in the audio output signal line of the audio for a predetermined time, and if there is a change in the signal, detects that the output of the audio exists, and if there is no change in the audio The detection value detected as being off is transmitted to the central control unit 200.

Here, the audio motion detection unit 170, when the power is turned on in the audio itself, is not mute (MUTE) state, when the output voice volume to the speaker is a predetermined value or more, a signal indicating that there is audio output audio signal detection signal There may also be a method for transmitting to the central control unit 200.

Meanwhile, the central control unit 200 analyzes each of the sensing signals inputted in this way, generates an alarm / rear braking lamp lighting control signal for preventing a collision in advance, and pauses the audio and audio output according to the analysis result. Or generating a control signal for temporarily stopping the tape reproducing apparatus, and generating a control signal for displaying the distance to the front obstacle.

If each control signal generated here is a signal generated by collision, the audio stop unit 330 temporarily applies the audio output of the audio by applying a signal to the mute terminal of the audio, or by blocking the output of the audio to the speaker. Stopped. Of course, when the tape reproducing apparatus or the like is driven to output audio, the output of the audio can be paused by pausing the reproducing apparatus.

In this state in which the output of the audio is cut off, the alarm unit 310 then operates a buzzer to generate a buzzer sound. The driver can then recognize that there is a risk of collision with the front vehicle (obstacle) and can quickly take action to prevent the collision.

In addition, the braking lamp lighting unit 320 operates at the same time as the operation of the alarm unit 310 and automatically turns on the braking lamp, thereby informing a subsequent vehicle of the current vehicle of a collision risk.

In addition, the display unit 340 displays the distance with the front vehicle (obstacle) measured according to the display control of the central controller 200 as data.

Example 2

2 is a flowchart illustrating a collision warning method for a vehicle according to the present invention.

As shown in this figure, initializing various variables through an initialization process, and determining whether to brake when the initialization is completed (S101 to S102); Measuring distance to the vehicle in front of the vehicle after receiving a parameter related to a road surface state input by the driver if the braking state is not determined as a result of the determination; Determining whether to accelerate after measuring the distance, and resetting the distance in a direction of decreasing the calculated distance if it is determined as acceleration (S106 to S107); Comparing the current measured distance with the distance measured immediately before the distance reset or when it is determined to be unaccelerated (S108); Calculating a relative speed when the current measured distance is smaller than the previous distance (S109); Comparing the calculated relative speed with the speed of the current vehicle, and if the speed of the current vehicle is greater than or equal to the relative speed, determining that the vehicle moves in the same direction, and calculating the speed and safety distance of the vehicle ahead. (S110 to S111); If it is determined that the relative speed is greater than the speed of the current vehicle, determining that the front vehicle is traveling in the opposite direction and calculating the speed and the safety distance of the front vehicle (S112); Comparing the measured current distance with the calculated safety distance and performing an alarm according to the magnitude of the magnitude (S113); Displaying (S114) the measured distance and an alarm determined state; Replacing the current measured value with a value measured immediately before the step (S115); If the braking light is turned on or the current measured distance is greater than or equal to the previous distance, determining that the distance from the vehicle ahead is far and moving to the step S113 with the safety distance set to 0 (S103). Characterized in that made.

Hereinafter, a collision warning method for a vehicle according to the present invention made as described above will be described in detail with reference to FIGS. 3 and 4.

First, in step S101, the central controller 200 initializes each input port and output port by performing an initialization process, and also initializes each setting variable.

In step S102, it is determined whether or not the brake light is turned on. If the braking light is turned on as a result of the braking determination, the controller moves to step S103 to determine that the vehicle is far from the front vehicle. The safety distance at this time is initialized to zero.

Next, when the braking light is not turned on as a result of determining whether the braking is performed, the process moves to step S104 to receive parameters input by the driver. Here, the driver inputs a road surface state value indicating a friction coefficient between the tire and the ground, the freezing time, etc. In the present invention, in order to facilitate the input of the driver's parameters, the road surface state is divided into four states as follows. .

1) dry asphalt

2) Rain

3) Snow

4) Ice

Next, the distance with the front vehicle (obstacle) is measured through the front distance detection unit 110 in step S105, and the measured value is set to the current vehicle distance Dnew.

Next, in step S106, it is checked whether the acceleration state is present. Here, whether the acceleration state is detected by the acceleration detection unit 140, the method of checking whether the change of the acceleration pedal or the like is detected by detecting whether the acceleration, and transmits it to the central control unit 200, the central control unit 200 may determine whether to accelerate.

If it is determined as the acceleration state as a result of the determination, the process moves to step S107 to reset the vehicle distance. This is expected to shorten the distance from the vehicle ahead in a short time if acceleration is detected, so the currently measured vehicle distance value should be reduced. Here, the amount of reducing the vehicle distance during acceleration is multiplied by the speed (V) and the holding time (δt) of the vehicle detected by the speed detecting unit 150 to reduce the value compared to the total distance (Dnew) within 20% of the holding time. Adjust (δt). In this case, the holding time δt may be changed according to vehicle resources and characteristics of the driver, such as acceleration performance of the vehicle.

Next, as described above, when the distance to the front vehicle is reset, or when the vehicle is not in an acceleration state, the vehicle distance Dnew currently measured in step S108 is compared with the previous distance Dold measured immediately before. As a result of the comparison, if the current distance is larger or the same, it is determined that the current distance is far from the front vehicle, and the safety distance is set to zero.

On the contrary, if the current distance is smaller than the previous distance, the flow moves to step S109 to calculate relative velocity.

Here, the relative speed may be defined as a difference between the host vehicle speed (current vehicle speed) and the front vehicle speed. This can be calculated from the temporal change of the distance between the vehicle and the front vehicle as shown in Equation 1 below.

Next, in step S110, the relative speed and the host vehicle speed are compared. As a result of the comparison, when the host vehicle speed is greater than the relative speed, the process moves to step S111, where it is determined that the vehicle is traveling in the same direction as the front vehicle, and the speed and safety distance of the front vehicle are calculated.

Here, the speed Vfront of the front vehicle is calculated by using the host vehicle speed Vself and relative speed from Equation 2 below.

In addition, the safety distance is calculated as the sum of the princess distance and the braking distance. Gongju-distance is the distance that elapses before the driver detects a crisis and takes action. The braking distance means the distance by sliding by the current speed after the brake operation is taken.

Gongju street can be obtained by Equation 3 below.

here The value is a parameter needed to calculate the princess distance. This is defined as the time until the driver of the vehicle senses the braking of the vehicle ahead and brakes. This value fluctuates proportionally according to the relative speed. As shown in [Table 1] below, the equation [Equation 4] is derived based on the experimentally obtained data.

Test Criteria Value Table Relative speed 15km / h or less 1.0 16-35km / h 1.3 36-50 km / h 1.5 51-70 km / h 1.8 More than 71km / h 2.0

Next, the braking distance is calculated according to the direction of the front vehicle speed.

For example, when the vehicle proceeds in the same direction, it is calculated by Equation 5 below.

In addition, when the vehicle proceeds in opposite directions, it is calculated by Equation 6 below.

That is, when the vehicle travels in the same direction, the braking distance may be calculated as a difference between the slip distance when the vehicle in front of the vehicle brakes and the braking slip distance of the own vehicle. In this case, the braking distance may be calculated as the sum of the slip distance of the front vehicle and the slip distance of the own vehicle.

The μ value is a parameter used to calculate the deceleration / acceleration to obtain the braking distance, and is a value to compensate for the fluctuation of the braking distance due to the road surface condition. This value is selected by the driver.

Dry asphalt: 0.8 (initial reference value)

Rain: 0.5

Snow: 0.2

Ice: 0.1

Therefore, the total safety distance is calculated as the sum of the princess distance and the braking distance.

And when driving in the same direction as the front vehicle, the safety distance is calculated by the following equation (7).

On the other hand, as a result of the comparison in step S110, when the relative speed is greater than the own vehicle speed, it is determined that the vehicle travels in the opposite direction in step S112, the front vehicle speed is calculated, and the safety distance is calculated by Equation 8 below. .

Next, in step S113, the alarm operation is performed according to the difference between the calculated safety distance and the currently measured distance.

Figure 3 is a flow chart showing in more detail the process of performing the alarm.

As shown therein, step S201 of determining whether the vehicle is currently rotating; When the current vehicle is in a non-rotating state, comparing the current measured distance and the safety distance (S202); and determining the safety state when the current distance is greater than the safety distance as a result of the comparison (S209); ; If the current measured distance is smaller than the safety distance, determining whether the relative speed is 80 km / h or less and whether the current distance is within 1/3 of the safety distance (S203); If so, the step of checking whether the audio is operating (S205); Stopping the audio only when the audio is operating or the vehicle is currently rotating as a result of the determination (S208); When the determination result is that the audio is inactive, operating the buzzer as a low tone to give a first alarm (S207); Determining whether the current relative speed is 80 km / h or more and the current vehicle distance is within 1/2 of the safety distance as a result of the determination of the step S203; If the current relative speed is 80km / h or more as a result of the checking of the step S204, and the current vehicle distance is within 1/2 of the safety distance, the process moves to the step S205, and the current relative speed is 80km / h. If the current vehicle distance is not within the safety distance 1/2, stop the audio for the second alarm, turn on the brake light and operates the buzzer at the highest level (S206).

The information performing process performed as described above is described in detail.

First, in step S201, it is determined whether the vehicle is currently rotating.

Here, there are various methods for detecting the rotation of the vehicle, but the present invention uses the turning measurement method in the steady state by the bicycle model as shown in FIG.

That is, in order to estimate a change in the steering wheel of the driver, a steering angle manipulated by the driver is calculated using the lateral acceleration and the speed of the vehicle. Assuming that the vehicle is in steady state turning from the bicycle model, the steering angle can be calculated as follows.

For the vehicle model shown in FIG. 4, the equation of motion in the transverse direction of the vehicle can be obtained as follows.

here, = Lateral force (tire's turning force) on the front wheel, = Lateral force (tire force of tire) acting on rear wheel, M = mass of vehicle, V = vehicle speed (input from speed sensor), and R = radius of rotation respectively.

Equation 10 can be derived from the equilibrium relationship of moments with respect to the vehicle center of gravity.

Substituting Equation 10 into Equation 1, Equation 11 below can be obtained.

Where Mb / L represents the load on the rear wheels of the vehicle. Force on the front wheel In the same manner can be obtained as shown in Equation 12 below.

On the other hand, turning power ( ) Is proportional to the slip angle α of the tire, and is represented by Equation 13 below.

here Denotes Corning Stiffness. Substituting [Equation 11] and [Equation 12] into [Equation 13], the tire slip angles of the front and rear wheels can be obtained as shown in [Equation 14] and [Equation 15] below.

In addition, the relationship between the steering angle δ and the slip angle of the front and rear wheels is expressed by Equation 16 below.

By substituting Equation 14 and Equation 15 into Equation 16, Equation 17 below can be obtained.

Where δ is the tire steering angle, L is the wheel base, R is the radius of rotation, V is the vehicle speed, g is gravity acceleration, Wf is the front wheel load, Wr is the rear wheel load, The tire turning rigidity of the front wheel, Denotes the tire turning rigidity of the rear wheel, respectively.

By solving Equation (17) with respect to the turning radius R and obtaining the lateral acceleration, the following Equation (18) can be obtained from the lateral acceleration (α1) = V2 / R.

Alternatively, the following Equation 19 can be obtained.

Where a1 = 57.3L and a2 is to be.

Therefore, the steering angle can be estimated by the acceleration sensor and the vehicle speed is input from the speed detection by Equation 19. In this way, the steering angle obtained by the acceleration sensor is not only inexpensive, but also the steering angle can be estimated even in the case of a structure in which it is difficult to mount the steering angle detector.

However, the limitation of this method is that it assumes the system is normal without considering the transient state. Second, since the bicycle model is considered half without considering the whole vehicle, the weight shift from inside to outside is not considered when turning. I did not. However, if necessary, the vehicle model can be considered as a real vehicle model, and a precise equation can be produced considering not only tire stiffness but also camber, rollsteer, lateral compliance, alignment torque, and weight movement.However, the relationship between speed, steering angle, and acceleration Has a form of Equation 19, and only constants a1 and a2 are changed. Therefore, it is possible to obtain the constants a1 and a2 in the above Equation 19 by experiment rather than by analysis.

Next, when the current vehicle is in the non-rotating state in step S202, the currently measured distance is compared with the safety distance. When the comparison result indicates that the current distance is larger than the safety distance, it is determined as a safety state in step S209. .

In addition, when the current measured distance is smaller than the safety distance as a result of the comparison, it is determined in step S203 whether the relative speed is 80km / h or less, and whether the current distance is within 1/3 of the safety distance. As a result of this determination, if the relative speed is 80km / h or less and the current distance is within 1/3 of the safety distance, go to step S205 to check whether the audio is in operation, and if the audio is in operation or the vehicle is currently rotating, In step S208, only the audio is paused. In contrast, when the audio is inactive, in step S207, the buzzer is operated as a low tone and the buzzer interval is extended to give the first alarm.

On the other hand, in step S204, whether the current relative speed is 80km / h or more and the current vehicle distance is within 1/2 of the safety distance, and as a result, the current relative speed is 80km / h or more, and the current vehicle distance is the If it is within 1/2, go to the step (S205), otherwise, if the current relative speed is more than 80km / h and the current vehicle distance is not within the safety distance 1/2, the audio is stopped for the secondary alarm Turn on the brake light, operate the buzzer at the highest level, and shorten the period of buzzer sound.

In this process, the alarm operation is performed, and in step S114, the distance to the current vehicle, the vehicle speed, and the like are displayed on the display unit. In step S115, the current measured distance is replaced with the previous measurement distance. The process moves to step S102.

According to the above-described "collision warning device and method of the vehicle" of the present invention, the estimated speed of the vehicle is calculated in advance in consideration of the operating states of the accelerator pedal and the brake pedal, and the collision is determined by determining whether the vehicle is collided using the collision speed. Danger warnings can be provided to drivers more quickly and accurately, which has the advantage of preventing collisions in advance.

In addition, since the steering angle can be accurately estimated using the acceleration sensor and the vehicle speed without using a separate steering angle detector, the configuration of the device can be easily implemented as compared to the existing device using the steering angle detector. There is an advantage in reducing incidental costs.

In addition, since the alarm is generated after the audio is paused during the alarm, there is an advantage that the alarm sound can be delivered to the driver more efficiently.

Claims (8)

In the collision warning device of an automobile, A front distance detector for measuring a distance from an obstacle in front of a vehicle currently being driven; A rotation detector for determining whether the vehicle is rotated; A braking detector which detects braking of the vehicle; An acceleration detector for detecting whether the vehicle is accelerated; A speed sensor for measuring a driving speed of the vehicle; A road surface state input unit for inputting a road surface state of the vehicle; An audio motion detection unit configured to detect whether audio of the vehicle is performed; Analyzes the sensing / input signals output from the front distance detector, the rotation detector, the brake detector, the acceleration detector, the speed detector, the road surface input unit, and the audio motion detector, respectively, and does not collide the collision according to the analysis result. It generates a control signal for generating an alarm / rear braking light to prevent an alarm, a control signal for pausing audio / audio output or a tape playback device, and generating a control signal for displaying a distance to an obstacle in front of it. A central control unit; An alarm unit for transmitting an alarm signal to the outside according to an alarm control signal output from the central control unit; A brake light lighting unit for lighting the rear brake light according to the rear brake light lighting control signal output from the central control unit; An audio stop unit for pausing the audio output according to the audio / audio output pause or the pause control signal of the tape playback apparatus output from the central control unit; And a display unit for visually displaying the distance to the front obstacle according to the distance display control signal output from the central control unit. According to claim 1, wherein the road surface state input unit, the road surface state of one of four reference road surface conditions preset by dry asphalt (0.8: initial reference value), rain (0.5), snow (0.2), ice sheet (0.1) When the driver selects the collision warning device for a vehicle, characterized in that for transmitting the road surface state detection value to the central control unit. In the collision warning method of an automobile, Initializing various variables through an initialization process, and determining whether to brake when the initialization is completed; Calculating a distance to the vehicle in front of the vehicle after receiving a parameter related to a road surface state input by the driver if the braking state is not determined as the result of the determination; Determining whether to accelerate after calculating the distance, and resetting the distance in a direction of decreasing the calculated distance when it is determined as acceleration; Comparing the measured distance with the distance measured immediately before the distance is reset or if it is determined to be unaccelerated; Calculating a relative speed when the current measured distance is smaller than the previous distance as a result of the comparison; Comparing the calculated relative speed with the speed of the current vehicle, and if the speed of the current vehicle is greater than or equal to the relative speed, determining that the vehicle moves in the same direction, and calculating the speed and safety distance of the vehicle ahead. Wow; If the relative speed is greater than the speed of the current vehicle, determining that the front vehicle is traveling in the opposite direction and calculating a safety distance; And comparing the measured current distance with the calculated safety distance and performing an alarm according to the magnitude of the case. 4. The method of claim 3, further comprising: displaying the measured distance, an alarm determined state, and the like; And replacing the current measured value with the value measured immediately before the collision of the vehicle. The method of claim 3, wherein the performing of the alert comprises: Determining whether the vehicle is currently rotating; When the current vehicle is in a non-rotating state, comparing the currently measured distance with the safety distance; and determining that the safety state is when the current distance is greater than the safety distance as a result of the comparison; Determining whether the relative speed is 80 km / h or less and the current distance is less than 1/3 of the safety distance when the current measured distance is less than the safety distance; Determining whether the audio is operated when the relative speed is 80 km / h or less and the current distance is within 1/3 of the safety distance as a result of the determination; Pausing only audio when the audio is operating or the vehicle is currently rotating as a result of the determination; If the determination result is that the audio is inactive, operating a buzzer to give a first alarm; As a result of the determination, if the relative speed is 80km / h or less and the current distance is not less than 1/3 of the safety distance, check whether the current relative speed is more than 80km / h and the current vehicle distance is within 1/2 of the safety distance. Making a step; As a result of the checking, when the current relative speed is 80km / h or more and the current vehicle distance is within 1/2 of the safety distance, the operation moves to the step of checking whether the audio operation is performed, and the current relative speed is 80km / h or more and the current vehicle If the distance is not less than 1/2 of the safety distance collision warning method of the vehicle, characterized in that the step of performing a second alarm. The collision warning method of claim 5, wherein the current vehicle is rotated or not by calculating a steering angle δ by the following Equation and searching for the calculated steering angle to determine whether the vehicle is rotated. [Equation] In the above, a1 = 57.3L and a2 is Where V represents the speed of the vehicle. The method of claim 5, wherein the primary alarm, The collision warning method of a vehicle, characterized by lengthening the buzzing sound generation period and generating a buzzing sound as a low tone. The method of claim 5, wherein the secondary alarm, A crash warning method for a vehicle, characterized by pausing audio, turning on a brake light, shortening a buzzing sound generation period, and generating a buzzing sound with high sound.