KR20100005361A

KR20100005361A - Collision prevention system

Info

Publication number: KR20100005361A
Application number: KR1020080065359A
Authority: KR
Inventors: 유종일
Original assignee: 현대자동차주식회사
Priority date: 2008-07-07
Filing date: 2008-07-07
Publication date: 2010-01-15
Also published as: KR101406435B1

Abstract

PURPOSE: A collision prevention system is provided to prevent collision against a front vehicle by avoiding a vehicle about a barrier according to the information of a vehicle by a sensor unit and a Bluetooth. CONSTITUTION: A collision prevention system comprises a distance measuring sensor unit(100), a vehicle condition detection sensor unit(200), a communications unit(300), and a controller(400). The distance measuring sensor unit measures the distance with the front vehicle. The vehicle condition detection sensor unit monitors the speed, weight, and steering angle of a vehicle. The communications unit transmits/receives the condition information of a vehicle measured to/from the vehicle condition detection sensor unit. The controller determines the estimated collision zone by receiving the condition value of the vehicle and the distance with the front vehicle. If the vehicle is located in the estimated collision zone, the controller judges the anti-collision possibility according to the braking condition of the vehicle.

Description

Collision Avoidance System {COLLISION PREVENTION SYSTEM}

The present invention relates to a collision avoidance system, and more particularly, to a collision avoidance system for preventing a vehicle from colliding with an obstacle that is expected to crash.

In general, a vehicle is provided with an anti-collision system for preventing collisions existing in front or behind, for example, collision with another vehicle. The collision avoidance system serves to assist the driver in driving safely by preventing collision between the vehicle and obstacles existing in front and rear.

Conventional anti-collision system measures the distance between one's own vehicle and an obstacle using a distance sensor such as a radar or ultrasonic sensor or an image sensor such as a camera, and alarms when entering a certain relative distance according to the measured distance and the speed of the opponent's vehicle. To alert the driver of the risk of a collision.

However, such a conventional collision avoidance system prevents a collision by simply measuring relative speed and distance, but since the braking distance may vary according to the state of the vehicle and the state of the driving road, an obstacle, for example, a relative vehicle, which is expected to cause a collision. Since the vehicle can not be avoided from the problem that the possibility of colliding with the opponent vehicle increases.

In order to solve the above problems, an object of the present invention is to provide a collision prevention system for preventing a collision caused by the vehicle according to the obstacle and the state of the vehicle or the state of the driving road.

It is also an object of the present invention to provide a collision avoidance system for preventing a vehicle from colliding by predicting a path for avoiding a vehicle from an obstacle that is expected to crash.

In order to achieve the above object, the collision avoidance system of the present invention, the distance measuring sensor unit for measuring the distance to the front vehicle, the vehicle state detection sensor unit for monitoring the speed, weight and steering angle of the vehicle, the vehicle state detection The communication unit which transmits and receives the measured state of the vehicle from the sensor unit and the distance between the vehicle in front of the vehicle and the state value of the vehicle are determined to determine whether the collision area is expected, and when it is determined that the vehicle is located in the collision prediction area, braking of the vehicle is possible. And a controller for determining whether collision avoidance is possible depending on whether or not.

The collision prediction area may measure the minimum braking distance according to the distance to the front vehicle and the state value of the vehicle, and determine the minimum braking distance based on the measured minimum braking distance.

When braking is not possible before the collision with the front vehicle, it is possible to predict the driving direction of the vehicle by the steering angle state and determine whether collision avoidance is possible according to the predicted driving direction of the vehicle.

If it is determined that collision avoidance is possible by the steering angle change, it may be determined whether the lane to be changed is entered.

If it is determined that the collision avoidance is impossible due to the change of the steering angle, the loss value is calculated by the collision angle due to the twist of the vehicle and the anticipated collision vehicle and the collision speed by the speed according to the traveling direction, and the steering angle is changed by the lost value. Can be determined.

If there is no change in the steering angle, it is possible to determine whether to enter the next lane other vehicle, calculate the loss value due to the collision and attempt to change direction automatically.

If it is determined that the predicted traveling direction of the vehicle is in the same line as the traveling direction of the front vehicle and it is determined that collision avoidance is impossible, automatic braking may be performed.

The distance measuring unit may include a radar sensor measuring a distance from the front vehicle at high speed, and an ultrasonic sensor measuring the distance from the front vehicle at low speed.

The present invention has the effect of increasing the accuracy of the collision avoidance system by setting the collision prediction region according to the state of the vehicle and the state of the driving road.

In addition, the present invention has the effect of preventing the collision with the front vehicle by avoiding the collision of the vehicle from the obstacle that is expected to crash in accordance with the information of the vehicle by the sensor unit and Bluetooth.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various forms, and only the embodiments are intended to complete the disclosure of the present invention, and to those skilled in the art to fully understand the scope of the invention. It is provided to inform you. Like reference numerals in the drawings refer to like elements.

1 is a block diagram showing a collision avoidance system according to the present invention, Figure 2 is a schematic diagram showing a set section of the vehicle and the front vehicle according to the present invention, Figure 3 is a collision avoidance of the collision avoidance system according to the present invention Figure 4 is a schematic diagram showing an avoidance path for, Figure 4 is a flow chart showing the operation of the collision avoidance system according to the present invention.

Referring to FIG. 1, a collision avoidance system according to the present invention includes a distance measuring unit 100, a vehicle state detecting sensor unit 200, a communication unit 300 transmitting and receiving a state of the vehicle, and a collision prediction region. The control unit 400 determines whether or not to avoid the vehicle in the collision prediction area.

The distance measuring sensor unit 100 serves to measure the distance from the front vehicle by monitoring the front vehicle, and the distance sensor unit 100 includes a radar sensor unit 110 and an ultrasonic sensor unit 120. . Here, the radar sensor unit 110 serves to measure the distance to the front vehicle at high speed, and the ultrasonic sensor unit 120 serves to measure the distance to the front vehicle at low speed.

The position of the radar sensor unit and the ultrasonic sensor unit is not limited, and may be installed at the front center of the vehicle or at the left and right sides of the front of the vehicle. Of course, it can of course be installed at the rear of the vehicle.

As described above, the accuracy of the distance measurement may be improved by the radar sensor unit and the ultrasonic sensor unit, thereby improving reliability of the distance measurement.

The vehicle state detection sensor unit 200 serves to monitor the state of the vehicle, and the vehicle state detection sensor unit 200 is a vehicle speed sensor unit 210 that monitors the speed of the vehicle and a lane to monitor the amount of rain. The sensor unit 220 may include a steering angle sensor unit 230 that monitors a steering angle of a vehicle, for example, a steering wheel, and a weighing sensor unit 240 that measures a weight of the vehicle. Of course, the present invention is not limited thereto, and various types of information according to a vehicle state, such as braking capability information, may be obtained.

Accordingly, the vehicle state sensor 200 may determine the state of the road according to the speed and weight of the vehicle and the state of the road according to the amount of rain, and calculate the braking distance according to the state of the vehicle and the state of the road. There is an effect that can prevent the collision with the vehicle.

The communicator 300 transmits the state of the vehicle measured by the vehicle state sensor 200 to another vehicle such as a front vehicle or receives a vehicle state of the other vehicle. Here, the state of the vehicle is preferably transmitted and received by Bluetooth. To this end, the other vehicle is preferably provided with a sensor unit for sensing the state of the vehicle, it is preferable that the communication unit is installed to receive the information of the other vehicle from the sensor unit.

The controller 400 receives a value measured from the distance measuring unit 100 and the vehicle state sensor 200 to measure a collision prediction area, and when the vehicle is located in the collision prediction area, collides with another vehicle. It serves to control the avoidance of the vehicle.

As shown in FIG. 2, the control unit 400 divides the first to third sections A, B, and C in order to inform the user of the danger according to the distance to the vehicle ahead, and the first to third sections. (A, B, C) are classified according to the sensed values. For this purpose, an alarm unit (not shown) may be further installed in the vehicle 500. As a result, the alarm unit may flash or generate a warning sound to determine whether the driver is in danger of collision in the first to third sections A, B, and C. You can let them know.

The primary section A is a collision avoidable region, which may be set when the vehicle 500 is located within a predetermined relative distance from the front vehicle 600. When the vehicle 500 is located in the primary section A, the primary alarm is, for example, Flashing of the alarm can inform the driver of danger.

The first section (A) is a value of measuring the weight of the vehicle 500, for example, the weight of a person and a load, and the state of the road surface due to rain, etc. By the braking capability information of the front vehicle 600 by the information, the distance between the vehicle 500 and the front vehicle 600 and the relative speed and acceleration measurement information can be measured by the collision avoidable area. Here, when the front vehicle 600 is not a Bluetooth-provided vehicle, the braking capability information may be collected using a preset default value.

The secondary section (B) may be set when entering within a certain relative distance with the front vehicle 600, for example, when entering within a distance smaller than the predetermined relative distance set in the primary section (A), the secondary section ( The predetermined relative distance of B) may be set to a distance at which the vehicle can be braked.

As described above, in order to set the braking distance, the vehicle speed, weight, and road surface conditions of the vehicle may be provided from the vehicle state sensor 200 as in the first section A, thereby decelerating the vehicle 500. You can measure the distance you can. Here, when the vehicle 500 is located in the secondary section B, the vehicle 500 may generate a secondary alarm, for example, an alarm sound, to inform the driver of a danger of collision.

The third section (C) may be set when entering within a certain relative distance with the front vehicle 600, for example, within a minimum braking distance, and thus the third section (C) may be determined to be a collision prediction region. have.

To this end, the minimum braking distance may be measured according to the distance from the front vehicle 600 provided from the sensor units 100 and 200 and the vehicle state value, and the third section may be set according to the measured minimum braking distance. Here, when the vehicle 500 is located in the tertiary section C, a tertiary alarm, for example, an alarm sound may be generated to inform the driver of a danger of collision.

As described above, as shown in FIG. 3, the first to third tertiary sections A, B, and C are determined, and when the third section C is located in the vehicle 500, the control unit 400 controls the front vehicle 600. It is determined whether collision avoidance is possible within the expected collision time with

If it is determined that braking is possible before the relative distance with the front vehicle 600 is zero, automatic braking is performed at the same time as checking the difference between the relative distance and the braking distance, thereby preventing collision with the front vehicle.

In addition, if it is determined that braking is impossible until the relative distance with the front vehicle 600 is zero, it is determined whether the driving direction of the driver, for example, a straight line or a curved line, is determined through communication with the steering angle state, and the possibility of avoiding the steering angle is determined. .

When the steering angle is changed by the driver, the vehicle checks whether the vehicle enters the change direction lane to avoid a collision, and notifies the other vehicles 700 and 800 which are close to the change direction lane by the communication unit, for example, Bluetooth. At this time, if it is determined that a collision will occur when the vehicle 500 enters, a change of direction may be attempted by a loss prediction decision.

Here, the loss prediction determination may calculate the loss value based on the collision angle due to the twist of the vehicle and the collision prediction vehicle and the collision speed due to the speed according to the traveling direction. In addition, when there is an excessive change in the steering angle can be automatically corrected in the collision turning line, to improve the driving state after collision avoidance.

On the other hand, if there is no change in the steering angle by the driver, it is determined by the Bluetooth communication whether the vehicle 700, 800 in both lanes enter, and attempts to automatically change direction after the loss calculation in the event of a collision. At this time, the other vehicles 700 and 800 of the direction change side lane may be notified of whether the direction is changed by Bluetooth communication.

If it is determined that the prediction progress direction of the front vehicle 600 and the host vehicle 500 is in the same line, if the collision distance cannot be avoided when the relative distance with the front vehicle 600 is near the minimum braking distance, automatic braking is performed to prevent an accident. To prevent it.

Hereinafter, with reference to Figure 4 looks at the operation of the collision avoidance system according to the present invention.

First, a step (S100) of determining whether a preceding vehicle exists in front is performed. If it is determined that the preceding vehicle exists in front of the vehicle, step S200 of measuring information of the preceding vehicle and the state of the own vehicle is performed.

Subsequently, the distance sensor unit detects the distance to the front vehicle, the relative speed with the front vehicle, the speed of the own vehicle, and the state of the road surface, thereby calculating the minimum braking distance (S300).

Subsequently, it is determined whether the difference between the relative distance and the braking distance is equal to or greater than zero (S400). Here, the braking distance is a weight according to the road surface state of the vehicle (

) Can be added.

Subsequently, it is determined whether the vehicle exists in the first section, the second section, or the third section, and if it is determined that the vehicle exists in the first section (S500), the driver strikes the driver by lighting a light emitting diode from the first warning, for example, the alarm unit. A step S510 of informing of danger is performed. Thereafter, it is determined whether the collision avoidance with the front vehicle is possible (S520).

If it is determined that the vehicle exists in the secondary section (S600), a primary warning sound is generated from the secondary warning, for example, the alarm unit, informing the driver of a collision risk (S610). Subsequently, it is determined whether or not collision avoidance with the front vehicle is possible (S620).

When it is determined that the vehicle exists in the third section (S700), a second warning sound is generated from the third warning, for example, the alarm unit, informing the driver of a collision risk (S710). Subsequently, it is determined whether braking is possible in the collision predicted region in the third section (S720).

If it is determined that braking is impossible, a step of receiving a steering angle state, determining a driving direction of the vehicle of the driver, determining whether it can be avoided according to the steering angle, and attempting to change the direction is performed (S730). Subsequently, it is determined whether or not collision avoidance with the front vehicle is possible (S740). If it is determined that collision avoidance is possible, the operation is terminated.

Although described above with reference to the drawings and embodiments, those skilled in the art that the present invention can be variously modified and changed within the scope without departing from the spirit of the invention described in the claims below I can understand.

1 is a block diagram showing a collision avoidance system according to the present invention.

2 is a schematic view showing a set section of a vehicle and a front vehicle according to the present invention;

3 is a schematic diagram showing an avoidance path for collision avoidance of a collision avoidance system according to the present invention;

4 is a flow chart showing the operation of the collision avoidance system according to the present invention.

100: distance measuring sensor 110: radar sensor

120: ultrasonic sensor unit 200: vehicle state detection sensor unit

210: vehicle speed sensor unit 220: rain sensor unit

230: steering angle sensor unit 240: weighing sensor unit

300: communication unit 400: control unit

Claims

A distance sensor unit for measuring a distance from the vehicle in front;

A vehicle condition sensor unit for monitoring a speed, weight, and steering angle of the vehicle;

Communication unit for transmitting and receiving the state of the vehicle measured from the vehicle state sensor; And

The minimum braking distance is measured by receiving the distance from the vehicle in front of the vehicle and the state value of the vehicle, and the estimated braking distance is determined based on the measured minimum braking distance. A controller configured to measure whether the vehicle is braking before the collision with the vehicle in front of the vehicle and predict the driving direction of the vehicle based on the steering angle, and determine whether collision avoidance is possible according to the predicted driving direction of the vehicle;

Anti-collision system comprising a.

The method according to claim 1,

And if it is determined that collision avoidance is possible due to the steering angle change, determining whether the lane to be changed is entered.

The method according to claim 1,

If it is determined that the collision avoidance is impossible due to the change of the steering angle, the loss value is calculated by the collision angle due to the twist of the vehicle and the anticipated collision vehicle and the collision speed by the speed according to the traveling direction, and the steering angle is changed by the lost value. Anti-collision system to determine.

The method according to claim 1,

If there is no change in the steering angle, the collision prevention system for determining whether to enter the next lane other vehicles, automatically calculates the loss value due to the collision attempts to change direction automatically.

The method according to claim 1,

And if it is determined that the collision avoidance is impossible because it is determined that the predicted traveling direction of the vehicle is in the same line as the traveling direction of the front vehicle, the collision avoidance system performs automatic braking.

The method according to claim 1,

The distance measuring sensor unit includes a radar sensor for measuring the distance to the front vehicle when driving at high speed, and an ultrasonic sensor for measuring the distance to the front vehicle when driving at low speed.