KR20100060535A - Smart cruise control system of vehicle - Google Patents

Smart cruise control system of vehicle Download PDF

Info

Publication number
KR20100060535A
KR20100060535A KR1020080119163A KR20080119163A KR20100060535A KR 20100060535 A KR20100060535 A KR 20100060535A KR 1020080119163 A KR1020080119163 A KR 1020080119163A KR 20080119163 A KR20080119163 A KR 20080119163A KR 20100060535 A KR20100060535 A KR 20100060535A
Authority
KR
South Korea
Prior art keywords
vehicle
preceding vehicle
position angle
driving
lane
Prior art date
Application number
KR1020080119163A
Other languages
Korean (ko)
Other versions
KR101428102B1 (en
Inventor
이경준
Original Assignee
현대자동차주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 현대자동차주식회사 filed Critical 현대자동차주식회사
Priority to KR1020080119163A priority Critical patent/KR101428102B1/en
Publication of KR20100060535A publication Critical patent/KR20100060535A/en
Application granted granted Critical
Publication of KR101428102B1 publication Critical patent/KR101428102B1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • 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
    • B60W40/114—Yaw movement
    • B60W2420/408—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60Y2300/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • 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
    • B60Y2300/18—Propelling the vehicle
    • B60Y2300/18008—Propelling the vehicle related to particular drive situations
    • B60Y2300/18166—Overtaking, changing lanes

Abstract

PURPOSE: A system for controlling the distance between cars is provided to accurately measure whether a driving car changes a lane or not by measuring a position angle of the driving car and comparing the position angle of the driving car with the position angle of a preceding car. CONSTITUTION: A system for controlling the distance between cars comprises: a radar unit(100) monitoring a preceding car; a position angle sensor(200) measuring the position angle of a driving car; a controller(400) which measures the position angles of the preceding car and the driving car and deciding the lane change of the driving car when the position angle of the preceding car is same as the position angle of the driving car; a steering wheel sensor measuring a steering wheel angle of the driving car; and a yaw rate sensor measuring a rotation angular speed. The position angle of the driving car is measured using the steering wheel angle and the rotation angular speed.

Description

차간거리 제어시스템{SMART CRUISE CONTROL SYSTEM OF VEHICLE}Distance Control System {SMART CRUISE CONTROL SYSTEM OF VEHICLE}

본 발명은 차간거리 제어시스템에 관한 것으로, 보다 상세하게는 선행 차량을 효과적으로 감지하기 위한 차간거리 제어시스템에 관한 것이다.The present invention relates to an inter-vehicle distance control system, and more particularly, to an inter-vehicle distance control system for effectively detecting a preceding vehicle.

일반적으로, 차량에는 선행 차량과의 충돌을 방지하기 위한 차간거리 제어시스템(SSC: Smart Cruise Control)이 장착되어 있으며, 차간거리 제어시스템은 선행 차량을 감지하여 선행 차량과의 거리에 따라 속도를 조절함으로써, 선행 차량과의 충돌을 방지한다.In general, the vehicle is equipped with a Smart Cruise Control (SSC) to prevent a collision with the preceding vehicle, the distance control system detects the preceding vehicle and adjusts the speed according to the distance to the preceding vehicle This prevents collision with the preceding vehicle.

이러한 차간거리 제어시스템은 차량이 직선로에서 주행 시 차량의 전방에 장착된 레이더에 의해 선행 차량을 감지하고, 감지된 차량과의 거리를 측정하게 된다. 반면, 차량이 곡선로 주행 시 차량은 곡선 주로에 배치된 선행 차량을 감지하게 된다.The inter-vehicle distance control system detects a preceding vehicle by a radar mounted in front of the vehicle when the vehicle runs on a straight road, and measures the distance from the detected vehicle. On the other hand, when the vehicle travels in a curve, the vehicle senses a preceding vehicle disposed on the curve.

하지만, 종래 차간거리 제어시스템은 차량의 틀어짐 각도에 따라 직선로를 주행하는지 곡선로를 주행하는지 판단하기 때문에 차량이 곡선로가 아닌 직선로에서 운전자의 의지에 의해 차선을 변경하려고 할 때 차량이 틀어지면 차간거리 제어시스템은 차량이 곡선로 주행을 하는 것으로 판단하게 되고, 자차선의 선행 차량을 감지하지 못하게 된다. 이로 인해 선행 차량을 효과적으로 감지하지 못한다면 선행 차량과의 충돌로 인해 사고가 발생하는 문제점이 발생된다.However, since the conventional inter-vehicle distance control system determines whether the vehicle is driving on a straight road or a curved road according to the twisting angle of the vehicle, when the vehicle tries to change lanes by the driver's will on the straight road rather than the curved road, the vehicle is turned. The ground inter-vehicle distance control system determines that the vehicle is traveling in a curved line and cannot detect the preceding vehicle in the own lane. As a result, if the preceding vehicle is not effectively detected, an accident occurs due to a collision with the preceding vehicle.

상기와 같은 문제점을 해결하기 위해, 본 발명은 효과적으로 선행 차량을 감지할 수 있는 차간거리 제어시스템을 제공하는 것을 그 목적으로 한다.In order to solve the above problems, an object of the present invention is to provide an inter-vehicle distance control system that can effectively detect the preceding vehicle.

상술한 목적을 달성하기 위하여, 본 발명의 차간거리 제어시스템은 선행 차량을 감시하는 레이더부와, 상기 주행 차량의 위치각을 측정하는 위치각 센서부와, 상기 선행 차량의 위치각과 주행 차량의 위치각을 측정하고, 측정된 선행 차량의 위치각과 주행 차량의 위치각이 같으면 주행 차량이 차선을 변경한다고 판단하는 제어부를 포함한다.In order to achieve the above object, the inter-vehicle distance control system of the present invention, the radar unit for monitoring the preceding vehicle, the position angle sensor unit for measuring the position angle of the driving vehicle, the position angle of the preceding vehicle and the position of the driving vehicle And a control unit for measuring the angle and determining that the traveling vehicle changes the lane when the measured position angle of the preceding vehicle is equal to the position angle of the traveling vehicle.

상기 주행 차량의 조향휠 각도를 측정하는 조향휠 센서부와, 회전 각속도를 측정하는 요레이트 센서부를 더 포함하고, 상기 조향휠 각도와 회전 각속도로부터 주행 차량의 위치각이 측정될 수 있다.A steering wheel sensor unit for measuring a steering wheel angle of the driving vehicle and a yaw rate sensor unit for measuring a rotational angular velocity may be further included, and a position angle of the driving vehicle may be measured from the steering wheel angle and the rotational angular velocity.

상기 주행 차량의 방향 지시등을 감지하는 방향지시 센서부를 더 포함하고, 상기 방향지시 센서부의 작동에 따라 변경될 차선을 판단할 수 있다.The apparatus may further include a direction indicating sensor unit configured to detect a direction indicator light of the driving vehicle, and determine a lane to be changed according to the operation of the direction indicating sensor unit.

상기 주행 차량이 차선을 변경한다고 판단되면 좌우 차선에 선행 차량이 존재하는지 여부를 판단할 수 있다.If it is determined that the driving vehicle changes lanes, it may be determined whether a preceding vehicle exists in the left and right lanes.

상기 좌우 차선에 선행 차량이 존재하지 않고, 주행 차선 내에 선행 차량이 존재하면 추종 제어에서 설정속도제어로 미리 전환할 수 있다.If there is no preceding vehicle in the left and right lanes and there is a preceding vehicle in the driving lane, it is possible to switch in advance from the following control to the set speed control.

상기 좌우 차선에 선행 차량이 존재하고, 주행 차선 내에 선행 차량이 존재 하면 주행 차선 내에서 좌우 선행 차량을 타겟으로 미리 전환할 수 있다.When the preceding vehicle exists in the left and right lanes and the preceding vehicle exists in the driving lane, the left and right preceding vehicles may be previously converted into the target in the driving lane.

상기 좌우 차선의 선행 차량이 주행 차선 내의 선행 차량보다 가까이 있으면 속도를 미리 줄여 목표 차간 거리에 도달시키고, 좌우 차선의 선행 차량이 주행 차선 내의 선행 차량보다 멀리 있으면 속도를 미리 증가시켜 목표 차간 거리에 도달시킬 수 있다.If the preceding vehicle in the left and right lanes is closer than the preceding vehicle in the driving lane, the speed is reduced in advance to reach the target distance. If the preceding vehicle in the left and right lanes is farther than the preceding vehicle in the driving lane, the speed is increased in advance to reach the target distance. You can.

상기 선행 차량의 위치각은 레이더로부터 감지된 선행 차량과 주행 차량의 거리와, 선행 차량이 중심으로부터 회전된 각도값에 의해 측정될 수 있다.The position angle of the preceding vehicle may be measured by the distance between the preceding vehicle and the driving vehicle sensed from the radar, and the angle value at which the preceding vehicle is rotated from the center.

본 발명은 주행 차량의 위치각과 선행 차량의 위치각을 측정하여 비교함으로써, 주행 차량의 차선 변경 여부를 정확하게 측정할 수 있는 효과가 있다.The present invention has the effect of accurately measuring the lane change of the driving vehicle by measuring and comparing the position angle of the driving vehicle and the position angle of the preceding vehicle.

또한, 본 발명은 차선 변경 조건에 따라 타겟 선정 및 제어 모드를 변환시킴으로써, 타겟 변화에 따라 신속하게 대응하여 선행 차량과의 사고를 방지할 수 있는 효과가 있다.In addition, the present invention has the effect that by changing the target selection and control mode in accordance with the lane change conditions, it is possible to quickly respond to the target change to prevent accidents with the preceding vehicle.

이하, 도면을 참조하여 본 발명의 실시예를 상세히 설명하기로 한다. 그러나 본 발명은 이하에서 개시되는 실시예에 한정되는 것이 아니라 서로 다른 다양한 형태로 구현될 것이며, 단지 본 실시예들은 본 발명의 개시가 완전하도록 하며, 통상의 지식을 가진 자에게 발명의 범주를 완전하게 알려주기 위해 제공되는 것이다. 도면상의 동일 부호는 동일한 요소를 지칭한다.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.

도 1은 본 발명에 따른 차간거리 제어시스템을 나타낸 블럭도이고, 도 2 및 도 3은 본 발명에 따른 차간거리 제어시스템의 레이더부의 검지 영역을 나타낸 도면이고, 도 4는 본 발명에 따른 차간거리 제어시스템의 작동을 나타낸 순서도이고, 도 5 및 도 6은 본 발명에 따른 차간거리 제어시스템의 세부적인 작동을 나타낸 도면이다.1 is a block diagram showing a distance control system according to the present invention, Figures 2 and 3 is a view showing the detection area of the radar unit of the distance control system according to the present invention, Figure 4 is the distance between the vehicle according to the present invention 5 is a flowchart illustrating a detailed operation of the inter-vehicle distance control system according to the present invention.

도 1을 참조하면, 본 발명에 따른 차간거리 제어시스템은 선행 차량을 감시하는 레이더부(100)와, 상기 주행 차량의 위치각을 측정하는 위치각 센서부(200)와, 상기 선행 차량의 위치각과 주행 차량의 위치각을 측정하고, 측정된 선행 차량의 위치각과 주행 차량의 위치각이 같으면 주행 차량이 차선을 변경한다고 판단하는 제어부(400)를 포함한다.Referring to FIG. 1, the inter-vehicle distance control system according to the present invention includes a radar unit 100 for monitoring a preceding vehicle, a position angle sensor unit 200 for measuring a position angle of the traveling vehicle, and a position of the preceding vehicle. And a control unit 400 for measuring the angle and the position angle of the driving vehicle, and determining that the driving vehicle changes the lane when the measured position angle of the preceding vehicle is equal to the position angle of the driving vehicle.

레이더부(100)는 차량의 전방에 설치되며, 차량 전방의 장애물 예컨대, 차량 전방의 선행 차량을 감시하는 역할을 한다. 이를 위해 레이더부(100)는 도 2에 도시된 바와 같이, 주행 차량(500)의 전방 범퍼에 설치될 수 있다. The radar unit 100 is installed in front of the vehicle, and serves to monitor obstacles in front of the vehicle, for example, a preceding vehicle in front of the vehicle. To this end, the radar unit 100 may be installed in the front bumper of the driving vehicle 500, as shown in FIG.

레이더부(100)가 장착되는 위치는 한정되지 않으며 차량의 룸미러에 설치될 수도 있음은 물론이다. 또한, 이러한 레이더부(100)로는 초음파 또는 적외선 레이더가 사용될 수 있다. 물론, 레이더 이외에도 전방의 영상을 촬영하는 카메라가 사용될 수도 있다.The position at which the radar unit 100 is mounted is not limited and may be installed in the room mirror of the vehicle. In addition, the radar unit 100 may be an ultrasonic or infrared radar. Of course, in addition to the radar, a camera for photographing the front image may be used.

위치각 센서부(200)는 주행 차량의 위치각을 측정하는 역할을 하며, 이를 위해 차량에는 주행 차량의 조향휠의 각도를 측정하는 조향휠 센서부(미도시)와, 주행 차량의 회전각속도를 측정하는 요레이트(Yaw Rate) 센서부(미도시)를 포함할 수 있다. 이로 인해 차량의 조향휠 각도와 회전 각속도로부터 주행 차량의 위치각을 측정할 수 있다.The position angle sensor unit 200 serves to measure the position angle of the driving vehicle. To this end, the vehicle includes a steering wheel sensor unit (not shown) for measuring an angle of a steering wheel of the driving vehicle and a rotation angle speed of the driving vehicle. It may include a yaw rate sensor unit (not shown) to measure. Therefore, the position angle of the driving vehicle can be measured from the steering wheel angle and the rotational angular velocity of the vehicle.

상기와 같이 주행 차량의 위치각이 측정되면 제어부(400)는 주행 차량의 위치각과 레이더에 감지되는 선행 차량들의 거리와 각도값 예컨대, 선행 차량이 중심으로부터 회전된 각도값 의해 위치각의 변화를 측정하고, 측정된 선행 차량의 위치각과 주행 차량의 위치각이 같다고 판단되면 주행 차량이 차선을 변경한다고 판단할 수 있다. 상기에서는 레이더부로부터 선행 차량들의 위치각의 변화를 측정하였지만, 선행 차량과 주행 차량간의 캔(Can) 통신에 의해 선행 차량들의 위치각을 제공받을 수도 있다.When the position angle of the driving vehicle is measured as described above, the controller 400 measures the change in the position angle by the position angle of the driving vehicle and the distance and angle values of the preceding vehicles sensed by the radar, for example, the angle value at which the preceding vehicle is rotated from the center. When it is determined that the measured position angle of the preceding vehicle is equal to the position angle of the driving vehicle, it may be determined that the driving vehicle changes lanes. Although the change of the position angles of the preceding vehicles is measured from the radar unit, the position angles of the preceding vehicles may be provided by can communication between the preceding vehicle and the driving vehicle.

차량의 차선 변경 여부를 판단하기 위해 주행 차량의 방향 지시등 동작을 감시하는 방향지시 센서부(300)를 더 포함할 수 있으며, 방향지시 센서부(300)로부터 좌측 방향 지시등이 점등되면 주행 차량은 좌측 차선으로 차선을 변경한다고 판단할 수 있으며, 우측 방향 지시등이 점등되면 주행 차량은 우측 차선으로 차선을 변경한다고 판단할 수 있다.The vehicle may further include a direction indicating sensor unit 300 that monitors the direction indicator operation of the traveling vehicle to determine whether the lane of the vehicle is changed. When the left direction indicator is turned on from the direction indicating sensor unit 300, the driving vehicle is left. It may be determined that the lane is changed to the lane, and when the right turn indicator is lit, the driving vehicle may determine to change the lane to the right lane.

예컨대, 도 3에 도시된 바와 같이, 주행 차량(500)이 좌측 차선으로 변경된다고 판단되면 좌측 차선의 선행 차량(600)과 주행 차선 예컨대, 자차로 내의 선행 차량(600)을 타겟으로 설정하여 차간 거리에 따라 속도를 제어할 수 있다.For example, as shown in FIG. 3, when it is determined that the driving vehicle 500 is changed to the left lane, the vehicle is set by targeting the preceding vehicle 600 of the left lane and the driving vehicle, for example, the preceding vehicle 600 in the own lane. Speed can be controlled according to distance.

이하에서는 도 4 내지 도 6을 참조하여 본 발명에 따른 차간거리 제어시스템의 작동을 살펴본다.Hereinafter, the operation of the inter-vehicle distance control system according to the present invention will be described with reference to FIGS. 4 to 6.

먼저, 차량의 전방에 장착된 레이더부(100)로부터 선행 차량 및 물체가 검지 되었는지 여부를 판단(S100)한다. 선행 차량 및 물체가 검지되지 않으면 미리 설정된 설정 속도로 주행 차량을 제어하는 단계(S100)를 수행할 수 있다.First, it is determined whether the preceding vehicle and the object are detected from the radar unit 100 mounted in front of the vehicle (S100). If the preceding vehicle and the object are not detected, step S100 of controlling the driving vehicle at a preset speed may be performed.

반면, 선행 차량 및 물체가 검지되면 방향 지시등이 점등되는지 여부를 판단(S200)한다. 여기서, 방향 지시등의 점등 여부는 방향지시 센서부(200)로부터 측정될 수 있다. On the contrary, when the preceding vehicle and the object are detected, it is determined whether the turn indicator is turned on (S200). Here, whether or not the direction indicator lights up may be measured from the direction indicating sensor unit 200.

방향 지시등이 점등되지 않았다고 판단되면 주행 차선 예컨대, 자차로 내에 선행 차량이 존재하는지 여부를 판단(S210)하고, 자차로 내에 선행 차량(600)이 존재한다고 판단되면 자차로 내의 선행 차량을 타겟 차량으로 선정(S220)할 수 있으며, 이로 인해 자차로 내의 선행 차량에 따라 추종 제어(Follow Control)할 수 있다. 반면, 자차로 내에 차량이 존재하지 않는다고 판단되면 설정속도로 제어하는 단계(S230)를 수행한다.If it is determined that the turn signal does not turn on, it is determined whether a preceding vehicle exists in the driving lane, for example, in the own lane (S210). If it is determined that the preceding vehicle 600 exists in the own lane, the preceding vehicle in the own lane is used as the target vehicle. Selection may be made (S220), and accordingly, following control may be performed according to a preceding vehicle in the own lane. On the other hand, if it is determined that the vehicle does not exist in the own lane, step S230 is performed.

한편, 방향 지시등이 점등되었다고 판단되면 주행 차량의 회전각속도와 검지된 물체의 회전위치각속도 예컨대, 주행 차량의 위치각과 선행 차량의 위치각이 같은지 판단하는 단계(S300)를 수행한다. 여기서, 주행 차량(500)의 각속도는 도 5에 도시된 바와 같이, 측정할 수 있으며, 선행 차량(600)의 위치각 변화는 도 6에 도시된 바와 같이 측정할 수 있다.On the other hand, if it is determined that the turn signal is turned on, it is determined whether the rotation angle angular velocity of the driving vehicle and the rotation position angular velocity of the detected object, for example, the position angle of the driving vehicle and the position angle of the preceding vehicle are the same (S300). Here, the angular velocity of the traveling vehicle 500 may be measured as shown in FIG. 5, and the change in the position angle of the preceding vehicle 600 may be measured as shown in FIG. 6.

주행 차량의 위치각과 선행 차량의 위치각이 다르다고 판단되면 자차로 차량 유무를 판단하는 단계(S210)를 수행하고, 자차로에 차량이 존재한다고 판단하면 자차로의 차량을 타겟으로 선정(S220)하고, 추종 제어를 수행한다. 반면, 자차로에 차량이 존재하지 않으면 미리 설정된 설정 제어 모드(S230)를 수행한다.If it is determined that the position angle of the driving vehicle is different from the position angle of the preceding vehicle, a step (S210) of determining whether the vehicle is present in the own vehicle is performed, and if it is determined that the vehicle exists in the own vehicle, the vehicle of the own vehicle is selected as a target (S220). , Follow-up control. On the other hand, if the vehicle does not exist in the own lane, the preset control mode S230 is performed.

한편, 차량의 위치각과 선행 차량의 위치각이 같다고 판단되면 좌측 방향 지시등이 점등되었는지 판단하는 단계(S400)를 수행한다. 좌측 방향의 지시등이 점등되었다고 판단되면 주행 차량은 좌측 방향으로 차선을 변경할 것으로 예측할 수 있으며, 좌측 차로의 차량 존재 유무를 판단하는 단계(S500)를 수행한다.On the other hand, if it is determined that the position angle of the vehicle and the position angle of the preceding vehicle is the same, it is determined whether the left direction indicator is lit (S400). When it is determined that the indicator light in the left direction is turned on, the driving vehicle may predict to change the lane in the left direction, and performs a step of determining whether a vehicle exists in the left lane (S500).

좌측 차로에 차량이 존재한다고 판단되면 좌측 차로의 차량을 타겟 차량으로 선정하는 단계(S510)를 수행한다. If it is determined that the vehicle exists in the left lane, the vehicle in the left lane is selected as the target vehicle (S510).

좌측 차로에 차량이 존재하고, 자차로 내 타겟 차량이 존재하면, 자차로 내 차량에서 좌측 차량을 타겟으로 미리 전환할 수 있다. 예컨대, 좌측 차량이 자차로 내 차량보다 가까이 있는 경우, 속도를 미리 줄여 보다 빠르게 목표 차간 거리에 도달할 수 있다. 반면, 좌측 차량이 자차로 내 차량보다 멀리 있는 경우, 속도를 미리 증가시켜 보다 빠르게 목표 차간 거리에 도달할 수 있다. If a vehicle exists in the left lane and a target vehicle in the own lane exists, the vehicle in the own lane may be switched to the target in advance. For example, when the vehicle on the left is closer than the vehicle in the own lane, the speed may be reduced beforehand to reach the target distance between vehicles. On the other hand, when the left vehicle is farther than the vehicle in the own lane, the speed may be increased in advance to reach the target inter-vehicle distance more quickly.

좌측 차로에 차량이 존재하고, 자차로 내 타겟 차량이 존재하지 않으면 차로 변경중 좌측 차량을 차량으로 미리 선정할 수 있으며, 이는 타겟 선정을 신속하게 하여 보다 신속하게 추종 제어를 수행할 수 있다. If a vehicle exists in the left lane and there is no target vehicle in the own lane, the left vehicle may be selected as the vehicle in advance during the lane change, which may quickly perform the target selection and perform the following control more quickly.

반면, 좌측 차로에 차량이 존재하지 않으면 주행 차량을 설정 속도로 제어하는 단계(S520)를 수행한다. 여기서, 자차로 내에 타겟 차량의 유무를 더 판단할 수 있으며, 자차로 내에 타겟 차량이 존재하면 추종 제어에서 설정속도제어로 미리 전환할 수 있으며, 이는 추종 제어시 설정 속도가 추종 속도보다 빠르므로 속도를 증가하여 추월할 수 있다.On the other hand, if the vehicle does not exist in the left lane, the step of controlling the driving vehicle at a set speed (S520). Here, it is possible to further determine the presence or absence of the target vehicle in the own lane, and if the target vehicle exists in the own lane, it is possible to switch in advance from the following control to the setting speed control, which is because the setting speed is faster than the following speed during the following control. You can increase by overtaking.

좌측 방향지시등이 점등되지 않으면, 우측 방향지시등이 점등되었다고 판단 하고, 우측 차로의 차량 유무를 판단하는 단계(S410)를 수행한다. 우측 차로에 차량이 존재한다고 판단되면 우측차로 차량을 타겟으로 선정하는 단계(S420)를 수행하고, 이는 좌측 차로 차량을 타겟으로 선정하는 경우와 마찬가지로, 자차로 내 타겟 차량의 존재 여부를 판단하여 제어모드를 변화시킬 수 있다. If the left turn indicator is not turned on, it is determined that the right turn indicator is turned on, and it is determined whether the vehicle is in the right lane (S410). If it is determined that the vehicle exists in the right lane, the step S420 of selecting the vehicle as the target of the right lane is performed, which is similar to the case of selecting the vehicle as the target of the left lane, by determining whether the target vehicle exists in the own lane and controlling You can change the mode.

반면, 우측 차로에 차량이 존재하지 않는다고 판단되면 주행 차량을 설정 속도로 제어하는 단계(S430)를 수행하여 본 발명에 따른 차간거리 제어시스템의 작동을 마친다. 여기서, 자차로 내에 타겟 차량의 유무를 더 판단할 수 있으며, 자차로 내에 타겟 차량이 존재하면 추종 제어에서 설정속도제어로 미리 전환할 수 있으며, 이는 추종 제어시 설정 속도가 추종 속도보다 빠르므로 속도를 증가하여 추월할 수 있다.On the other hand, if it is determined that the vehicle does not exist in the right lane, the step S430 of controlling the traveling vehicle at a set speed is performed to complete the operation of the inter-vehicle distance control system according to the present invention. Here, it is possible to further determine the presence or absence of the target vehicle in the own lane, and if the target vehicle exists in the own lane, it is possible to switch in advance from the following control to the setting speed control, which is because the setting speed is faster than the following speed during the following control. You can increase by overtaking.

상기와 같은 발명은 주행 차량의 위치각과 선행 차량의 위치각을 측정하여 비교함으로써, 주행 차량의 차선 변경 여부를 정확하게 측정할 수 있는 효과가 있다.The invention as described above has the effect of accurately measuring the lane change of the driving vehicle by measuring and comparing the position angle of the driving vehicle and the position angle of the preceding vehicle.

또한, 상기와 같은 발명은 차선 변경 조건에 따라 타겟 선정 및 제어 모드를 변환시킴으로써, 타겟 변화에 따라 신속하게 대응하여 선행 차량과의 사고를 방지할 수 있는 효과가 있다.In addition, the invention as described above, by changing the target selection and control mode in accordance with the lane change conditions, there is an effect that can prevent the accident with the preceding vehicle to respond quickly to the target change.

상기에서는 도면 및 실시예를 참조하여 설명하였지만, 해당 기술 분야의 숙련된 당업자는 하기의 특허청구범위에 기재된 본 발명의 기술적 사상으로부터 벗어나지 않는 범위 내에서 본 발명은 다양하게 수정 및 변경시킬 수 있음은 이해할 수 있을 것이다.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.

도 1은 본 발명에 따른 차간거리 제어시스템을 나타낸 블럭도.1 is a block diagram showing the inter-vehicle distance control system according to the present invention.

도 2 및 도 3은 본 발명에 따른 차간거리 제어시스템의 레이더부의 검지 영역을 나타낸 도면.2 and 3 are views showing the detection area of the radar unit of the inter-vehicle distance control system according to the present invention.

도 4는 본 발명에 따른 차간거리 제어시스템의 작동을 나타낸 순서도.Figure 4 is a flow chart showing the operation of the inter-vehicle distance control system according to the present invention.

도 5 및 도 6은 본 발명에 따른 차간거리 제어시스템의 세부적인 작동을 나타낸 도면.5 and 6 are views showing the detailed operation of the inter-vehicle distance control system according to the present invention.

< 도면 주요 부분에 대한 부호의 설명 >               <Description of the code | symbol about the principal part of drawings>

100: 레이더부 200: 위치각 센서부100: radar unit 200: position angle sensor unit

300: 방향지시 센서부 400: 제어부300: direction indicating sensor unit 400: control unit

500: 주행 차량 600: 선행 차량500: driving vehicle 600: preceding vehicle

Claims (8)

선행 차량을 감시하는 레이더부;Radar unit for monitoring the preceding vehicle; 상기 주행 차량의 위치각을 측정하는 위치각 센서부;A position angle sensor unit measuring a position angle of the driving vehicle; 상기 선행 차량의 위치각과 주행 차량의 위치각을 측정하고, 측정된 선행 차량의 위치각과 주행 차량의 위치각이 같으면 주행 차량이 차선을 변경한다고 판단하는 제어부;A controller which measures the position angle of the preceding vehicle and the position angle of the driving vehicle, and determines that the driving vehicle changes the lane when the measured position angle of the preceding vehicle is equal to the position angle of the driving vehicle; 를 포함하는 차간거리 제어시스템.Inter-vehicle distance control system comprising a. 청구항 1에 있어서,The method according to claim 1, 상기 주행 차량의 조향휠 각도를 측정하는 조향휠 센서부와, 회전 각속도를 측정하는 요레이트 센서부를 더 포함하고, 상기 조향휠 각도와 회전 각속도로부터 주행 차량의 위치각이 측정되는 차간거리 제어시스템.And a steering wheel sensor unit measuring a steering wheel angle of the driving vehicle and a yaw rate sensor unit measuring a rotational angular velocity, wherein the position angle of the driving vehicle is measured from the steering wheel angle and the rotational angular velocity. 청구항 2에 있어서,The method according to claim 2, 상기 주행 차량의 방향 지시등을 감지하는 방향지시 센서부를 더 포함하고, 상기 방향지시 센서부의 작동에 따라 변경될 차선을 판단하는 차간거리 제어시스템.And a direction indicating sensor unit configured to detect a direction indicator of the traveling vehicle, and determining a lane to be changed according to the operation of the direction indicating sensor unit. 청구항 3에 있어서,The method according to claim 3, 상기 주행 차량이 차선을 변경한다고 판단되면 좌우 차선에 선행 차량이 존재하는지 여부를 판단하는 차간거리 제어시스템.And determining whether the preceding vehicle exists in the left and right lanes when it is determined that the driving vehicle changes lanes. 청구항 4에 있어서,The method according to claim 4, 상기 좌우 차선에 선행 차량이 존재하지 않고, 주행 차선 내에 선행 차량이 존재하면 추종 제어에서 설정속도제어로 미리 전환하는 차간거리 제어시스템.And the preceding vehicle does not exist in the left and right lanes and the preceding vehicle exists in the driving lane. 청구항 4에 있어서,The method according to claim 4, 상기 좌우 차선에 선행 차량이 존재하고, 주행 차선 내에 선행 차량이 존재하면 주행 차선 내에서 좌우 선행 차량을 타겟으로 미리 전환하는 차간거리 제어시스템.And the preceding vehicle is present in the left and right lanes and the preceding vehicle exists in the driving lane. 청구항 6에 있어서,The method according to claim 6, 상기 좌우 차선의 선행 차량이 주행 차선 내의 선행 차량보다 가까이 있으면 속도를 미리 줄여 목표 차간 거리에 도달시키고, 좌우 차선의 선행 차량이 주행 차선 내의 선행 차량보다 멀리 있으면 속도를 미리 증가시켜 목표 차간 거리에 도달시키는 차간거리 제어시스템.If the preceding vehicle in the left and right lanes is closer than the preceding vehicle in the driving lane, the speed is reduced in advance to reach the target distance. If the preceding vehicle in the left and right lanes is farther than the preceding vehicle in the driving lane, the speed is increased in advance to reach the target distance. Distance control system. 청구항 1에 있어서,The method according to claim 1, 상기 선행 차량의 위치각은 레이더로부터 감지된 선행 차량과 주행 차량의 거리와, 선행 차량이 중심으로부터 회전된 각도값에 의해 측정되는 차간거리 제어시스템.And the position angle of the preceding vehicle is measured by the distance between the preceding vehicle and the traveling vehicle sensed from the radar, and the angle value at which the preceding vehicle is rotated from the center.
KR1020080119163A 2008-11-27 2008-11-27 Smart cruise control system of vehicle KR101428102B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020080119163A KR101428102B1 (en) 2008-11-27 2008-11-27 Smart cruise control system of vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020080119163A KR101428102B1 (en) 2008-11-27 2008-11-27 Smart cruise control system of vehicle

Publications (2)

Publication Number Publication Date
KR20100060535A true KR20100060535A (en) 2010-06-07
KR101428102B1 KR101428102B1 (en) 2014-09-23

Family

ID=42361441

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020080119163A KR101428102B1 (en) 2008-11-27 2008-11-27 Smart cruise control system of vehicle

Country Status (1)

Country Link
KR (1) KR101428102B1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012204603A1 (en) 2011-12-26 2013-06-27 Hyundai Motor Company System and method for controlling the distance between vehicles using a side and rear sensor
KR101472624B1 (en) * 2012-05-24 2014-12-24 주식회사 만도 Mobile Electronic Device, Vehicle Information Processing Method of Mobile Electronic Device, and Storage Medium
CN105717507A (en) * 2014-12-19 2016-06-29 现代摩比斯株式会社 Radar system for vehicle and operating method thereof

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10118265A1 (en) * 2001-04-12 2002-10-17 Bosch Gmbh Robert Detecting vehicle lane change, involves forming track change indicating signal by comparing measured angular rate of preceding vehicle(s) with vehicle's own yaw rate

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012204603A1 (en) 2011-12-26 2013-06-27 Hyundai Motor Company System and method for controlling the distance between vehicles using a side and rear sensor
KR101472624B1 (en) * 2012-05-24 2014-12-24 주식회사 만도 Mobile Electronic Device, Vehicle Information Processing Method of Mobile Electronic Device, and Storage Medium
CN105717507A (en) * 2014-12-19 2016-06-29 现代摩比斯株式会社 Radar system for vehicle and operating method thereof

Also Published As

Publication number Publication date
KR101428102B1 (en) 2014-09-23

Similar Documents

Publication Publication Date Title
JP6407431B2 (en) In order to give a warning to the driver of the host vehicle or to autonomously control the host vehicle in response to the output indicating the vehicle approaching suddenly from the rear or the output indicating the vehicle approaching extremely rapidly from the rear Lane assist system and method
US9415776B2 (en) Enhanced lane departure system
US10901078B2 (en) Monitoring device and monitoring method
JP5163991B2 (en) Vehicle speed control method in complex traffic situations
JP5601453B2 (en) Vehicle driving support device
JP5897787B2 (en) Driving support device and driving support method
JP2005511374A (en) System for automatically monitoring cars
EP3481689B1 (en) Turned-wheel detection for yielding during low-speed lane changes
EP3549838A1 (en) Vehicle control device
KR101470189B1 (en) Apparatus and Method for Driving Control of Vehicle
KR20200086764A (en) Vehicle and method for controlling thereof
CN105408181A (en) Method for operating driver assistance system of motor vehicle and driver assistance system for motor vehicle
JP2018136700A (en) Vehicle control device
CN111746383A (en) Vehicle steering safety control system and vehicle
KR102634362B1 (en) System for awaring a trailer of a vehicle and method therefor
KR20150044134A (en) A device for inducing to change in a passing lane and method thereof
JP3672914B2 (en) Vehicle alarm device
KR20100060535A (en) Smart cruise control system of vehicle
KR20190033162A (en) Method and Apparatus for controlling a vehicle
KR20190115539A (en) Autonomous driving reinforcement learning apparatus and method of vehicle
KR20180128670A (en) Method and apparatus for driving control of vihicle
KR20180039838A (en) Alarm controlling device of vehicle and method thereof
JP2017114258A (en) Control device of winker
JPH05203738A (en) Obstacle detector for vehicle
JPH0717299A (en) Running zone recognizer for vehicle and automobile safety gear mounted therewith

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20180730

Year of fee payment: 5

FPAY Annual fee payment

Payment date: 20190729

Year of fee payment: 6