KR20120000818A - Headway distance/minimum distance setting system and method thereof - Google Patents

Headway distance/minimum distance setting system and method thereof Download PDF

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KR20120000818A
KR20120000818A KR1020100061289A KR20100061289A KR20120000818A KR 20120000818 A KR20120000818 A KR 20120000818A KR 1020100061289 A KR1020100061289 A KR 1020100061289A KR 20100061289 A KR20100061289 A KR 20100061289A KR 20120000818 A KR20120000818 A KR 20120000818A
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vehicle
distance
inter
driving
detected
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최재범
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주식회사 만도
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/14Adaptive cruise control
    • B60W30/16Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/10Path keeping
    • B60W30/12Lane keeping
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation 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
    • B60W40/08Estimation 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 drivers or passengers
    • B60W40/09Driving style or behaviour
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation 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
    • B60W40/10Estimation 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
    • B60W40/105Speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W2420/408
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2540/00Input parameters relating to occupants
    • B60W2540/30Driving style
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2554/00Input parameters relating to objects
    • B60W2554/80Spatial relation or speed relative to objects
    • B60W2554/802Longitudinal distance
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2754/00Output or target parameters relating to objects
    • B60W2754/10Spatial relation or speed relative to objects
    • B60W2754/30Longitudinal distance
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60YINDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00Purposes or special features of road vehicle drive control systems
    • B60Y2300/10Path keeping
    • B60Y2300/12Lane keeping
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60YINDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00Purposes or special features of road vehicle drive control systems
    • B60Y2300/14Cruise control
    • B60Y2300/16Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

PURPOSE: A headway distance/minimum distance setting system is provided to changeably set headway distance when controlling headway distance according the characteristic of a driver and surrounding condition. CONSTITUTION: A headway distance/minimum distance setting system comprises a raider system, a vehicle speed sensor, an ACC controlling unit, and a memory. The raider system detects a front vehicle by injecting laser beam to the front of a driving vehicle. The raider system detects the distance with the front car. The speed sensor detects the current speed of the driving vehicle. The ACC controlling unit studies the driving pattern of the front car by the distance with the front car in real time. The ACC controlling unit sets headway distance and minimum distance by using the detected distance with the front car. The memory stores the set headway distance and minimum distance.

Description

차간 유지 거리/최소 거리 설정 시스템 및 그 설정 방법{Headway Distance/Minimum Distance Setting System and Method thereof}Vehicle maintenance distance / minimum distance setting system and its setting method {Headway Distance / Minimum Distance Setting System and Method}

본 발명은 자차와 선행 차량 간의 차간 유지 거리 및 최소 거리를 설정하는 차간 유지 거리/최소 거리 설정 시스템 및 그 설정 방법에 관한 것이다.The present invention relates to an inter-vehicle holding distance / minimum distance setting system for setting the inter-vehicle holding distance and minimum distance between the host vehicle and the preceding vehicle, and a setting method thereof.

차간 거리 제어 시스템인 ACC(Adaptive Cruise Control) 시스템은 차량이 주행 중인 종 방향에 대한 가/감속 제어를 부분적으로 자동화함으로써 주행 중 운전자의 부담을 줄이고, 도로의 교통 흐름을 원활하게 하려는 목적을 가지고 있다. The Adaptive Cruise Control (ACC) system, which is a distance control system, aims to reduce the burden on the driver while driving and smooth the traffic flow on the road by partially automating the acceleration / deceleration control for the longitudinal direction in which the vehicle is driving. .

이러한 ACC 시스템을 장착한 차량의 경우, 전방에 차량이 없을 경우에는 운전자가 설정한 목표 속도를 추종하고, 반대로 전방에 차량이 있을 경우에는 전방 차량과 적절한 차간 거리를 유지하도록 제어된다.In the case of a vehicle equipped with such an ACC system, when there is no vehicle ahead, the driver sets a target speed set by the driver, and when there is a vehicle ahead, the vehicle is controlled to maintain a proper distance between the vehicle ahead.

일반적으로 ACC 시스템의 차간 거리 제어방법은 선행 차량이 있고, 자차가 주행 중일 경우, 차속을 검출하여 자차와 전방 차량 간의 차간 유지 거리(Headway distance)를 산출한다. ACC 시스템은 다음과 같은 식을 통해 차간 유지 거리를 산출하게 된다.In general, a method for controlling the distance between vehicles of the ACC system includes a preceding vehicle, and when the host vehicle is running, the vehicle speed is detected to calculate a headway distance between the host vehicle and the front vehicle. The ACC system calculates the distance between vehicles by the following equation.

차간 유지 거리(Headway distance)=헤드웨이 타임(Headway time)×차속(Vehicle speed) ……………………… 식(1)Headway distance = Headway time x vehicle speed... … … … … … … … … Formula (1)

차간 유지 거리가 산출되면 레이더 시스템을 이용하여 자차와 선행 차량과의 차간 거리를 측정하고, 차간 거리와 차간 유지 거리를 비교 판단하여 차간 거리가 차간 유지 거리보다 큰 경우에는 스로틀 밸브를 열도록 제어함으로써 자차의 주행 차속이 가속되어 차간 거리가 좁혀진다.When the distance between vehicles is calculated, the distance between the own vehicle and the preceding vehicle is measured using the radar system, and the distance between the vehicle and the distance between the vehicles is judged. The traveling vehicle speed of the own vehicle is accelerated and the distance between the vehicles is narrowed.

반대로 차간 거리가 안전 거리보다 작을 경우에는 브레이크를 제어함으로써 자차의 주행 차속이 감속되어 차간 거리가 넓어진다.On the contrary, when the inter-vehicle distance is smaller than the safety distance, by controlling the brake, the running vehicle speed of the own vehicle is decelerated to increase the inter-vehicle distance.

이와 같이 ACC 시스템은 선행 차량 유무에 따라 차간 거리 제어 모드와 속도 제어 모드의 변환을 통해 자동으로 속도를 제어하게 된다.As described above, the ACC system automatically controls the speed by switching between the distance control mode and the speed control mode according to the presence of the preceding vehicle.

선행 차량이 있을 경우에 차간 거리 제어 모드로 전환이 되면 운전자는 운전자 입력장치에 마련된 헤드웨이 버튼을 통해 1~2초 사이의 시간으로 미리 설정된 몇 개의 헤드웨이 타임 중 어느 하나를 선택하게 되며, 이에 따라 차간 유지 거리가 변경된다. 하지만, 운전자가 노약자, 청년, 여성 등으로 다양하고 또 제각각 원하는 차간 유지 거리가 있음에도 이를 고려하지 않고 헤드웨이 타임을 일률적으로 몇 가지로 설정해 놓은 것은 문제가 있다.When there is a preceding vehicle, when the driver switches to the distance control mode, the driver selects one of several preset headway times with a time between 1 and 2 seconds through the headway button provided on the driver input device. Accordingly, the vehicle maintenance distance is changed. However, even if the driver has various and desired distances to maintain the vehicle, such as the elderly, the young, the female, and the like, there is a problem that the headway time is uniformly set without considering this.

또한, 몇 가지로 한정되어 있는 헤드웨이 타임은 속도에 따라 선형적이지 않은 부분을 고려하지 않은 경우가 대부분이다. 또한 비선형적인 부분을 고려하였더라도 모든 운전자들의 비선형성을 고려하기는 힘들기 때문에 모든 운전자들의 운전 성향을 만족시키기는 어렵다.In addition, the headway time, which is limited in some ways, is not considered in the non-linear part depending on the speed. In addition, even if the non-linear part is taken into consideration, it is difficult to satisfy the driving tendency of all drivers because it is difficult to consider the non-linearity of all drivers.

또한 차량의 주행이 최종적으로 정지되었을 때 선행 차량과의 거리인 최소 거리(minimum distance)도 운전자에 따라 다양한데 현재의 ACC 시스템은 일정한 거리(예: 2m)로 설정되어 있기 때문에 다양한 운전자들의 성향을 만족시키기 어려운 문제점이 있다.In addition, when the vehicle is finally stopped, the minimum distance, which is the distance to the preceding vehicle, also varies according to the driver. However, since the current ACC system is set to a constant distance (for example, 2m), the driver's disposition is satisfied. There is a problem that is difficult to make.

본 발명은 이러한 문제점을 해결하기 위한 것으로, 본 발명의 목적은 선행 차량이 있을 경우에 운전자의 선행 차량 추종 패턴을 실시간으로 학습시켜 운전자의 성향 및 주위 환경에 따라 차간 거리 제어 시 중요한 제어값인 차간 유지 거리를 가변적으로 설정하도록 하는 차간 유지 거리/최소 거리 설정 시스템 및 그 설정 방법을 제공하는데 있다.The present invention is to solve such a problem, an object of the present invention is to learn the preceding vehicle tracking pattern of the driver in real time when there is a preceding vehicle in real time by controlling the distance between the vehicle according to the driver's disposition and surrounding environment The present invention provides an inter-vehicle holding distance / minimum distance setting system and a method for setting the holding distance.

본 발명의 일 측면에 따른 차간 유지 거리/최소 거리 설정 시스템은 주행 중인 차량의 전방으로 레이저 빔을 주사하여 선행 차량을 검출하는 동시에, 선행 차량까지의 차간 거리를 검출하는 레이더 시스템; 주행 중인 차량의 현재 차속을 검출하는 차속 센서; 및 레이더 시스템을 통해 검출된 차간 거리로 운전자의 선행 차량 추종 패턴을 실시간으로 학습하고, 검출된 차간 거리를 이용하여 차간 유지 거리 및 최소 거리를 설정하는 ACC 제어유닛을 포함한다.According to an aspect of the present invention, an inter-vehicle holding distance / minimum distance setting system includes: a radar system that detects a preceding vehicle by scanning a laser beam in front of a driving vehicle and detects a distance between the preceding vehicles; A vehicle speed sensor detecting a current vehicle speed of a vehicle that is driving; And an ACC control unit that learns a driver's preceding vehicle tracking pattern in real time using the distance between vehicles detected through the radar system, and sets the distance between the vehicle and the minimum distance using the detected vehicle distance.

또한 ACC 제어유닛에 의해 설정된 차간 유지 거리 및 최소 거리를 저장하는 메모리를 더 포함한다.The apparatus may further include a memory configured to store the inter-vehicle holding distance and the minimum distance set by the ACC control unit.

또한 ACC 제어유닛은 설정 횟수만큼 레이더 시스템으로부터 검출된 차간 거리를 입력 받고, 설정 횟수만큼 입력 받은 차간 거리의 평균값을 산출하고, 산출된 차간 거리의 평균값을 차간 유지 거리 및 최소 거리로 설정한다.In addition, the ACC control unit receives the detected distance from the radar system by the set number of times, calculates the average value of the inputted distance between the set number of times, and sets the average value of the calculated inter-vehicle distances as the between-vehicle holding distance and the minimum distance.

본 발명의 다른 측면에 따른 차간 유지 거리 설정 방법은 차량의 주행 중 선행 차량이 있을 때 차량의 주행 상태가 설정 모드로 진입하였는가 여부를 판단하고; 차량의 주행 상태가 설정 모드로 진입하였으면 일정 시간 간격마다 차량의 속도 및 선행 차량까지의 차간 거리를 검출하고; 차간 거리 검출 횟수가 설정 횟수에 도달하였는가 여부를 판단하고; 차간 거리 검출 횟수가 설정 횟수에 도달하였으면 설정 횟수만큼 검출된 차간 거리의 평균값을 산출하고; 산출된 차간 거리의 평균값을 차간 유지 거리로 설정한다.According to another aspect of the present invention, a method for setting an inter-vehicle holding distance includes determining whether a driving state of a vehicle has entered a setting mode when a preceding vehicle is present while the vehicle is running; If the driving state of the vehicle enters the setting mode, detecting the speed of the vehicle and the inter-vehicle distance to the preceding vehicle at predetermined time intervals; Determining whether the number of distance detections between the vehicles has reached the set number of times; Calculating the average value of the distances detected by the number of times when the number of times of the distance detection reaches the set number of times; The average value of the calculated inter-vehicle distance is set as the inter-vehicle holding distance.

또한 설정 모드는 차량과 선행 차량 간의 차간 거리가 일정 거리를 유지하고 있거나, 차량이 일정 속도로 주행하고 있는 선행 차량을 추종하고 있는 경우이다.The setting mode is a case where the distance between the vehicle and the preceding vehicle maintains a constant distance, or the vehicle follows the preceding vehicle running at a constant speed.

본 발명의 또 다른 측면에 따른 최소 거리 설정 방법은 차량의 주행 중 선행 차량이 있을 때 차량의 주행이 최종적으로 정지되었는가 여부를 판단하고; 차량의 주행이 최종적으로 정지되었으면 차량의 주행이 정지한 시점에서 선행 차량까지의 차간 거리를 검출하고; 누적된 차간 거리 검출 횟수가 설정 횟수에 도달하였는가 여부를 판단하고; 누적된 차간 거리 검출 횟수가 설정 횟수에 도달하였으면 설정 횟수만큼 검출된 차간 거리의 평균값을 산출하고; 산출된 차간 거리의 평균값을 최소 거리로 설정한다.According to another aspect of the present invention, there is provided a minimum distance setting method, comprising: determining whether driving of a vehicle is finally stopped when there is a preceding vehicle while driving of the vehicle; If the driving of the vehicle is finally stopped, detecting the inter-vehicle distance from the time when the driving of the vehicle stops to the preceding vehicle; Determining whether the accumulated inter-vehicle distance detection number has reached the set number of times; Calculating the average value of the detected inter-vehicle distances when the accumulated inter-vehicle distance detection number reaches the set number of times; The average value of the calculated inter-vehicle distances is set as the minimum distance.

이상에서 상세히 살펴본 바와 같이, 본 발명의 일측면에 의하면 운전자의 성향 및 주위 환경에 따라 차간 거리 제어 시 중요한 제어값인 차간 유지 거리를 가변적으로 설정할 수 있다.As described in detail above, according to an aspect of the present invention, an inter-vehicle holding distance, which is an important control value in controlling the inter-vehicle distance, may be variably set according to the driver's disposition and the surrounding environment.

도 1은 본 발명의 일실시예에 따른 차간 유지 거리 설정 시스템의 제어 블록도이다.
도 2는 본 발명의 일실시예에 따른 차간 유지 거리 설정 방법을 도시한 흐름도이다.
도 3은 본 발명의 일실시예에 따른 최소 거리 설정 방법을 도시한 흐름도이다.
1 is a control block diagram of an inter-vehicle holding distance setting system according to an embodiment of the present invention.
2 is a flowchart illustrating a method for setting a space keeping distance according to an embodiment of the present invention.
3 is a flowchart illustrating a minimum distance setting method according to an embodiment of the present invention.

이하에서는 도면을 참조하여 본 발명의 일실시예를 상세하게 설명하도록 한다. Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

도 1은 본 발명의 일실시예에 따른 차간 유지 거리 설정 시스템의 제어 블록도이다. 본 발명의 일실시예에 따른 차간 유지 거리 설정 시스템은 운전자 입력장치(10), 레이더 시스템(20), 차속 센서(30), ACC 제어유닛(40), 메모리(50)를 포함한다.1 is a control block diagram of an inter-vehicle holding distance setting system according to an embodiment of the present invention. The vehicle maintenance distance setting system according to an embodiment of the present invention includes a driver input device 10, a radar system 20, a vehicle speed sensor 30, an ACC control unit 40, and a memory 50.

운전자 입력장치(10)는 차량의 운전석 모듈 근처에 장착되고, 메인 버튼(11), 플러스 버튼(12), 마이너스 버튼(13)을 구비한다.The driver input device 10 is mounted near the driver's seat module of the vehicle and includes a main button 11, a plus button 12, and a minus button 13.

메인 버튼(11)은 ACC 시스템을 작동시키기 위한 조작 부재이며, 메인 버튼(11)이 ON되면 ACC 시스템에 전원이 인가되어 작동 상태가 된다.The main button 11 is an operation member for operating the ACC system. When the main button 11 is turned on, power is applied to the ACC system to be in an operating state.

플러스 버튼(12)은 차간 유지 거리 설정 모드가 아닌 경우 즉, 차간 거리 제어 모드와 속도 제어 모드에서는 차간 거리나 차속을 증가시키는 조작 부재이다.The plus button 12 is an operation member for increasing the distance between the vehicle and the vehicle speed in the non-vehicle holding distance setting mode, that is, in the inter-vehicle distance control mode and the speed control mode.

마이너스 버튼(13)은 차간 유지 거리 설정 모드가 아닌 경우 즉, 차간 거리 제어 모드와 속도 제어 모드에서는 차간 거리나 차속을 감소시키는 조작 부재이다.The minus button 13 is an operation member for reducing the distance between the vehicle and the vehicle speed when the vehicle is not in the vehicle maintenance distance setting mode, that is, in the vehicle distance control mode and the speed control mode.

선행 차량과의 상대 거리를 감지하기 위한 레이더 시스템(20)은 차량 전방으로 레이저 빔을 주사하여 선행 차량을 검출하는 동시에, 선행 차량까지의 차간 거리를 검출한다.The radar system 20 for detecting a relative distance to the preceding vehicle detects the preceding vehicle by scanning a laser beam in front of the vehicle, and at the same time detects the inter-vehicle distance to the preceding vehicle.

차속 센서(30)는 주행 중인 차량의 현재 차속을 검출한다.The vehicle speed sensor 30 detects a current vehicle speed of a driving vehicle.

ACC 제어 유닛(40)은 차속 제어부(41), 차간 거리 제어부(42), 차간 유지 거리/최소 거리 학습부(43)를 포함한다.The ACC control unit 40 includes a vehicle speed control unit 41, an inter-vehicle distance control unit 42, and an inter-vehicle holding distance / minimum distance learning unit 43.

차속 제어부(41)는 레이더 시스템(20)을 통해 검출된 차간 거리와 차간 유지 거리의 비교 결과에 따라 자차의 주행 차속을 가/감속 제어한다.The vehicle speed control unit 41 controls acceleration / deceleration of the running vehicle speed of the host vehicle according to the comparison result between the inter-vehicle distance and the inter-vehicle holding distance detected by the radar system 20.

차간 거리 제어부(42)는 자차의 주행 중에 선행 차량이 있을 경우에 자차와 선행 차량 간의 차간 거리가 설정된 차간 유지 거리를 추종하도록 제어한다.The inter-vehicle distance control section 42 controls to follow the inter-vehicle holding distance in which the inter-vehicle distance between the own vehicle and the preceding vehicle is set when there is a preceding vehicle while the own vehicle is running.

차간 유지 거리/최소 거리 학습부(43)는 차간 유지 거리/최소 거리 학습을 위한 로직 함수를 탑재하여, 운전자의 선행 차량 추종 패턴을 실시간으로 학습하여 운전자의 성향 및 주위 환경에 따라 차간 유지 거리 및 최소 거리를 설정/저장한다.The inter-vehicle holding distance / minimum distance learning unit 43 is equipped with a logic function for learning the inter-vehicle holding distance / minimum distance, and learns the driver's preceding vehicle tracking pattern in real time, thereby maintaining the inter-vehicle holding distance and Set / store the minimum distance.

메모리(50)에는 차간 유지 거리/최소 거리 학습을 통해 설정된 차간 유지 거리 및 최소 거리가 저장된다.The memory 50 stores the distance between the vehicle and the minimum distance set by the vehicle distance / learn distance learning.

도 2는 본 발명의 일실시예에 따른 차간 유지 거리 설정 방법을 도시한 흐름도이다.2 is a flowchart illustrating a method for setting a space keeping distance according to an embodiment of the present invention.

운전자가 차량의 주행을 시작한 후(110) 일정 시간이 경과하면 ACC 제어유닛(40)은 차량의 주행 상태가 설정 모드로 진입하였는가 여부를 판단한다(120). 여기서, 설정 모드란 자차의 주행 중 선행 차량이 있는 경우에 자차와 선행 차량 간의 차간 거리가 일정 거리를 유지하고 있거나, 자차가 일정 속도로 주행하고 있는 선행 차량을 추종하고 있는 경우 등을 가리킨다.After a predetermined time elapses after the driver starts driving (110), the ACC control unit 40 determines whether the driving state of the vehicle has entered the setting mode (120). Here, the setting mode refers to a case where the distance between the host vehicle and the preceding vehicle maintains a constant distance when the preceding vehicle is running while the own vehicle is running or follows the preceding vehicle running at a constant speed.

판단 결과, 차량의 주행 상태가 설정 모드로 진입하였으면(단계 120에서의 '예') ACC 제어유닛(40)은 일정 시간 간격마다 차속 센서(30) 및 레이더 시스템(20)을 통해 검출된 자차 속도 및 차간 거리를 입력 받는다(130).As a result of determination, when the driving state of the vehicle enters the setting mode (YES in step 120), the ACC control unit 40 detects the own vehicle speed detected by the vehicle speed sensor 30 and the radar system 20 at regular intervals. And receiving the distance between the vehicle (130).

이후 ACC 제어유닛(40)은 레이더 시스템(20)을 통해 검출되는 차간 거리 검출 횟수가 설정 횟수(n회)에 도달하였는가 여부를 판단한다(140). 판단 결과 차간 거리 검출 횟수가 설정 횟수(n회)에 도달하지 못했으면(단계 140에서의 '아니오') 단계 130으로 리턴하여 차간 거리 검출 횟수가 설정 횟수(n회)에 도달할 때까지 지속적으로 차속 및 차간 거리를 검출한다.Thereafter, the ACC control unit 40 determines whether the number of times of detecting the distance between vehicles detected by the radar system 20 has reached the set number (n times) (140). If the determination result does not reach the set number of times (n times) (NO in step 140), the process returns to step 130 and continues until the number of detected distance distances reaches the set number (n times). Detects vehicle speed and distance between cars.

한편, 판단 결과 차간 거리 검출 횟수가 설정 횟수(n회)에 도달했으면(단계 140에서의 '예') 최근 n개에 대한 차간 거리를 메모리(50)에 저장하고, 최근 n개에 대한 차간 거리의 평균값을 산출한다(150).On the other hand, if the number of detected distances has reached the set number (n times) as a result of the determination (YES in step 140), the distance between the most recent n items is stored in the memory 50, and the distance between the most recent n items is stored. The average value of is calculated (150).

이후, 산출된 차간 거리의 평균값을 차간 유지 거리로 설정하여 메모리(50)에 저장한다(160). ACC 제어유닛(40)은 메모리(50)에 저장된 차간 유지 거리를 기초로 하여 자차와 선행 차량 간의 차간 거리를 제어하게 된다.Thereafter, the average value of the calculated inter-vehicle distance is set as the inter-vehicle holding distance and stored in the memory 50 (160). The ACC control unit 40 controls the inter-vehicle distance between the host vehicle and the preceding vehicle based on the inter-vehicle holding distance stored in the memory 50.

이와 같이, 본 실시예에서는 운전자의 선행 차량 추종 패턴을 실시간으로 학습하여 운전자의 성향 및 주위 환경에 따라 차간 유지 거리 자체를 설정함으로써, 헤드웨이 타임을 이용하여 차간 유지 거리를 산출하는 경우에 발생되는 차간 유지 거리가 속도에 따라 비선형적인 부분을 고려하지 않는 문제점을 해결할 수 있게 된다.As described above, according to the present exemplary embodiment, when the preceding vehicle tracking pattern of the driver is learned in real time and the distance between the driver and the surrounding environment is set according to the driver's propensity and the surrounding environment, it is generated when the distance between the vehicle is calculated using the headway time. It is possible to solve the problem that the vehicle maintenance distance does not consider the non-linear part according to the speed.

도 3은 본 발명의 일실시예에 따른 최소 거리 설정 방법을 도시한 흐름도이다.3 is a flowchart illustrating a minimum distance setting method according to an embodiment of the present invention.

운전자가 차량의 주행을 시작한 후(210) 시간이 일정 시간이 경과하면 ACC 제어유닛(40)은 차량의 주행이 최종적으로 정지되었는가 여부를 판단한다(220). After a predetermined time elapses after the driver starts to drive the vehicle (210), the ACC control unit 40 determines whether the driving of the vehicle is finally stopped (220).

판단 결과, 차량의 주행이 최종적으로 정지되었으면(단계 220에서의 '예') ACC 제어유닛(40)은 차량의 주행이 정지한 시점에서 레이더 시스템(20)을 통해 검출된 차간 거리를 입력 받아 메모리(50)에 저장한다(230). 메모리(50)에는 차량의 주행이 최종적으로 정지되는 시점마다의 자차와 선행 차량 간의 차간 거리가 누적적으로 저장되어 있다.As a result of determination, when the driving of the vehicle is finally stopped (YES in step 220), the ACC control unit 40 receives the distance between the vehicles detected through the radar system 20 at the time when the driving of the vehicle is stopped, and stores the memory. Stored in 50 (230). The memory 50 stores cumulative distances between the host vehicle and the preceding vehicle for each time point at which the vehicle is finally stopped.

이후 ACC 제어유닛(40)은 레이더 시스템(20)을 통해 검출된 누적 차간 거리 검출 횟수가 설정 횟수(n회)에 도달하였는가 여부를 판단한다(240). 판단 결과 누적된 차간 거리 검출 횟수가 설정 횟수(n회)에 도달하지 못했으면(단계 240에서의 '아니오') 누적 차간 거리 검출 횟수의 부족으로 인해 운전자의 성향이 충분히 반영된 최소 거리를 설정할 수 없는 것으로 판단하고, 기설정되어 있는 최소 거리를 유지한다.Thereafter, the ACC control unit 40 determines whether the cumulative inter-vehicle distance detection count detected by the radar system 20 has reached a set number (n times) (240). If it is determined that the accumulated number of detected inter-vehicle distances does not reach the set number (n times) (NO in step 240), it is impossible to set the minimum distance sufficiently reflecting the driver's tendency due to the lack of the accumulated number of detected inter-vehicle distances. It determines that it is, and maintains the predetermined minimum distance.

한편, 판단 결과 누적 차간 거리 검출 횟수가 설정 횟수(n회)에 도달했으면(단계 240에서의 '예') 최근 n개에 대한 차간 거리의 평균값을 산출한다(250).On the other hand, if the cumulative inter-vehicle distance detection count reaches the set number (n times) (YES in step 240), the average value of the inter-vehicle distances for the latest n pieces is calculated (250).

이후, 산출된 차간 거리의 평균값을 최소 거리로 설정하여 메모리(50)에 저장한다(260). ACC 제어유닛(40)은 메모리(50)에 저장된 최소 거리를 기초로 하여 차량의 주행이 최종적으로 정지되었을 때 자차와 선행 차량 간의 차간 거리를 제어하게 된다.Thereafter, the average value of the calculated inter-vehicle distance is set as the minimum distance and stored in the memory 50 (260). The ACC control unit 40 controls the distance between the host vehicle and the preceding vehicle when the driving of the vehicle is finally stopped based on the minimum distance stored in the memory 50.

이와 같이, 본 실시예에서는 차량의 주행이 최종적으로 정지되었을 때 선행 차량과의 거리인 최소 거리를 학습하여 운전자의 성향 및 주위 환경에 따라 최소 거리를 설정함으로써, 다양한 운전자의 성향을 충족시킬 수 있게 된다.As described above, in the present embodiment, when the driving of the vehicle is finally stopped, the minimum distance, which is a distance from the preceding vehicle, is learned and the minimum distance is set according to the driver's propensity and the surrounding environment, thereby satisfying various driver's propensities. do.

10: 운전자 입력장치 20: 레이더 시스템
30: 차속 센서 40: ACC 제어유닛
50: 메모리
10: driver input device 20: radar system
30: vehicle speed sensor 40: ACC control unit
50: memory

Claims (6)

주행 중인 차량의 전방으로 레이저 빔을 주사하여 선행 차량을 검출하는 동시에, 상기 선행 차량까지의 차간 거리를 검출하는 레이더 시스템;
상기 주행 중인 차량의 현재 차속을 검출하는 차속 센서; 및
상기 레이더 시스템을 통해 검출된 차간 거리로 운전자의 선행 차량 추종 패턴을 실시간으로 학습하고, 상기 검출된 차간 거리를 이용하여 차간 유지 거리 및 최소 거리를 설정하는 ACC 제어유닛을 포함하는 차간 유지 거리/최소 거리 설정 시스템.
A radar system that detects a preceding vehicle by scanning a laser beam in front of a driving vehicle and detects an inter-vehicle distance to the preceding vehicle;
A vehicle speed sensor detecting a current vehicle speed of the vehicle that is driving; And
Inter-vehicle holding distance / minimum including an ACC control unit that learns the preceding vehicle tracking pattern of the driver in real time with the inter-vehicle distance detected through the radar system and sets the inter-vehicle holding distance and minimum distance using the detected inter-vehicle distance. Distance setting system.
제 1 항에 있어서,
상기 ACC 제어유닛에 의해 설정된 상기 차간 유지 거리 및 상기 최소 거리를 저장하는 메모리를 더 포함하는 차간 유지 거리/최소 거리 설정 시스템.
The method of claim 1,
And a memory for storing the inter-vehicle holding distance and the minimum distance set by the ACC control unit.
제 1 항에 있어서,
상기 ACC 제어유닛은 설정 횟수만큼 상기 레이더 시스템으로부터 검출된 차간 거리를 입력 받고, 상기 설정 횟수만큼 입력 받은 차간 거리의 평균값을 산출하고, 상기 산출된 차간 거리의 평균값을 차간 유지 거리 및 최소 거리로 설정하는 차간 유지 거리/최소 거리 설정 시스템.
The method of claim 1,
The ACC control unit receives a distance detected from the radar system by a set number of times, calculates an average value of the distance between the inputs received by the set number of times, and sets the average value of the calculated distance between the vehicle to a distance and a minimum distance. Inter-vehicle keeping distance / min distance setting system.
차량의 주행 중 선행 차량이 있을 때 상기 차량의 주행 상태가 설정 모드로 진입하였는가 여부를 판단하고;
상기 차량의 주행 상태가 설정 모드로 진입하였으면 일정 시간 간격마다 상기 차량의 속도 및 상기 선행 차량까지의 차간 거리를 검출하고;
상기 차간 거리 검출 횟수가 설정 횟수에 도달하였는가 여부를 판단하고;
상기 차간 거리 검출 횟수가 설정 횟수에 도달하였으면 상기 설정 횟수만큼 검출된 차간 거리의 평균값을 산출하고;
상기 산출된 차간 거리의 평균값을 차간 유지 거리로 설정하는 차간 유지 거리 설정 방법.
Determining whether the driving state of the vehicle has entered a setting mode when there is a preceding vehicle while the vehicle is running;
Detecting a speed of the vehicle and an inter-vehicle distance to the preceding vehicle at predetermined time intervals when the driving state of the vehicle enters a setting mode;
Determining whether the number of detected distances between the vehicles has reached a set number of times;
Calculating the average value of the distances detected by the set number of times when the number of detected distances reaches the set number of times;
A method for setting a distance between vehicles, wherein the average value of the calculated distance between vehicles is set as a distance between vehicles.
제 4 항에 있어서, 상기 설정 모드는 상기 차량과 상기 선행 차량 간의 차간 거리가 일정 거리를 유지하고 있거나, 상기 차량이 일정 속도로 주행하고 있는 선행 차량을 추종하고 있는 경우인 차간 유지 거리 설정 방법. The method of claim 4, wherein the setting mode is a case where the distance between the vehicle and the preceding vehicle maintains a constant distance or the vehicle follows the preceding vehicle that runs at a constant speed. 차량의 주행 중 선행 차량이 있을 때 상기 차량의 주행이 최종적으로 정지되었는가 여부를 판단하고;
상기 차량의 주행이 최종적으로 정지되었으면 상기 차량의 주행이 정지한 시점에서 상기 선행 차량까지의 차간 거리를 검출하고;
누적된 차간 거리 검출 횟수가 설정 횟수에 도달하였는가 여부를 판단하고;
상기 누적된 차간 거리 검출 횟수가 설정 횟수에 도달하였으면 상기 설정 횟수만큼 검출된 차간 거리의 평균값을 산출하고;
상기 산출된 차간 거리의 평균값을 최소 거리로 설정하는 최소 거리 설정 방법.
Determining whether driving of the vehicle is finally stopped when there is a preceding vehicle while driving of the vehicle;
If the driving of the vehicle is finally stopped, detecting the inter-vehicle distance to the preceding vehicle when the driving of the vehicle is stopped;
Determining whether the accumulated inter-vehicle distance detection number has reached the set number of times;
Calculating an average value of the detected inter-vehicle distances when the accumulated inter-vehicle distance detection number reaches a set number of times;
The minimum distance setting method of setting the average value of the calculated inter-vehicle distance as the minimum distance.
KR1020100061289A 2010-06-28 2010-06-28 Headway distance/minimum distance setting system and method thereof KR20120000818A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8903614B1 (en) 2013-06-07 2014-12-02 Hyundai Motor Company Apparatus and method for determining short-term driving tendency
US10688995B2 (en) 2016-09-21 2020-06-23 Nissan Motor Co., Ltd. Method for controlling travel and device for controlling travel of vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8903614B1 (en) 2013-06-07 2014-12-02 Hyundai Motor Company Apparatus and method for determining short-term driving tendency
US10688995B2 (en) 2016-09-21 2020-06-23 Nissan Motor Co., Ltd. Method for controlling travel and device for controlling travel of vehicle

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