KR20120114994A - Method for controlling detection peripheral obstacle of vehicle with trailer - Google Patents

Method for controlling detection peripheral obstacle of vehicle with trailer Download PDF

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Publication number
KR20120114994A
KR20120114994A KR1020110032879A KR20110032879A KR20120114994A KR 20120114994 A KR20120114994 A KR 20120114994A KR 1020110032879 A KR1020110032879 A KR 1020110032879A KR 20110032879 A KR20110032879 A KR 20110032879A KR 20120114994 A KR20120114994 A KR 20120114994A
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South Korea
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trailer
vehicle
obstacle
warning
detection
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KR1020110032879A
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Korean (ko)
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김동완
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현대자동차주식회사
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Publication of KR20120114994A publication Critical patent/KR20120114994A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar 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
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/021—Means for detecting failure or malfunction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/14—Trailers, e.g. full trailers, caravans
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/30—Switches, e.g. mercury or ball type switches
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/14—Trucks; Load vehicles, Busses
    • B60Y2200/147—Trailers, e.g. full trailers or caravans
    • 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
    • B60Y2300/08—Predicting or avoiding probable or impending collision
    • 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 controlling method of obstacle detection around a trailer is provided to improve the detection efficiency of obstacles by enlarging detecting and warning ranges of the obstacles. CONSTITUTION: A controlling method of obstacle detection around a trailer includes the following steps: a trailer at the lateral rear side of a vehicle is verified under a surrounding vehicle detecting mode; if there is no trailers at the lateral rear side of the vehicle, a normal detection and warning range is set(S107); and if there is a trailer at the lateral rear side of the vehicle, a trailer detection and warning range which is enlarged from the normal detection and warning range is set(S108). [Reference numerals] (AA) Start; (S101) Entering into a surrounding obstacle detecting mode; (S102) Self analysis; (S103) Failure?; (S104) Entering into a failure mode; (S105) Driving speed of a vehicle is more than or equal to 30KPH?; (S106) Trailer is detected?; (S107) Entering into an ordinary mode; (S108) Entering into a trailer mode; (S109) Detecting an obstacle within a pre-set range; (S110) Obstacle is detected within a pre-set range?; (S111) Lane turning signal operates to an obstacle position?; (S112) Generating a warning about the obstacle to a driver

Description

트레일러 차량의 주변 장애물 감지 제어 방법{Method for controlling detection peripheral obstacle of vehicle with Trailer} Method for controlling detection peripheral obstacle of vehicle with Trailer}

본 발명은 트레일러 차량의 주변 장애물 감지 제어 방법에 관한 것으로, 더욱 상세하게는 차량의 후방에 트레일러를 설치한 경우 주변차량 감지 및 경고 범위를 확장시켜 정확한 주변 장애물 감지가 이루어지도록 하는 기술이다.The present invention relates to a method for detecting a surrounding obstacle of a trailer vehicle, and more particularly, to a method for accurately detecting a surrounding obstacle by expanding a surrounding vehicle detection and warning range when a trailer is installed at the rear of the vehicle.

최근 차량이 고도로 지능화됨에 따라 차량에 탑재된 각종 센서를 이용하여 여러가지 지능화 기능을 수행하는데 그 중에서 차량의 측면과 후방의 사각지대를 감시하여 충돌위험 시 경고하는 BSD(Blind Spot Detection) 시스템, 차선 변경 시 후방 차량과의 충돌을 방지하기 위한 차선변경 보조시스템(LCA; LANE CHANGE ASSIST SYSTEM) 등이 있다.Recently, as the vehicle is highly intelligent, various intelligent functions are performed using various sensors mounted on the vehicle. Among them, a blind spot detection (BSD) system that monitors the blind spots on the side and rear of the vehicle and warns in case of a collision risk, changes lanes. There is a lane change assistance system (LCA) to prevent collision with vehicles behind the city.

이러한 BSD 시스템 및 LCA 시스템 등은 차량의 후측면의 장애물(근접 차량)을 감지하여 운전자가 이를 인지할 수 있도록 경고를 하거나 안전하게 차선 변경을 할 수 있도록 보조한다.The BSD system and the LCA system detect obstacles on the rear side of the vehicle (proximity vehicles) and warn the driver to recognize them or assist them in safely changing lanes.

그러나, 이러한 BSD 시스템 및 LCA 시스템 등 차량 주변 장애물을 감지하는 시스템은 후측면에 캐리어 등의 트레일러(TRAILER)를 장착한 차량의 경우 트레일러 길이만큼 늘어난 후측면 지역에 대해서는 장애물 감지 기능이 없어 차선 변경 시 근접 차량과 트레일러가 충돌할 위험이 높은 문제점이 있었다.However, the system that detects obstacles around the vehicle such as BSD system and LCA system does not have obstacle detection function for the rear side area that is extended by the trailer length in the case of vehicles equipped with a trailer such as a carrier on the rear side. There was a high risk of collision between the adjacent vehicle and the trailer.

본 발명의 목적은 차량의 후측면에 트레일러 장착 여부를 감지하고 트레일러를 장착한 차량에 대해 주변 장애물 감지 및 경고 범위를 확대하여 주변 장애물 감지 효율을 향상시키는데 있다.An object of the present invention is to detect whether the trailer is mounted on the rear side of the vehicle and to improve the surrounding obstacle detection efficiency by expanding the surrounding obstacle detection and warning range for the vehicle equipped with the trailer.

상기와 같은 목적을 달성하기 위한 본 발명에 따른 트레일러 차량의 주변 장애물 감지 제어 방법은, 주변차량 감지 모드 진입 시, 차량 측후면에 트레일러의 장착 여부를 판단하는 과정과, 상기 트레일러가 장착되지 않은 경우 일반 모드 감지 및 경고 범위를 설정하는 과정과, 상기 트레일러가 장착된 경우 상기 일반 모드 감지 및 경고 범위보다 확장된 트레일러 모드 감지 및 경고 범위를 설정하는 과정을 포함한다. In order to achieve the above object, the method for controlling the surrounding obstacle detection of the trailer vehicle according to the present invention includes determining whether the trailer is mounted on the side and rear surfaces of the vehicle when entering the surrounding vehicle detection mode, and when the trailer is not mounted. And setting a general mode detection and warning range, and setting a trailer mode detection and warning range extended to the general mode detection and warning range when the trailer is mounted.

또한, 상기 차량 측후면에 트레일러의 장착 여부를 판단하는 과정은, 상기 차량의 측후면의 미리정한 거리 내에 장애물이 존재하고 상기 장애물이 미리 정한 시간동안 연속적으로 감지되는 경우 상기 장애물을 트레일러로 판단하는 것을 특징으로 한다.In addition, the process of determining whether the trailer is mounted on the vehicle side and rear surface, if there is an obstacle within a predetermined distance of the side rear surface of the vehicle and the obstacle is continuously detected for a predetermined time to determine the obstacle as a trailer It is characterized by.

또한, 상기 트레일러 모드 감지 및 경고 범위를 설정하는 과정은, 상기 트레일러 모드를 상기 일반모드 보다 상기 트레일러의 길이 만큼 확장된 범위로 설정하는 것을 특징으로 한다.In addition, the process of setting the trailer mode detection and warning range, characterized in that for setting the trailer mode to a range extended by the length of the trailer than the normal mode.

또한, 상기 차량 측후면에 트레일러의 장착 여부를 판단하는 과정은, 상기 차량이 미리 정한 속도 이상 주행하는 경우 수행하는 것을 특징으로 한다.In addition, the process of determining whether the trailer is mounted on the vehicle side and rear surface, characterized in that performed when the vehicle is traveling at a predetermined speed or more.

또한, 상기 설정됨 범위 내에 장애물이 존재하는 지를 감지하여 경고하는 과정을 더 포함하는 것을 특징으로 한다.The method may further include detecting and warning whether an obstacle exists within the set range.

또한, 상기 설정됨 범위 내에 장애물이 존재하는 지를 감지하여 경고하는 과정은, 상기 설정된 범위 내에 장애물이 존재하면, 상기 장애물이 존재하는 방향으로 차선 변경 신호가 입력되었는지를 확인하여, 상기 장애물이 존재하는 방향으로 차선 변경 신호가 입력되는 경우 경고하는 것을 특징으로 한다.In addition, the process of detecting and warning whether an obstacle exists within the set range includes, when an obstacle exists within the set range, checking whether a lane change signal is input in a direction in which the obstacle exists, wherein the obstacle exists. Alerting when the lane change signal is input in the direction.

상기와 같이 본 발명은 차량의 후측면에 트레일러 장착 여부를 감지하고 트레일러를 장착한 차량에 대해 장애물 감지 및 경고 범위를 확대하여 차선변경 시 보조할 수 있도록 하는 효과가 있다.As described above, the present invention has an effect of detecting whether the trailer is mounted on the rear side of the vehicle and expanding the obstacle detection and warning range for the vehicle equipped with the trailer to assist in changing the lane.

도 1은 본 발명의 실시예에 따른 트레일러 차량의 주변 장애물 감지 제어 시스템의 구성도.
도 2는 본 발명의 실시예에 따른 트레일러 차량의 주변 장애물 감지 제어 방법을 나타내는 순서도.
도 3은 도 2의 일반 모드에서의 장애물 감지 및 경고 범위를 나타내는 도면.
도 4는 도 2의 트레일러 모드에서의 장애물 감지 및 경고 범위를 나타내는 도면.1 is a block diagram of a peripheral obstacle detection control system of a trailer vehicle according to an embodiment of the present invention.
2 is a flow chart illustrating a method for detecting a surrounding obstacle of a trailer vehicle according to an exemplary embodiment of the present invention.
3 is a view showing the obstacle detection and warning range in the normal mode of FIG.
4 is a diagram illustrating obstacle detection and warning ranges in the trailer mode of FIG.

이하, 본 발명에 따른 트레일러 차량의 주변 장애물 감지 제어 방법을 첨부된 도 1 내지 도 4를 참조하여 상세히 설명한다.Hereinafter, a method of controlling a surrounding obstacle detection of a trailer vehicle according to the present invention will be described in detail with reference to FIGS. 1 to 4.

본 발명은 트레일러를 장착한 차량에 대한 BSD(Blind Spot Detection) 시스템, 차선변경 보조시스템(LCA; LANE CHANGE ASSIST SYSTEM) 등에 적용되는 예를 개시하고 있으나 본 발명은 주변 차량을 감지하는 모든 기술에 적용될 수 있다.The present invention discloses an example that is applied to a blind spot detection (BSD) system, a lane change assistance system (LCA) for a vehicle equipped with a trailer, and the like, but the present invention is applicable to all techniques for detecting surrounding vehicles. Can be.

도 1은 본 발명의 실시예에 따른 트레일러 차량의 주변 장애물 감지 제어 시스템의 구성도이다.1 is a block diagram of a peripheral obstacle detection control system of a trailer vehicle according to an embodiment of the present invention.

본 발명의 실시예에 따른 트레일러 차량의 주변 장애물 감지 제어 시스템은, 스위치(110), 주변 장애물 감지부(120), 제어부(130) 및 경고부(140)를 구비한다.The peripheral obstacle detection control system of the trailer vehicle according to the embodiment of the present invention includes a switch 110, a peripheral obstacle detection unit 120, a controller 130, and a warning unit 140.

스위치(110)는 사용자에 의해 온오프(on/off)되면 온오프 신호를 제어부(130)로 출력한다.The switch 110 outputs an on-off signal to the controller 130 when it is turned on / off by the user.

주변 장애물 감지부(120)는 제어부(130)에 의해 제어되어 차량의 후측면의 장애물(근접 차량, 사람 등)을 감지한다.The peripheral obstacle detecting unit 120 is controlled by the controller 130 to detect an obstacle (close vehicle, person, etc.) on the rear side of the vehicle.

제어부(130)는 스위치(110)로부터 온 신호가 인가되면 차량을 주변차량 감지 모드로 진입시키고 오프 신호가 인가되면 주변차량 감지 모드를 해제한다. 주변차량 감지 모드 진입 시 제어부(130)는 주변 장애물 감지부(120)를 통해 차량 후측면의 트레일러를 감지하고 트레일러가 존재하는 경우 주변 장애물 감지 및 경고 범위 및 경고 범위를 확장시켜 감지하도록 한다.The controller 130 enters the vehicle into the surrounding vehicle sensing mode when the signal from the switch 110 is applied, and releases the surrounding vehicle sensing mode when the off signal is applied. When entering the surrounding vehicle detection mode, the control unit 130 detects the trailer on the rear side of the vehicle through the surrounding obstacle detecting unit 120 and expands the surrounding obstacle detection and warning range and warning range when the trailer exists.

경고부(140)는 제어부(130)의 제어에 따라 경고 범위 내에 충돌 가능성이 있는 장애물이 존재함을 운전자에게 경고한다. 이를 위해, 경고부(140)는 인디케이터(indicator), 표시부(경고문구표시), 스피커(경고음 출력)를 포함할 수 있다.
The warning unit 140 warns the driver that there is a collision possibility within the warning range under the control of the controller 130. To this end, the warning unit 140 may include an indicator, a display unit (warning phrase display), a speaker (warning sound output).

이하, 도 2를 참조하여 본 발명의 실시예에 따른 트레일러 차량의 주변 장애물 감지 제어 방법을 구체적으로 설명하기로 한다.Hereinafter, a method of detecting a surrounding obstacle of a trailer vehicle according to an exemplary embodiment of the present invention will be described in detail with reference to FIG. 2.

먼저, 스위치(110)가 온 되어 주변차량 감지 모드로 진입되면(S101), 제어부(130)는 자기 진단을 실시하여(S102) 고장여부를 판단하고(S103), 고장이 발생한 경우 주변차량 감지 모드 진행을 중지하고 고장모드(FAILURE MODE)로 진입시킨다(S104).First, when the switch 110 is turned on and enters the surrounding vehicle detection mode (S101), the controller 130 performs self-diagnosis (S102) to determine whether there is a failure (S103), and when the failure occurs, the surrounding vehicle detection mode. Stop the process and enter the failure mode (FAILURE MODE) (S104).

고장이 발생하지 않은 경우 주변차량 감지 모드를 계속 진행하고, 제어부(130)는 현재 차량의 차속이 30KPH 이상인지를 판단하여(S105), 차속이 30KPH 이상인 경우 차량의 후측면을 감지하여 트레일러(캐리어 등)의 존재여부를 판단한다(S106). 이때, 제어부(130)는 차량 후측면의 장애물이 1분간 연속적으로 감지되고 장애물이 후측면의 3m 이내에 존재하는 경우 트레일러가 장착된 차량으로 판단한다.If a failure does not occur, the surrounding vehicle detection mode is continued, and the controller 130 determines whether the current vehicle speed is 30 KPH or more (S105), and when the vehicle speed is 30 KPH or more, detects the rear side of the vehicle and displays a trailer (carrier). And the like) (S106). In this case, the controller 130 determines that the vehicle is equipped with a trailer when the obstacle on the rear side of the vehicle is continuously detected for one minute and the obstacle exists within 3m of the rear side.

그 후, 트레일러가 장착되어 있지 않은 경우 제어부(130)는 일반 모드로 진입하여 도 3과 같은 일반 모드의 감지 및 경고 범위(차량 측면 3.5m~4m, 차량 후면 5~5.5m)를 설정하고(S107), 트레일러가 장착되어 있는 경우 제어부(130)는 트레일러 모드로 진입하여 도 4와 같은 트레일러 모드의 감지 및 경고 범위(차량 측면 3.5m~4m, 차량 후면 15~15.5m)로 설정한다(S108). 여기서, 트레일러를 차량 후면에 설치한 경우 차량 후면의 감지 및 경고 범위를 확장시킨 예를 개시하고 있으나, 트레일러(자전거 캐리어 등)를 차량 측면에 설치한 경우 차량 측면의 감지 및 경고 범위를 확장시키는 것이 바람직하다.Then, when the trailer is not mounted, the controller 130 enters the normal mode and sets the detection and warning range (vehicle side 3.5m to 4m, rear side of the vehicle 5 to 5.5m) of the general mode as shown in FIG. S107), when the trailer is mounted, the control unit 130 enters the trailer mode and sets the detection and warning range (vehicle side 3.5m to 4m, vehicle rear 15 to 15.5m) of the trailer mode as shown in FIG. 4 (S108). ). Here, an example of extending the detection and warning range of the rear of the vehicle when the trailer is installed at the rear of the vehicle is disclosed, but extending the detection and warning range of the vehicle side when the trailer (bicycle carrier, etc.) is installed at the side of the vehicle. desirable.

그 후, 제어부(130)는 주변 장애물 감지부(120)를 제어하여 설정됨 모드 범위에 따라 범위 내의 장애물을 감지한다(S109).Thereafter, the controller 130 detects obstacles within the range according to the set mode range by controlling the peripheral obstacle detecting unit 120 (S109).

이어, 설정된 범위 내에 장애물이 감지여부에 따라(S110), 장애물이 감지되면 제어부(130)는 장애물이 존재하는 방향(장애물 위치)으로의 차선변경신호(TURN SIGNAL)가 인가되었는지 여부를 판단한다(S111). 즉, 제어부(130)는 차선변경스위치(깜박이) 등이 온 되어 차선변경신호(오른쪽/왼쪽)가 입력되면 운전자가 차선을 변경하고자 하는 방향쪽의 장애물이 존재하는 지를 판단한다.Subsequently, depending on whether the obstacle is detected within the set range (S110), when the obstacle is detected, the controller 130 determines whether the lane change signal TURN SIGNAL in the direction in which the obstacle exists (obstacle position) is applied ( S111). That is, when the lane change switch (flashing) is turned on and the lane change signal (right / left) is input, the controller 130 determines whether there is an obstacle in the direction in which the driver wants to change the lane.

그 후, 제어부(130)는 장애물이 존재하는 방향으로의 차선 변경 신호가 인가된 경우에 한해 경고부(140)를 통해 운전자에게 장애물이 존재함을 경고한다(S112). 반면, 장애물이 존재하는 방향으로의 차선 변경 신호가 인가되지 않은 경우에는 운전자에게 경고하지 않음으로써 운전자의 운전을 방해하지 않도록 한다. 이때, 경고부(140)는 장애물이 설정된 경고 범위 내에 장애물이 존재하는 경우 경고를 수행한다.Thereafter, the controller 130 warns the driver that the obstacle exists through the warning unit 140 only when the lane change signal in the direction in which the obstacle exists is applied (S112). On the other hand, when the lane change signal is not applied in the direction in which the obstacle exists, the driver is not warned so as not to disturb the driver's driving. At this time, the warning unit 140 performs a warning when an obstacle exists within the warning range in which the obstacle is set.

예를 들어, 충돌 가능성이 있는 장애물이 오른쪽 차선 후방쪽에 존재하는 경우, 오른쪽 차선 변경 신호가 입력되면 장애물 존재를 경고하고, 왼쪽 차선 변경 신호가 입력되면 장애물 존재를 경고하지 않는다.For example, when an obstacle that is likely to collide exists behind the right lane, the right lane change signal is input to warn the presence of the obstacle, and the left lane change signal is not warn of the presence of the obstacle.

이와 같이, 본원발명은 주변차량 감지 모드 진입 시 차량에 캐리어 등의 트레일러가 장착되어 있는지 여부를 감지하고, 트레일러가 장착되지 않은 경우에는 일반 모드로 주변 장애물을 감지하고 트레일러가 장착된 경우에는 트레일러 모드(일반모드 보다 감지 및 경고 범위 확대)로 주변 장애물을 감지하고 경고하도록 하는 기술이다.As such, the present invention detects whether a vehicle, such as a carrier, is mounted on the vehicle when entering the surrounding vehicle detection mode, and detects an obstacle around the vehicle in the normal mode when the trailer is not mounted, and when the trailer is mounted, the trailer mode. It is a technology that detects and alerts to nearby obstacles with (detection and warning range wider than normal mode).

110 : 스위치
120 : 주변 장애물 감지부
130 : 제어부
140 : 경고부110: switch
120: peripheral obstacle detection unit
130: control unit
140: warning unit

Claims (6)

주변차량 감지 모드 진입 시, 차량 측후면에 트레일러의 장착 여부를 판단하는 과정;
상기 트레일러가 장착되지 않은 경우 일반 모드 감지 및 경고 범위를 설정하는 과정; 및
상기 트레일러가 장착된 경우 상기 일반 모드 감지 및 경고 범위보다 확장된 트레일러 모드 감지 및 경고 범위를 설정하는 과정
을 포함하는 트레일러 차량의 주변 장애물 감지 제어 방법.Determining whether or not the trailer is mounted on the side and rear surfaces of the vehicle when entering the surrounding vehicle detection mode;
Setting a normal mode detection and warning range when the trailer is not mounted; And
Setting a trailer mode detection and warning range extended from the normal mode detection and warning range when the trailer is mounted;
Peripheral obstacle detection control method of a trailer vehicle comprising a. 청구항 1에 있어서,
상기 차량 측후면에 트레일러의 장착 여부를 판단하는 과정은,
상기 차량의 측후면의 미리정한 거리 내에 장애물이 존재하고 상기 장애물이 미리 정한 시간동안 연속적으로 감지되는 경우 상기 장애물을 트레일러로 판단하는 것을 특징으로 하는 트레일러 차량의 주변 장애물 감지 제어 방법.The method according to claim 1,
The process of determining whether or not the trailer is mounted on the side and rear surfaces of the vehicle,
And detecting the obstacle as a trailer when an obstacle exists within a predetermined distance of the side and rear surfaces of the vehicle and the obstacle is continuously detected for a predetermined time. 청구항 1 또는 2에 있어서,
상기 트레일러 모드 감지 및 경고 범위를 설정하는 과정은,
상기 트레일러 모드를 상기 일반모드 보다 상기 트레일러의 길이 만큼 확장된 범위로 설정하는 것을 특징으로 하는 트레일러 차량의 주변 장애물 감지 제어 방법.The method according to claim 1 or 2,
The process of setting the trailer mode detection and warning range,
And setting the trailer mode to a range extended by the length of the trailer than the normal mode. 청구항 1 또는 2에 있어서,
상기 차량 측후면에 트레일러의 장착 여부를 판단하는 과정은,
상기 차량이 미리 정한 속도 이상 주행하는 경우 수행하는 것을 특징으로 하는 트레일러 차량의 주변 장애물 감지 제어 방법.The method according to claim 1 or 2,
The process of determining whether or not the trailer is mounted on the side and rear surfaces of the vehicle,
And a method of controlling a surrounding obstacle of a trailer vehicle, wherein the vehicle is driven when the vehicle travels over a predetermined speed. 청구항 1에 있어서,
상기 설정됨 범위 내에 장애물이 존재하는 지를 감지하여 경고하는 과정을 더 포함하는 것을 특징으로 하는 트레일러 차량의 주변 장애물 감지 제어 방법.The method according to claim 1,
And detecting a warning that an obstacle exists within the set range, and warning the surrounding obstacle of the trailer vehicle. 청구항 5에 있어서,
상기 설정됨 범위 내에 장애물이 존재하는 지를 감지하여 경고하는 과정은,
상기 설정된 범위 내에 장애물이 존재하면, 상기 장애물이 존재하는 방향으로 차선 변경 신호가 입력되었는지를 확인하여, 상기 장애물이 존재하는 방향으로 차선 변경 신호가 입력되는 경우 경고하는 것을 특징으로 하는 트레일러 차량의 주변 장애물 감지 제어 방법.The method according to claim 5,
Detecting and warning whether there is an obstacle in the set range,
When an obstacle exists within the set range, the vehicle determines whether the lane change signal is input in the direction in which the obstacle exists, and warns when the lane change signal is input in the direction in which the obstacle exists. Obstacle detection control method.
KR1020110032879A 2011-04-08 2011-04-08 Method for controlling detection peripheral obstacle of vehicle with trailer KR20120114994A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150325126A1 (en) * 2014-05-07 2015-11-12 Robert Bosch Gmbh Method for detecting the presence of a trailer
KR20180032389A (en) * 2016-09-22 2018-03-30 현대자동차주식회사 Method for setting alerting area of vehicle and bind spot detection system for making the same
KR20200134714A (en) 2019-05-23 2020-12-02 주식회사 만도 System and method for adjusting back-sideways alarming area of tractor vehicle-trailer combination

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150325126A1 (en) * 2014-05-07 2015-11-12 Robert Bosch Gmbh Method for detecting the presence of a trailer
KR20180032389A (en) * 2016-09-22 2018-03-30 현대자동차주식회사 Method for setting alerting area of vehicle and bind spot detection system for making the same
KR20200134714A (en) 2019-05-23 2020-12-02 주식회사 만도 System and method for adjusting back-sideways alarming area of tractor vehicle-trailer combination
US11017672B2 (en) 2019-05-23 2021-05-25 Mando Corporation System and method for expanding rear side alarm area of tractor-trailer combination vehicle

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