KR20130000125A - System for reducing speed and detecting a speed bump and method thereof - Google Patents

System for reducing speed and detecting a speed bump and method thereof Download PDF

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Publication number
KR20130000125A
KR20130000125A KR1020110060625A KR20110060625A KR20130000125A KR 20130000125 A KR20130000125 A KR 20130000125A KR 1020110060625 A KR1020110060625 A KR 1020110060625A KR 20110060625 A KR20110060625 A KR 20110060625A KR 20130000125 A KR20130000125 A KR 20130000125A
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South Korea
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speed
deceleration
vehicle
bump
point
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KR1020110060625A
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Korean (ko)
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김대성
정규현
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현대자동차주식회사
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Publication of KR20130000125A publication Critical patent/KR20130000125A/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
    • B60W30/02—Control of vehicle driving stability
    • B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17555—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/181—Preparing for stopping
    • 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
    • B60W40/06—Road 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • 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
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

PURPOSE: A system for reducing speed and detecting a speed bump is provided to detect the speed bump and to calculate decelerating point in advance for smoothly passing over the speed bump. CONSTITUTION: A system for reducing speed and detecting a speed bump consists of a sensing part(110), a control part(130), a decelerating part(150), and a storage part(140). The sensing part detects a front speed bump and calculates a decelerating point. The control part calculates a decelerating speed from the decelerating point to the speed bump and controls an airbag apparatus according to the calculation result by judging the calculated decelerating speed is a preset standard value or more. The decelerating part decelerates the vehicle speed according to the decelerating speed. The storage part stores the preset standard value for decelerating. [Reference numerals] (110) Speed bump sensing part; (120) Vehicle information collecting part; (130) Control part; (140) Storage part; (150) Decelerating part

Description

과속방지턱 감지 자동 감속 시스템 및 그 방법{System for reducing speed and detecting a speed bump and method thereof}System for reducing speed and detecting a speed bump and method

본 발명은 과속방지턱 감지 자동 감속 시스템 및 그 방법에 관한 것으로, 더욱 상세하게는 과속방지턱 및 감속지점을 미리 감지하여 감속지점에서 자동 감속함으로써 과속방지턱을 부드럽게 넘어갈 수 있도록 하는 기술이다.The present invention relates to an automatic speed reducing jaw detection system and a method thereof, and more particularly, to detect the speed bumps and the deceleration point in advance to automatically decelerate at the deceleration point to smoothly pass the speed bumps.

일반적으로, 학교앞, 골목길 등 과속을 방지하기 위한 과속방지턱이 설치되어 있다. In general, speed bumps are installed to prevent speeding, such as in front of the school and alleys.

이러한 과속방지턱을 지나갈 때 감속하여 지나가지 않을 경우 차체의 흔들림이 많이 생기게 되고 차체 바닥이 과속방지턱과 충돌하여 차체가 충격을 받아 손상된다. When passing the speed bumps, if the vehicle does not decelerate, the vehicle body shakes a lot and the floor of the body collides with the speed bumps and the car body is shocked and damaged.

이에, 과속방지턱을 지나갈 때 운전자는 속도를 줄여 부드럽게 지나가려고 노력하게 된다. 그러나, 도로상에 많이 설치되어 있는 과속방지턱을 지날 때마다 브레이크를 일일이 작동시켜 감속해야하는 문제점이 있다.Thus, when passing the speed bumps, the driver tries to go smoothly by reducing the speed. However, there is a problem in that the brake is decelerated by operating the brake every time the speed bumps are installed on the road.

본 발명의 목적은 과속방지턱 및 감속지점을 미리 감지하여 감속지점에서 자동 감속함으로써 과속방지턱을 부드럽게 넘어갈 수 있도록 하는데 있다.An object of the present invention is to detect the speed bump and the deceleration point in advance to automatically decelerate at the deceleration point to smoothly cross the speed bump.

상기와 같은 목적을 달성하기 위한 본 발명에 따른 과속방지턱 감지 자동 감속 시스템은, 차량 전방의 과속방지턱 및 감속지점을 감지하는 과속방지턱 감지부와, 상기 감속지점에서 과속방지턱까지의 감가속도를 산출하고, 산출된 감가속도가 미리 설정한 감가속도 기준값 이상인지를 판단하여 판단결과에 따라 에어백장치를 제어하는 제어부와, 상기 감속지점에서 상기 감가속도에 따라 차량의 속도를 감속시키는 감속부와, 상기 미리 설정한 감가속도 기준값을 저장하는 저장부를 포함한다.In order to achieve the above object, the speed bump detection automatic deceleration system according to the present invention includes a speed bump detection unit for detecting a speed bump and a deceleration point in front of the vehicle, and calculates a deceleration speed from the deceleration point to the speed bump. A control unit for determining whether the calculated deceleration speed is equal to or greater than a preset deceleration reference value, and controlling the airbag apparatus according to the determination result; a deceleration unit for decelerating the vehicle speed according to the deceleration speed at the deceleration point; And a storage unit for storing the set deceleration reference value.

본 발명에 따른 과속방지턱 감지 자동 감속 방법은, 과속방지턱을 감지하고 감속시점을 산출하는 과정과, 상기 감속시점에서 상기 과속방지턱까지의 감가속도를 산출하는 과정과, 상기 감가속도에 따라 차량을 감속시키는 과정과, 상기 감가속도가 미리 설정한 감가속도 기준값 이상인지를 판단하여 판단결과에 따라 에어백을 제어하는 과정을 포함한다.According to the present invention, a speed bump detection automatic deceleration method includes detecting a speed bump and calculating a deceleration time point, calculating a deceleration speed from the deceleration time point to the speed bump, and decelerating the vehicle according to the deceleration speed. And deciding whether the deceleration rate is equal to or greater than a preset deceleration reference value and controlling the airbag according to the determination result.

상기와 같이 본 발명은 과속방지턱 및 감속지점을 미리 감지하여 감속지점에서 자동 감속함으로써 과속방지턱을 자동으로 부드럽게 넘어갈 수 있도록 함으로써 운전자의 편의성을 증대시키고 차체 충격 및 바닥 손상을 방지하고 승차감을 높일 수 있으며 연료 소모를 감소시킬 수 있는 효과가 있다.As described above, the present invention detects the speed bump and the deceleration point in advance and automatically decelerates the speed bump so that the speed bump can be automatically and smoothly increased, thereby increasing the driver's convenience, preventing body shock and floor damage, and improving riding comfort. This has the effect of reducing fuel consumption.

도 1은 본 발명의 실시예에 따른 과속방지턱 감지 자동 감속 시스템의 구성도.
도 2는 본 발명의 실시예에 따른 과속방지턱 감지 자동 감속 방법을 나타내는 순서도.
도 3은 본 발명의 실시예에 따른 유도선 감지를 통해 과속방지턱 감지방법을 설명하기 위한 도면.
도 4a 및 도 4c는 본 발명의 실시예에 따른 과속방지턱 패턴을 통해 과속방지턱 감지방법을 설명하기 위한 도면.
도 5는 도 2의 감가속도를 산출을 설명하기 위한 그래프.
도 6은 본 발명의 감가속도에 따른 감속정도를 설명하기 위한 그래프.
도 7a 및 도 7b는 도 2의 오차 분석을 설명하기 위한 도면.
도 8a 및 도 8b는 이상적인 감속 그래프와 오차보정 감속 그래프를 비교하여 나타낸 그래프.1 is a block diagram of an automatic speed bump detection automatic deceleration system according to an embodiment of the present invention.
Figure 2 is a flow chart illustrating a speed bump prevention automatic deceleration method according to an embodiment of the present invention.
3 is a view for explaining the speed bump detection method through the guide line detection according to an embodiment of the present invention.
4A and 4C are diagrams for explaining a speed bump detection method through a speed bump pattern according to an exemplary embodiment of the present invention.
5 is a graph for explaining the calculation of the deceleration of FIG.
Figure 6 is a graph for explaining the deceleration degree according to the deceleration of the present invention.
7A and 7B are diagrams for explaining the error analysis of FIG.
8A and 8B are graphs showing an ideal deceleration graph and an error compensation deceleration graph.

이하, 본 발명에 따른 과속방지턱 감지 자동 감속 시스템 및 그 방법을 첨부된 도 1 내지 도 8b를 참조하여 상세히 설명한다.Hereinafter, an automatic speed bump detection automatic deceleration system and a method thereof according to the present invention will be described in detail with reference to FIGS. 1 to 8B.

도 1은 본 발명의 실시예에 따른 과속방지턱 감지 자동 감속 시스템의 구성도이다.1 is a configuration of the speed bump detection automatic deceleration system according to an embodiment of the present invention.

과속방지턱 감지부(110)는 레이다(RADAR), 안테나, GPS, 하이패스(Hi-Pass), RF(Remote frequency) 단말기, 차량 전방 카메라, 유도선 감지센서, 차량저면 카메라, 등을 구비한다. The speed bump prevention unit 110 includes a radar, an antenna, a GPS, a hi-pass, a remote frequency (RF) terminal, a vehicle front camera, a guide line sensor, a vehicle bottom camera, and the like.

과속방지턱 감지부(110)가 레이다인 경우 주행 중에 신호를 지속적으로 송신하고 반사되어 돌아오는 신호를 수신하여 과속방지턱과 차량간의 거리를 산출한다. 이때, 레이다는 과속방지턱과 다른 돌출부를 구별하기 위해 차량 전면에 두 개가 장착되고, 두 개의 레이다에서 장애물이 모두 검출된 경우를 과속방지턱으로 판단한다.In the case where the speed bumps detection unit 110 is a radar, a distance between the speed bumps and the vehicle is calculated by continuously transmitting a signal while driving and receiving a reflected signal. In this case, two radars are mounted on the front of the vehicle to distinguish the speed bumps and other protrusions, and it is determined that the speed bumps are detected when both obstacles are detected on both radars.

과속방지턱 감지부(110)가 안테나인 경우, 차량에 안테나를 설치하여 과속방지턱 옆에 설치된 단말로부터 수신된 신호를 이용하여 과속방지턱을 감지한다.When the speed bumps detecting unit 110 is an antenna, the speed bumps are sensed by installing an antenna in the vehicle and using a signal received from a terminal installed next to the speed bumps.

과속방지턱 감지부(110)가 GPS인 경우 주행 중에 인공위성으로부터 과속방지턱까지의 거리정보를 수신함으로써 과속방지턱을 감지한다.When the speed bumps detecting unit 110 is GPS, the speed bumps are detected by receiving distance information from the satellite to the speed bumps while driving.

과속방지턱 감지부(110)가 하이패스 단말 또는 RF 단말인 경우, 과속방지턱 옆에 설치된 하이패스 단말 또는 RF 단말과의 근거리 통신을 통해 과속방지턱을 감지한다. 이때, RF 단말은 과속방지턱 근처에 매립할 수 있다.When the speed bump detection unit 110 is a high pass terminal or an RF terminal, the speed bump is detected through short range communication with a high pass terminal or an RF terminal installed next to the speed bump. In this case, the RF terminal may be buried near the speed bumps.

과속방지턱 감지부(110)가 유도선 감지센서 또는 차량 저면 카메라인 경우, 도 3과 같이 차량 주행중 전방의 과속방지턱(B) 앞단의 과속방지턱 유도선(감속시작시점; A)을 감지한다. 이때, 유도선(A)은 흰색의 일정폭을 가지며, 차량 내부에 저장해둔 유도선의 색깔 및 폭 정보와 비교하여 일치하는 경우 유도선(A)으로 판단한다. 이때, 유도선의 폭은 아래 수학식 1과 같이 산출될 수 있으며, 산출된 유도선의 폭과 카메라 또는 유도선 감지센서를 통해 측정된 유도선의 폭을 비교하여 감속의 시작여부를 결정하도록 한다.When the speed bumps detection unit 110 is a guide line sensor or a vehicle bottom camera, the speed bumps guide line of the front end of the speed bumps (B) while driving the vehicle is detected as shown in FIG. 3. In this case, the guide line A has a predetermined width of white and is determined to be a guide line A when it matches with the color and width information of the guide line stored in the vehicle. At this time, the width of the guide line may be calculated as shown in Equation 1 below, and compares the calculated width of the guide line with the width of the guide line measured by a camera or a guide line sensor to determine whether to start deceleration.

Figure pat00001
Figure pat00001

즉, 신호 값이 변화하는 시점(t2-t1)에서의 속도(V2, V1)를 구한 뒤 이를 평균(Vavg)하여 유도선의 폭(w)을 구한다.That is, the speeds V 2 and V 1 at the time point t 2 -t 1 when the signal value changes, and then average V avg to obtain the width w of the guide line.

과속방지턱 감지부(110)가 차량 전방에 설치된 카메라인 경우, 도 4a와 같이 전방의 과속방지턱을 촬영하여, 과속방지턱의 패턴정보를 분석하여 과속방지턱 여부를 감지한다.When the speed bumps detection unit 110 is a camera installed in front of the vehicle, the speed bumps are photographed in front of the vehicle as shown in FIG. 4A, and the pattern information of the speed bumps is analyzed to detect whether the speed bumps are high.

즉, 도 4b에 도시된 바와 같이, 카메라를 통해 획득한 전방 장애물의 영상데이터로부터 검은선과 노란선이 번갈아 형성되고 각 선의 폭은 45~50cm이며 폭은 360cm인지를 판단한다.That is, as illustrated in FIG. 4B, black and yellow lines are alternately formed from the image data of the front obstacle obtained through the camera, and the width of each line is 45 to 50 cm and the width is 360 cm.

또한, 도 4c에 도시된 바와 같이, 과속방지턱의 색이 옅어져서 정확한 패턴을 형성하지 못하고, 하나의 패턴이 평행사변형과 정확히 일치하지 않더라도 미리 설정한 평행사변형 범위(x, y, z) 내에 포함되는 경우 과속방지턱으로 인식한다.In addition, as shown in FIG. 4C, the speed bumps are lightened to form an accurate pattern, and even if one pattern does not exactly match the parallelogram, it is included in a preset parallelogram range (x, y, z). If it is, it is recognized as a speed bump.

예를 들어, 과속방지턱 패턴 중 노란선 하나를 떼어보면 평행사변형 형태를 이루게 된다. 이때, 이 노란선의 경계선이 색이 흐려지거나 지워져 찌그러진 평행사변형 형태를 이루게 되는데, 찌그러진 평행사변형 형태가 미리 정한 범위(x, y, z) 내에 존재하면 과속방지턱으로 인식하고 범위를 벗어나면 과속방지턱이 아닌 것으로 인식한다.For example, if one yellow line is removed from the speed bump pattern, a parallelogram shape is formed. At this time, the boundary line of the yellow line is blurred or erased to form a distorted parallelogram shape.If the distorted parallelogram shape is within a predetermined range (x, y, z), it is recognized as a speed bump, and the speed bump is out of the range. Recognize that it is not.

제어부(130)는 차량정보수집부(120)를 통해 수집한 차량이 속한 도로 유형을 파악하고 해당 도로의 제한속도를 파악하여 제한속도를 파악하고, 과속방지턱 감지부(110)를 통해 감지된 과속방지턱과 차량간의 거리와 감속지점을 산출한 후, 차량이 감속지점에 도달하였는지를 확인하여 감속지점에서의 차량의 현재 속도가 자동감속이 가능한 속도범위에 속하는지를 판단한다. The controller 130 identifies the type of road belonging to the vehicle collected through the vehicle information collecting unit 120, determines the speed limit by identifying the speed limit of the corresponding road, and the speed detected by the speed bump detecting unit 110. After calculating the distance between the bump and the vehicle and the deceleration point, it is determined whether the vehicle has reached the deceleration point to determine whether the current speed of the vehicle at the deceleration point is within the speed range where automatic deceleration is possible.

또한, 제어부(130)는 차량의 현재속도가 자동감속이 가능한 속도범위에 속하는 경우, 차량과 과속방지턱까지의 거리를 산출하고 감속지점에서 과속방지턱까지의 감가속도(k)를 산출한다.In addition, when the current speed of the vehicle belongs to a speed range capable of automatic deceleration, the controller 130 calculates the distance between the vehicle and the speed bump and the deceleration speed k from the deceleration point to the speed bump.

이하, 아래 수학식 2~6과 도 5를 참고하여 감가속도(k) 산출 방법을 구체적으로 설명하기로 한다.Hereinafter, a method of calculating the deceleration speed k will be described in detail with reference to Equations 2 to 6 and FIG. 5.

차량이 과속방지턱을 향해 주행하다 감속지점(dDETECT)에서 감속을 하게 되는데, 이때 감가속도(k)만큼 감속하게 된다.As the vehicle travels toward the speed bumps, the vehicle decelerates at the deceleration point d DETECT , at which time the vehicle decelerates by the deceleration speed k.

Figure pat00002
Figure pat00002

도 5에 도시된 바와같이, 감속지점(t=0)에서는 속도 v가 a이고, 과속방지턱에 도달한 시점(t1)에서 속도는 b이고 거리는 0이다. 이와 같은 값을 이용하여 아래 수학식 2와 같이 속도변화값 v(t)를 구한다.As shown in FIG. 5, the speed v is a at the deceleration point t = 0, the speed is b and the distance is 0 at the time point t 1 when the speed bump is reached. Using this value, the speed change value v (t) is obtained as shown in Equation 2 below.

Figure pat00003
Figure pat00003

거리는 아래 수학식 3과 같이 산출된다.The distance is calculated as in Equation 3 below.

Figure pat00004
Figure pat00004

수학식 3을 정리하면 아래 수학식 4와 같이 나타낸다.Equation 3 is summarized as Equation 4 below.

Figure pat00005
Figure pat00005

상기 수학식 4를 t1으로 정리하면 아래 수학식 5와 같이 표현된다.If Equation 4 is summarized as t 1 , it is expressed as Equation 5 below.

Figure pat00006
Figure pat00006

수학식 5를 다시 정리하면 아래 수학식 6과 같이 표현되어, 속도의 변화값을 시간으로 나눈 감가속도(k)가 산출된다.In summary, Equation 5 is expressed as Equation 6 below, and a deceleration rate k obtained by dividing the change in speed by time is calculated.

Figure pat00007
Figure pat00007

이에, 감속부(150)는 상기와 같이 산출된 감가속도(k)만큼 속도를 감속시켜 주행하도록 제어한다.Thus, the reduction unit 150 controls to decelerate the speed by the deceleration speed k calculated as described above to travel.

한편, 제어부(130)는 도 6과 같이 산출된 감가속도(k)가 미리 설정한 값(0.3g) 이상인지를 판단하여, 감가속도가 미리 설정한 값 이상인 경우 급감속으로 판단하여 에어백 등을 동작하도록 제어하도록 한다. 여기서, g는 중력가속도를 의미한다.Meanwhile, the controller 130 determines whether the deceleration speed k calculated as shown in FIG. 6 is greater than or equal to a preset value (0.3 g), and when the deceleration speed is greater than or equal to a preset value, determines that the deceleration speed is an airbag or the like. Control it to work. Where g is the acceleration of gravity.

한편, 제어부(130)는 산출된 감가속도에 따라 감속된 차량의 속도를 주기적으로 샘플링하여 감가속도에 따라 이상적으로 감속되고 있는지를 확인한다. 즉, 도 7a에 도시된 바와 같이, 산출된 감속지점(dDETECT)보다 먼저 감속된 경우 과속방지턱에 도달하기 전 불필요한 저속 구간이 발생하게 되어 불필요하게 차량이 지체될 수 있게 된다. 또한, 도 7b에 도시된 바와 같이 산출된 감속지점(dDETECT)을 지나쳐서 감속된 경우 과속방지턱에 도달할때 미처 감속이 완료되지 않아 빠른 속도로 과속방지턱을 지나게 되어 충격이 가해질 수 있다.Meanwhile, the controller 130 periodically checks the speed of the vehicle decelerated according to the calculated deceleration and checks whether the deceleration is ideally decelerated according to the deceleration speed. That is, as shown in FIG. 7A, when the vehicle decelerates before the calculated deceleration point d DETECT , an unnecessary low speed section is generated before reaching the speed bump, so that the vehicle may be unnecessarily delayed. In addition, when decelerating past the deceleration point (d DETECT ) calculated as shown in FIG. 7B, the deceleration may not be completed when the speed bump is reached, and the shock may be applied by passing the speed bump at a high speed.

이에, 제어부(130)는 감속지점을 지나면 산출된 감가속도에 따른 차량의 이상적인 속도와 차량의 현재속도를 비교하여 일치하는지를 판단함으로써 오차를 판단하게 된다. 이어, 제어부(130)는 오차가 파악되면 감가속도의 오차만큼 감가속도를 변경하여 차량의 속도에 적용함으로써 오차를 보정하도록 한다.Thus, the controller 130 determines the error by determining whether the ideal speed of the vehicle according to the deceleration speed calculated after the deceleration point matches the current speed of the vehicle. Subsequently, when the error is detected, the controller 130 corrects the error by changing the deceleration speed by the error of the deceleration speed and applying it to the speed of the vehicle.

도 8a는 차량이 감속지점(dDETECT)보다 먼저 감속된 경우로, 차량의 현재속도(D)가 이상적인 속도(C)와 일치하지 않는 경우 감가속도(k)를 변경하여 차량의 속도에 적용시켜 과속방지턱에 도달할때 이상적인 감속속도와 일치하도록 보정한다.FIG. 8A illustrates a case in which the vehicle is decelerated before the deceleration point d DETECT . When the current speed D of the vehicle does not match the ideal speed C, the deceleration speed k is changed and applied to the speed of the vehicle. When reaching the speed bump, correct it to match the ideal deceleration speed.

도 8b는 감속지점(dDETECT)을 지나 감속된 경우로, 차량의 현재속도(D)가 이상적인 속도(C)와 일치하지 않는 경우 감가속도(k)를 변경하여 차량의 속도에 적용시켜 과속방지턱에 도달할때 이상적인 감속속도와 일치하도록 보정한다.8B illustrates a case where the vehicle decelerates after the deceleration point d DETECT . When the current speed D of the vehicle does not match the ideal speed C, the deceleration speed k is changed and applied to the speed of the vehicle. Calibrate to match the ideal deceleration speed when is reached.

저장부(140)는 감가속도 기준값, 감가속도에 따른 이상적인 감속속도정보를 미리 저장해둔다.The storage 140 stores in advance the ideal deceleration speed information according to the deceleration reference value and the deceleration speed.

이하, 도 2를 참조하여, 본 발명의 실시예에 따른 과속방지턱 감지 자동 감속 방법을 구체적으로 설명하기로 한다.Hereinafter, referring to FIG. 2, the speed bump detection automatic deceleration method according to an embodiment of the present invention will be described in detail.

차량정보 수집부(120)는 GPS(미도시) 등으로부터 차량이 주행하고 있는 도로유형정보 및 도로유형별 제한속도정보를 수집하고, 변속기(미도시) 등으로부터 차속정보 등을 수집하여 제어부(130)에 전달한다. 이때, 차속정보는 수시로 수집하도록 한다. The vehicle information collecting unit 120 collects road type information and road speed limit information for each type of vehicle from a GPS (not shown), and collects vehicle speed information from a transmission (not shown), and the like. To pass on. At this time, vehicle speed information is to be collected from time to time.

이에, 제어부(130)는 현재 차량이 주행하고 있는 도로유형정보와 해당 도로의 제한속도정보를 파악하고(S101), 과속방지턱 감지부(110)를 통해 과속방지턱이 감지되면 제한속도대비 감속시점을 산출한다(S102). 예를 들어, 제한속도가 60KM/S인 도로에서는 과속방지턱 전방 50m부터 감속을 시작하도록 하고, 제한속도가 80KM/S인 도로에서는 과속방지턱 전방 70m부터 감속을 시작하도록 한다.Thus, the controller 130 grasps the road type information currently running on the vehicle and the speed limit information of the corresponding road (S101), and when the speed bump is detected through the speed bump detector 110, the control unit 130 decelerates the speed limit compared to the speed limit. It calculates (S102). For example, on the road with a speed limit of 60 KM / S, deceleration starts from 50m ahead of the speed bump, and on a road with a speed limit of 80KM / S, deceleration starts from 70m ahead of the speed bump.

이어서, 제어부(130)는 차량이 감속시점에 도달하였는지를 판단하고(S103). 감속시점에 도달한 경우, 제어부(130)는 차량의 현재속도가 자동감속이 가능한 속도범위(제 1 속도~제 2속도, x<v<y)에 속하는지를 판단한다(S104). 즉, 차량의 현재속도가 제 1 속도값(x>v)보다 낮은 경우 자동감속을 할 필요가 없으므로 종료하고, 차량의 현재속도가 일정속도 범위(x<v<y)내에 속하는 경우 자동감속을 위한 감가속도를 산출한다(S105). 이때, 제어부(130)는 감속지점에서 과속방지턱까지의 감가속도를 산출하게 되며 감가속도(k)는 상술한 수학식 2~수학식 6과 같이 산출할 수 있다.Subsequently, the controller 130 determines whether the vehicle has reached a deceleration time point (S103). When the deceleration time point is reached, the controller 130 determines whether the current speed of the vehicle belongs to a speed range in which auto deceleration is possible (first speed to second speed, x <v <y) (S104). That is, if the current speed of the vehicle is lower than the first speed value (x> v), there is no need to perform automatic deceleration. Calculate the deceleration rate for (S105). At this time, the controller 130 calculates the deceleration speed from the deceleration point to the speed bump, and the deceleration speed k may be calculated as in Equation 2 to Equation 6 above.

그 후, 감속부(150)는 산출된 감가속도(k)에 따라 차량의 속도를 감속시킨다(S106). 이때, 제어부(130)는 액셀 차단 설정을 수행한다. Thereafter, the reduction unit 150 decelerates the speed of the vehicle according to the calculated deceleration speed k (S106). At this time, the controller 130 performs the accelerator blocking setting.

한편, 상기 과정 S104의 판단 결과, 감속지점에서의 차량의 현재속도가 제 2속도(y<v)보다 높은 경우, 제어부(130)는 상기 과정 S105, S106과 같이 감가속도를 산출하고(S107), 감가속도에 따라 차량의 속도를 감속하되 급감속할 가능성이 크므로 에어백이 구동되도록 제어한다(S108). 이때, 본 발명에서는 감속지점에서의 차량의 현재속도가 제 2속도(y<v)보다 높은 경우, 급감속 시 에어백을 구동시키는 예를 개시하고 있으나, 현재 속도에 따라 감속시점을 변경할 수 있도록 구현할 수도 있다. 예를 들어, 차량의 현재속도가 너무 빠른 경우 감속거리를 늘리도록 하여 천천히 감속할 수 있도록 구현할 수 있다.On the other hand, when the determination result of the process S104, when the current speed of the vehicle at the deceleration point is higher than the second speed (y <v), the control unit 130 calculates the deceleration speed as in the process S105, S106 (S107) In order to reduce the speed of the vehicle according to the deceleration speed, the airbag is controlled so that the airbag is driven (S108). At this time, the present invention discloses an example in which the airbag is driven during rapid deceleration when the current speed of the vehicle at the deceleration point is higher than the second speed (y <v). However, the deceleration time may be changed according to the current speed. It may be. For example, if the current speed of the vehicle is too fast, it may be implemented to slow down by increasing the deceleration distance.

그 후, 제어부(130)는 T 주기마다 차량 속도를 샘플링하여 오차를 분석한다(S109). 제어부(130)는 오차율에 따라 감가속도를 변경하여 감속부(150)를 통해 감속을 수행하도록 한다(S110). Thereafter, the controller 130 analyzes the error by sampling the vehicle speed every T periods (S109). The control unit 130 changes the deceleration according to the error rate to perform the deceleration through the deceleration unit 150 (S110).

이때, 제어부(130)는 앞바퀴와 뒷바퀴가 과속방지턱을 지나가기전 브레이크를 동작시켜 감속한 후 뒷바퀴까지 과속방지턱을 통과하면 브레이크를 해제하고 액셀 차단을 해제시킨다.At this time, the control unit 130 decelerates by operating the brake before the front wheel and the rear wheel passes the speed bump and then decelerates the brake when the speed bump passes through the speed bump until the rear wheel.

110 : 과속방지턱 감지부
120 : 차량정보 수집부
130 : 제어부
140 : 저장부
150 : 감속부 110: speed bump detection unit
120: vehicle information collection unit
130: control unit
140:
150: reduction unit

Claims (9)

차량 전방의 과속방지턱 및 감속지점을 감지하는 과속방지턱 감지부;
상기 감속지점에서 과속방지턱까지의 감가속도를 산출하고, 산출된 감가속도가 미리 설정한 감가속도 기준값 이상인지를 판단하여 판단결과에 따라 에어백장치를 제어하는 제어부;
상기 감속지점에서 상기 감가속도에 따라 차량의 속도를 감속시키는 감속부;
상기 미리 설정한 감가속도 기준값을 저장하는 저장부;
를 포함하는 과속방지턱 감지 자동 감속 시스템.A speed bump detector detecting a speed bump and a deceleration point in front of the vehicle;
A control unit which calculates a deceleration speed from the deceleration point to the speed bump, determines whether the calculated deceleration speed is equal to or greater than a preset deceleration reference value, and controls an airbag apparatus according to a determination result;
A deceleration unit for decelerating a vehicle speed according to the deceleration speed at the deceleration point;
A storage unit for storing the preset deceleration reference value;
Speed bumps automatic deceleration system comprising a. 청구항 1에 있어서,
상기 과속방지턱 감지부는,
레이다(RADAR), 안테나, GPS, 하이패스(Hi-Pass), RF 단말기, 차량 전방 카메라, 유도선 감지센서, 차량저면 카메라 중 하나를 포함하는 것을 특징으로 하는 과속방지턱 감지 자동 감속 시스템.The method according to claim 1,
The speed bumps detection unit,
A speed bump prevention automatic deceleration system comprising one of a radar, an antenna, a GPS, a hi-pass, an RF terminal, a vehicle front camera, a guide line sensor, and a vehicle bottom camera. 청구항 2에 있어서,
상기 유도선 감지센서 또는 차량저면 카메라는,
과속방지턱 전의 유도선의 색과 폭을 감지하는 것을 특징으로 하는 과속방지턱 감지 자동 감속 시스템.The method according to claim 2,
The guide line sensor or the vehicle bottom camera,
Speed detection bump detection automatic deceleration system, characterized in that for detecting the color and width of the guide line before the speed bump. 청구항 2에 있어서,
상기 차량 전방 카메라는
차량 전방의 과속방지턱을 촬영하여, 상기 과속방지턱의 패턴 및 크기정보를 이용하여 과속방지턱여부를 감지하는 것을 특징으로 하는 과속방지턱 감지 자동 감속 시스템.The method according to claim 2,
The vehicle front camera
Speeding bump detection automatic deceleration system, characterized in that by taking a picture of the speed bump in front of the vehicle, to detect whether the speed bump by using the pattern and size information of the speed bump. 청구항 1에 있어서,
상기 제어부는,
상기 감속지점 이후, 일정 주기마다 차량속도를 샘플링하여 현재의 차량 감속속도와 기준감속속도를 비교하여 오차를 분석하는 것을 특징으로 하는 과속방지턱 감지 자동 감속 시스템.The method according to claim 1,
The control unit,
After the deceleration point, the speed bump detection automatic deceleration system characterized in that for analyzing the error by comparing the current vehicle deceleration speed and the reference deceleration speed by sampling the vehicle speed every predetermined period. 청구항 5에 있어서,
상기 제어부는,
상기 오차분석결과에 따라 상기 감가속도를 변경하여 차량의 속도를 제어하는 것을 특징으로 하는 과속방지턱 감지 자동 감속 시스템.The method according to claim 5,
The control unit,
Speeding bump detection automatic deceleration system, characterized in that for controlling the speed of the vehicle by changing the deceleration in accordance with the error analysis results. 청구항 1 또는 5에 있어서,
상기 제어부는,
상기 감속지점 이후 차량의 앞바퀴와 뒷바퀴가 과속방지턱을 지나기 전 브레이크를 동작시키고, 일정시간 후 감속주행한 후 상기 뒷바퀴가 과속방지턱을 넘어서면 브레이크를 해제하는 것을 특징으로 하는 과속방지턱 감지 자동 감속 시스템.The method according to claim 1 or 5,
The control unit,
After the deceleration point, the front wheel and the rear wheel of the vehicle to operate the brake before passing the speed bumps, after decelerating after a certain time after the speed of the speed bumps, automatic brake deceleration system characterized in that to release the brakes. 과속방지턱을 감지하고 감속시점을 산출하는 과정;
상기 감속시점에서 상기 과속방지턱까지의 감가속도를 산출하는 과정;
상기 감가속도에 따라 차량을 감속시키는 과정; 및
상기 감가속도가 미리 설정한 감가속도 기준값 이상인지를 판단하여 판단결과에 따라 에어백을 제어하는 과정
을 포함하는 것을 특징으로 하는 과속방지턱 감지 자동 감속 방법.Detecting a speed bump and calculating a deceleration time point;
Calculating a deceleration rate from the deceleration point to the speed bump;
Decelerating the vehicle according to the deceleration rate; And
Determining whether the deceleration rate is equal to or greater than a preset deceleration reference value and controlling an airbag according to a determination result
Speed bumps automatic deceleration method comprising a. 청구항 8에 있어서,
상기 감속지점 이후, 일정 주기마다 차량속도를 샘플링하여 현재의 차량 감속속도와 기준감속속도를 비교하여 오차를 분석하고, 상기 오차분석결과에 따라 상기 감가속도를 변경하여 차량의 속도를 제어하는 과정을 더 포함하는 것을 특징으로 하는 과속방지턱 감지 자동 감속 방법.The method according to claim 8,
After the deceleration point, the vehicle speed is sampled at regular intervals to compare the current vehicle deceleration speed with the reference deceleration speed to analyze the error, and change the deceleration speed according to the error analysis result to control the speed of the vehicle. Speed bumps automatic deceleration method characterized in that it further comprises.
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KR101338058B1 (en) * 2008-09-23 2013-12-06 현대자동차주식회사 A system for detecting a unevenness on the road using a vehicle front camera image
CN104340067A (en) * 2013-08-06 2015-02-11 现代自动车株式会社 Apparatus and method for navigation control
KR20150143145A (en) * 2014-06-13 2015-12-23 현대모비스 주식회사 Method and apparatus for automated vehicle control
WO2018135871A1 (en) * 2017-01-18 2018-07-26 정남진 Method and device for controlling vehicle on basis of pattern
US10160447B2 (en) 2015-10-20 2018-12-25 Ford Global Technologies, Llc Systems and methods for abrupt road change assist and active suspension control
CN109263636A (en) * 2018-08-31 2019-01-25 深圳市易成自动驾驶技术有限公司 Speed adjusting method, device and computer readable storage medium
US10363790B2 (en) 2013-04-08 2019-07-30 Ford Global Technologies, Llc Device and method for proactive control of a vibration damping system of a vehicle
US10406882B2 (en) 2014-04-04 2019-09-10 Ford Global Technologies, Llc Suspension system using optically recorded information, vehicles including suspension systems, and methods of using suspension systems
KR102042364B1 (en) * 2018-11-22 2019-11-08 덴소코리아 주식회사 System for controlling vehicle and detecting a speed bump
KR20220046069A (en) * 2020-10-06 2022-04-14 주식회사 경신 Apparatus for braking vehicle and control method thereof
KR20220084956A (en) * 2020-12-14 2022-06-21 한양대학교 산학협력단 Method for improving ride comfort in speed bumps using v2x and v2i communication
US11420633B2 (en) * 2017-10-24 2022-08-23 Valeo Schalter Und Sensoren Gmbh Assisting the driving of an automotive vehicle when approaching a speed breaker

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KR101338058B1 (en) * 2008-09-23 2013-12-06 현대자동차주식회사 A system for detecting a unevenness on the road using a vehicle front camera image
US10363790B2 (en) 2013-04-08 2019-07-30 Ford Global Technologies, Llc Device and method for proactive control of a vibration damping system of a vehicle
CN104340067A (en) * 2013-08-06 2015-02-11 现代自动车株式会社 Apparatus and method for navigation control
US9052215B2 (en) 2013-08-06 2015-06-09 Hyundai Motor Company Apparatus and method for navigation control
US11267307B2 (en) 2014-04-04 2022-03-08 Ford Global Technologies, Llc Suspension system using optically recorded information, vehicles including suspension systems, and methods of using suspension systems
US10406882B2 (en) 2014-04-04 2019-09-10 Ford Global Technologies, Llc Suspension system using optically recorded information, vehicles including suspension systems, and methods of using suspension systems
KR20150143145A (en) * 2014-06-13 2015-12-23 현대모비스 주식회사 Method and apparatus for automated vehicle control
US10160447B2 (en) 2015-10-20 2018-12-25 Ford Global Technologies, Llc Systems and methods for abrupt road change assist and active suspension control
WO2018135871A1 (en) * 2017-01-18 2018-07-26 정남진 Method and device for controlling vehicle on basis of pattern
US11420633B2 (en) * 2017-10-24 2022-08-23 Valeo Schalter Und Sensoren Gmbh Assisting the driving of an automotive vehicle when approaching a speed breaker
CN109263636A (en) * 2018-08-31 2019-01-25 深圳市易成自动驾驶技术有限公司 Speed adjusting method, device and computer readable storage medium
KR102042364B1 (en) * 2018-11-22 2019-11-08 덴소코리아 주식회사 System for controlling vehicle and detecting a speed bump
KR20220046069A (en) * 2020-10-06 2022-04-14 주식회사 경신 Apparatus for braking vehicle and control method thereof
KR20220084956A (en) * 2020-12-14 2022-06-21 한양대학교 산학협력단 Method for improving ride comfort in speed bumps using v2x and v2i communication

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