KR20130053604A - Reverse assist electronic control unit of vehicle and the method thereof - Google Patents

Abstract

PURPOSE: A vehicle backward moving secondary electronic controlling apparatus and a secondary method are provided to automatically move backward by controlling a steering engine and a brake along a driving path, when a driver selects a location to move and determines that moving backward is possible through the ultrasound or a vision sensor which is mounted on the vehicle. CONSTITUTION: A vehicle backward moving secondary electronic controlling apparatus comprises a memory, a speed sensing unit, a driving path recording unit, a backward moving secondary processing unit, and an object sensor. The speed sensing unit receives the speed data from a speed sensor, and determines whether the speed is below a standard speed(S1). If the speed is below the standard speed, the driving path recording unit records the driving path in the memory(S3). The backward moving secondary processing unit performs a backward moving secondary function of vehicle by using the driving path which is recorded in the memory(S4). The object sensor senses whether an arbitrary object exists in the side and rear direction by using the side and rear direction sensor if the backward moving location is selected by a user(S8). [Reference numerals] (S1) Vehicle speed <= 30kph; (S10) Move backward; (S2) Store a driving trajectory; (S3) Input SRAS; (S4) Is there the driving trajectory?; (S5) Select a backward position; (S6) Warn; (S8) Sense a rear side object; (S9) Moving backward available

Description

REVERSE ASSIST ELECTRONIC CONTROL UNIT OF VEHICLE AND THE METHOD THEREOF

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle reverse assist electronic control apparatus and method thereof, and more particularly, to an automatic parking system using a rear measuring sensor. More particularly, the present invention relates to an automatic parking system using a rear measuring sensor. When the driver needs to back up, the driver selects the position to move and detects surrounding vehicles and people through the sensor mounted on the vehicle. A reverse auxiliary electronic control apparatus for a vehicle and a method for assisting the same are provided.

There are two types of power steering devices: oil hydraulics and electric motors. In the hydraulic type, the power pump generates hydraulic pressure by a power generating unit that pumps fluid by the power of the engine, and sends hydraulic pressure in a steering direction when the driver turns the steering wheel to make the handling lighter.

On the other hand, MDPS (Motor Driven Power Steering), which is an electric power steering device, is a steering shaft auxiliary electric steering booster that improves steering power (handle operating capacity) by using an electric motor. MDPS, unlike the existing hydraulic steering power distribution system (distribution of engine power when changing the direction of the car), greatly improves steering performance and steering feeling by allowing the electric motor to automatically control according to driving conditions. Column driving, pinion driving and rack driving are divided according to the driving force (motor attachment position), and the basic operation principle is the same.

Republic of Korea Patent No. 10-0599279 (electric power steering device) is described for the electric power steering device.

Republic of Korea Patent Publication No. 10-2007-0059370 (automatic parking system using a rear measurement sensor) describes a technique for performing automatic parking using a rear measurement sensor.

In general, inexperienced novice drivers, female drivers, or elderly people who reverse a vehicle in a narrow parking lot do not accurately measure the distance from vehicles parked on both sides, so they retract the vehicle several times. Repeatedly and straight ahead to adjust the spacing.

If the distance measurement between vehicles is wrong, a collision with the parked vehicle may occur, or when getting off, the door may not be normally opened due to insufficient distance with the other vehicle.

In addition, even when there is an automatic sensor device that measures the actual vehicle distance, if the distance between both vehicles is parked inconsistently when parking, there is a possibility that there is a lot of interference with the other vehicle when the door is opened or disembarked. The driver feels uncomfortable because she has to open the rearview mirror or window and keep the car away from the surrounding vehicles. This is more inconvenient in a narrow alleyway or in a mancha situation.

In addition, when the driver is inexperienced in manually operating the steering wheel, a collision occurs between the vehicles, and even when there is a rear view camera, it is impossible to check the distance between the vehicles parked on both sides, so that the back parking is unstable. There is a problem that must be made.

The problem to be solved by the present invention is to select a location to be moved by the driver when the driver needs to back up in a state where the driver stored a driving path for a predetermined time in a narrow alley or a full car, and the ultrasonic wave mounted on the vehicle Another object is to provide a vehicle backward assistance device and a method for automatically reversing through a steering engine and brake control when it is determined that a vehicle can be reversed by detecting a vehicle and a person through a vision sensor.

According to one aspect of the invention, the memory; A vehicle speed determination unit configured to receive vehicle speed data from a vehicle speed sensor and determine whether the vehicle speed is equal to or less than a reference vehicle speed; A driving trajectory recording unit for recording a driving trajectory in the memory when the vehicle speed is less than or equal to the reference vehicle speed; And a reverse assist processor configured to automatically perform a reverse assist function of the vehicle by using the driving trajectory recorded in the memory.

The vehicle reverse assist electronic control apparatus may further include an object detector configured to detect whether any object is located at the rear and rear sides by using the rear and rear sensors when the reverse position is selected by the user.

The reverse assist processor may drive backward by driving the steering device in the reverse order of the driving trajectory stored in the memory.

According to another aspect of the invention, receiving the vehicle speed data from the vehicle speed sensor to determine whether the vehicle speed is less than the reference vehicle speed; Recording the driving trajectory in the memory when the vehicle speed is less than or equal to the reference vehicle speed; And automatically performing the reverse assistance function of the vehicle using the driving trajectory recorded in the memory.

The vehicle reverse assistance method may further include detecting whether there is any object in the rear and rear sides using the rear and rear sensors when the rearward position is selected by the user.

The performing of the reverse assist function may perform backward by driving the steering apparatus in the reverse order of the driving trajectory stored in the memory.

According to the present invention, when the driver stores a driving path for a predetermined time in a narrow alley or a full traffic situation, the driver selects a position to be moved when a situation in which the driver needs to reverse, and the ultrasonic or vision sensor mounted on the vehicle When it is determined that the vehicle can be reversed by sensing the surrounding objects and people, it can be automatically reversed through the steering engine and brake control according to the driving route.

1 is a view for explaining that the vehicle reverse auxiliary electronic control apparatus installed in a vehicle according to an embodiment of the present invention.
2 is a block diagram of a vehicle reverse auxiliary electronic control apparatus according to an embodiment of the present invention.
3 is a view for explaining a control unit of the vehicle reverse auxiliary electronic control apparatus according to an embodiment of the present invention.
4 is an operation flowchart of the vehicle reverse auxiliary electronic control apparatus according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are provided as examples to ensure that the spirit of the invention to those skilled in the art will fully convey. Therefore, the present invention is not limited to the embodiments described below, but may be embodied in other forms. In the drawings, lengths, thicknesses, and the like may be exaggerated for convenience. Like numbers refer to like elements throughout.

1 is a view for explaining that the vehicle reverse auxiliary electronic control apparatus installed in a vehicle according to an embodiment of the present invention. 2 is a block diagram of a vehicle reverse auxiliary electronic control apparatus according to an embodiment of the present invention. 3 is a view for explaining a control unit of the vehicle reverse auxiliary electronic control apparatus according to an embodiment of the present invention.

1 to 3, the vehicle reverse assist electronic control apparatus 100 is connected to various electronic control apparatuses 200 and various sensors 300 to help the vehicle to automatically reverse through steering engine and brake control. The master may perform the reverse assistance function of the vehicle.

Various electronic control units (ECUs) 200 include, for example, a braking device, a suspension device, a posture control device, a tire pressure control device and a steering device. The steering device may include an MDPS (Motor Driven Power Steering) which is an electric power steering device.

The sensors 300 may include various distance sensors, angle sensors, position sensors, speed sensors, front cameras, rear cameras, and rear and rear cameras installed in a vehicle. For example, it may include ultrasonic or vision sensors.

The vehicle reverse assist electronic controller 100 may include a network interface unit 110, a controller 120, a memory 130, a display unit 140, a speaker 150, and a key input unit 160.

The network interface 110 may be a Controller Area Network (CAN), a Local Interconnect Network (LIN), a Media Oriented Systiems Transport (MOST), and FlexRay, but the present invention is not limited thereto.

The network interface unit 110 may perform a function of connecting the various electronic controllers 200 and the various sensors 300 to the controller 120 of the vehicle reverse assist electronic controller 100. The network interface unit 110 transmits vehicle status information and detection signals of various sensors from the various electronic control apparatuses 200 and various sensors 300 to the controller 120. The vehicle state information includes driving route information and driving trajectory.

The controller 120 stores the driving route for a predetermined time and selects a position to which the driver wants to move when a situation in which the driver needs to reverse, and detects surrounding vehicles and people from sensors mounted on the vehicle. If it is determined that it is possible, the vehicle reverses automatically through the steering engine and the brake control. The Reverse Reverse Assist System (SRAS) is only active when the gear is in reverse.

The controller 120 may include a vehicle speed determining unit 121, a driving trajectory recording unit 122, a reverse auxiliary processing unit 123, and an object detecting unit 124.

The vehicle speed determining unit 121 receives vehicle speed data from the vehicle speed sensor and determines whether the vehicle speed is 30 km or less per hour.

The driving trajectory recording unit 122 records the driving trajectory in the memory 130. The driving trajectory recording unit 122 records the driving trajectory in the memory 130 when the vehicle speed is 30 Km or less as a result of the determination of the vehicle speed determining unit 121, and does not record the driving trajectory in the memory 130. The driving trajectory recording unit 122 stores the driving trajectory received from the electronic control apparatus 200 in the memory 130, but inserts a time stamp to store the driving trajectory recording unit 122. Here, the time may be a time calculated by a built-in timer (not shown).

 The reverse assist processor 123 performs the reverse assist function according to a user's input of the reverse assist function (SRAS) through the key input unit 160.

When there is an SRAS input, the reverse auxiliary processor 123 performs backward driving according to the driving trajectory stored in the memory 130.

In this case, the reverse assist processor 123 may perform the reverse assist function only when there is a driving trajectory stored in the memory 130. Accordingly, when the backward assist function performing signal is input from the user, the backward assist processor 123 first determines whether the driving trajectory is stored in the memory 130. As a result of the determination, when the driving trajectory is stored in the memory 130, the reverse assisting processor 123 determines whether selection information regarding a position to reverse is input. Selection information on the position to be reversed is displayed on the display unit 124 through the rear view around the monitoring function (around view monitoting) through the rear camera when the reverse auxiliary processing unit 123 receives the SRAS input from the user through the key input unit 160 The location may be input from the user through the key input unit 160.

Of course, the order of determining whether the driving trajectory is stored and determining whether the reverse position selection information is input may be modified in any order.

The reverse assist processor 123 displays a warning message indicating that the reverse assist function cannot be performed without the driving trajectory stored in the memory 130 even when the reverse assist function execution signal is input from the user. ) The reverse assist processor 123 may perform an input determination of reverse position selection every 5 seconds, for example.

The reverse auxiliary processing unit 123 determines whether reversing is possible depending on whether there is an object detected by the lateral rear sensor.

When the backward assist processor 123 determines that backward movement is possible, the reverse assist processor 123 drives the steering apparatus in reverse order of the driving trajectory stored in the memory 130 to perform backward movement. Meanwhile, when the object detected by the lateral rear sensor is present, the reverse assist processor 123 cancels the reverse driving assist function or again performs the reverse assist function (SRAS) input according to whether the reverse driving cancel input is present. Perform the previous process of judging.

The object detecting unit 124 detects whether there is any object in the side rear using the side rear sensor. Therefore, when the reverse position is selected by the user, the object detecting unit 124 detects whether there is any object in the side rear using the side rear sensor.

4 is an operation flowchart of the vehicle reverse auxiliary electronic control apparatus according to an embodiment of the present invention.

Referring to FIG. 4, the vehicle speed determination unit 121 receives vehicle speed data from a vehicle speed sensor and determines whether the vehicle speed is 30 km or less per hour (S1). As a result of the determination, when the vehicle speed is 30 km or less per hour, the driving trajectory recording unit 122 records the driving trajectory in the memory 130 (S2). The backward assist processor 123 determines whether there is an input for performing reverse assist function (SRAS) (S3). As a result of the determination, when there is an SRAS input, the backward auxiliary processor 123 determines whether the driving trajectory is stored in the memory 130 (S4). As a result of the determination, when the driving trajectory is stored in the memory 130, it is determined whether the reverse position selection is input (S5). On the other hand, the reverse assist processor 123 performs the display unit 140, a warning message that the reverse assist function can not be performed when there is no driving trajectory stored in the memory 130 (S6). The input determination of the reverse position selection may be performed every 5 seconds, for example (S7).

When the reverse position is selected by the user, the object detecting unit 124 detects whether there is any object in the side rear using the side rear sensor (S8). The reverse auxiliary processing unit 123 determines whether reversing is possible according to whether there is an object detected by the lateral rear sensor (S9). When the backward assist processor 123 determines that backward movement is possible, the reverse assist processor 123 drives the steering apparatus according to the reverse order of the driving trajectory stored in the memory 130 to perform backward movement (S10). On the other hand, the reverse auxiliary processing unit 123 determines whether there is a reverse driving cancel input when an object detected by the lateral rear sensor exists (S11). As a result of the determination, if there is a reverse driving cancel input, the process proceeds to the end step, and if there is no reverse driving cancel input, the reverse auxiliary processing unit returns to the previous step of determining whether there is a reverse assist function performing (SRAS) input.

The invention being thus described, it will be obvious that the same way may be varied in many ways. Such modifications are intended to be within the spirit and scope of the invention as defined by the appended claims.

100: vehicle reverse auxiliary electronic control device 110: network interface unit
120: control unit 121: vehicle speed determination unit
122: driving trajectory recording unit 123: reverse auxiliary processing unit
124: object detection unit 130: memory
140: display unit 140 150: speaker
160: key input unit 130: memory
140: display unit 150: speaker
160: key input unit 200: electronic control device
300: sensors

Claims (6)

Memory;
A vehicle speed determination unit configured to receive vehicle speed data from a vehicle speed sensor and determine whether the vehicle speed is equal to or less than a reference vehicle speed;
A driving trajectory recording unit for recording a driving trajectory in the memory when the vehicle speed is less than or equal to the reference vehicle speed; And
And a reverse assist processor configured to automatically perform a reverse assist function of the vehicle by using the driving trajectory recorded in the memory. The method according to claim 1,
And an object detector configured to detect whether there is any object in the rear and rear sides by using the rear and rear sensors when the rearward position is selected by the user. The method according to claim 1,
And the reverse assist processor is configured to drive the steering apparatus in reverse order in the reverse order of the driving trajectory stored in the memory. Receiving vehicle speed data from a vehicle speed sensor to determine whether the vehicle speed is equal to or less than a reference vehicle speed;
Recording the driving trajectory in the memory when the vehicle speed is less than or equal to the reference vehicle speed; And
And automatically performing the reverse assist function of the vehicle by using the driving trajectory recorded in the memory. The method of claim 4,
And if the reverse position is selected by the user, detecting whether there is any object in the rear and rear sides using the rear and rear sensors. The method of claim 4,
The performing of the reverse assistance function may include: driving the steering apparatus according to the reverse order of the driving trajectory stored in the memory to perform the reverse driving.

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