KR20130059702A - Apparatus and method for controlling obstacle sensing zone - Google Patents

Apparatus and method for controlling obstacle sensing zone Download PDF

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KR20130059702A
KR20130059702A KR1020110125817A KR20110125817A KR20130059702A KR 20130059702 A KR20130059702 A KR 20130059702A KR 1020110125817 A KR1020110125817 A KR 1020110125817A KR 20110125817 A KR20110125817 A KR 20110125817A KR 20130059702 A KR20130059702 A KR 20130059702A
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vehicle
speed
trailer
distance
detection area
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Korean (ko)
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KR101745015B1 (en
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김종철
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현대자동차주식회사
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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
    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/408—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/301—Sensors for position or displacement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/303—Speed sensors

Abstract

PURPOSE: A device and method for controlling an obstruction detection zone are provided to estimate whether or not a trailer is mounted and the length of the mounted trailer based on a distance from a following vehicle due to velocity in order to control the zone, thereby normally operating a blind spot detection (BSD) system and a lane change assist (LCA) system regardless of whether or not the trailer is mounted. CONSTITUTION: A device for controlling an obstruction detection zone is mounted on a vehicle. The device includes a storing unit(10), a distance measuring unit(20), a velocity measuring unit(30), and a detection zone controlling unit(40). The storing unit stores the information of a distance between the vehicle and a following vehicle according to the velocity of the vehicle on which the device is mounted. The distance measuring unit measures the distance. The velocity measuring unit measures the velocity. The detection zone controlling unit estimates the length of a trailer with computing the differences of the distances corresponding to the velocities measured by the velocity measuring unit, and then controls the obstruction detection zone using the estimated length of the trailer. [Reference numerals] (10) Storing unit; (20) Distance measuring unit; (30) Speed measuring unit; (40) Detection zone controlling unit

Description

장애물 감지영역 조절 장치 및 그 방법{APPARATUS AND METHOD FOR CONTROLLING OBSTACLE SENSING ZONE}Obstacle detection zone control device and its method {APPARATUS AND METHOD FOR CONTROLLING OBSTACLE SENSING ZONE}

본 발명은 장애물 감지영역 조절 장치 및 그 방법에 관한 것으로, 더욱 상세하게는 속도에 따른 후방 차량과의 거리를 기반으로 트레일러의 장착 여부는 물론 장착된 트레일러의 길이를 추정하고 이를 기반으로 장애물 감지영역을 조절하는 장애물 감지영역 조절 장치 및 그 방법에 관한 것이다.
The present invention relates to an obstacle sensing area control apparatus and a method thereof, and more particularly, to estimate whether the trailer is mounted, as well as the length of the mounted trailer, based on the distance from the rear vehicle according to the speed, and based on the obstacle sensing area. An apparatus and a method for adjusting an obstacle sensing area for controlling the same.

일반적으로, 후측방 경보시스템은 차량 주행 중 후측방의 사각지역에 장애물이 존재하거나 차선 변경 시 사각지역의 장애물 또는 좌/우측 차선 후방으로부터 고속으로 접근하는 차량에 의해 차선 변경 시 충돌 위험이 있다고 판단될 경우, 운전자에게 경고하여 운전자의 편의성을 향상시켜주는 시스템이다.In general, the rear warning system judges that there is a risk of collision when changing lanes by obstacles in the rear blind spot while the vehicle is being driven, or by obstacles in the blind spot or vehicles approaching from the rear of the left / right lane at high speed when the lane is changed. It is a system that improves the driver's convenience by warning the driver if possible.

후측방 경보시스템은 후측방의 사각 지역에 장애물이 있을 경우에만 경고하여 차량이 많이 존재하는 지역에서 주로 사용되는 BSD(Blind Spot Detection) 시스템과, 차선 변경 시 후측방에서 고속으로 접근하고 있는 차량의 위험성을 판단하여 경고하는 LCA(Lane Change Assist) 시스템을 포함한다.The rear side warning system warns only when there are obstacles in the rear blind spot, and the BSD (Blind Spot Detection) system is used mainly in areas where there are many vehicles, and when the lane changes, Includes a LAN Change Assist (LCA) system that determines and alerts you of a hazard.

따라서, BSD 시스템 및 LCA 시스템은 차량의 후측방의 장애물(근접 차량)을 감지하여 운전자가 이를 인지할 수 있도록 경고를 하거나 안전하게 차선을 변경할 수 있도록 보조한다.Thus, the BSD system and the LCA system detect obstacles in the rear of the vehicle (near vehicles) and warn the driver to recognize them or assist them in safely changing lanes.

이러한 BSD 시스템 및 LCA 시스템이 트레일러(TRAILER)가 장착된 차량에 탑재되는 경우, 트레일러 길이만큼 늘어난 후측방 지역에 대해서 장애물을 감지하지 못해 차선 변경 시 근접 차량과 트레일러가 충돌하는 경우가 종종 발생하고 있다.When the BSD system and the LCA system are mounted on a vehicle equipped with a trailer, the adjacent vehicle and the trailer collide frequently when changing lanes because obstacles are not detected in the rear region extended by the trailer length. .

이에, 차량에 트레일러가 장착되는 경우 이를 자동으로 감지하고, 트레일러의 길이를 추정하며 이를 기반으로 BSD 시스템 및 LCA 시스템의 장애물 감지영역을 자동으로 조절할 수 있는 방안이 요구된다.
Accordingly, there is a need for a method for automatically detecting a trailer when the vehicle is mounted, estimating the length of the trailer, and automatically adjusting the obstacle detection area of the BSD system and the LCA system based on this.

상기와 같은 요구에 부응하기 위하여, 본 발명은 속도에 따른 후방 차량과의 거리를 기반으로 트레일러의 장착 여부는 물론 장착된 트레일러의 길이를 추정하고 이를 기반으로 장애물 감지영역을 조절함으로써, 트레일러의 장착 여부에 상관없이 BSD 시스템 및 LCA 시스템이 정상으로 제 성능을 발휘할 수 있도록 하는 장애물 감지영역 조절 장치 및 그 방법을 제공하는데 그 목적이 있다.In order to meet the above demands, the present invention estimates the length of the mounted trailer as well as whether the trailer is mounted on the basis of the distance to the rear vehicle according to the speed, and adjusts the obstacle detection area based thereon to mount the trailer. It is an object of the present invention to provide an obstacle sensing area control device and a method for allowing a BSD system and an LCA system to perform properly.

본 발명의 목적들은 이상에서 언급한 목적으로 제한되지 않으며, 언급되지 않은 본 발명의 다른 목적 및 장점들은 하기의 설명에 의해서 이해될 수 있으며, 본 발명의 실시예에 의해 보다 분명하게 알게 될 것이다. 또한, 본 발명의 목적 및 장점들은 특허 청구 범위에 나타낸 수단 및 그 조합에 의해 실현될 수 있음을 쉽게 알 수 있을 것이다.
The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention which are not mentioned can be understood by the following description, and will be more clearly understood by the embodiments of the present invention. It will also be readily apparent that the objects and advantages of the invention may be realized and attained by means of the instrumentalities and combinations particularly pointed out in the appended claims.

상기 목적을 달성하기 위한 본 발명의 장치는, 차량에 탑재되어 장애물 감지영역을 조절하는 장치에 있어서, 속도에 따른 차간거리 정보를 저장하는 저장수단; 후방 차량과의 차간거리를 측정하는 거리 측정수단; 속도를 측정하는 속도 측정수단; 및 상기 저장수단에 저장되어 있는 속도에 따른 차간거리 정보를 기반으로, 상기 속도 측정수단이 측정한 속도에 해당하는 차간거리의 차이를 산출하여 트레일러의 길이를 추정한 후 상기 추정된 트레일러의 길이를 이용하여 장애물 감지영역을 조절하는 감지영역 조절수단을 포함한다.An apparatus of the present invention for achieving the above object, the apparatus mounted on the vehicle for adjusting the obstacle detection area, the storage means for storing the distance information according to the speed; Distance measuring means for measuring a distance between the vehicle and the rear vehicle; Speed measuring means for measuring a speed; And estimating the length of the trailer by calculating a difference between the distances corresponding to the speeds measured by the speed measuring means, based on the distance information according to the speed stored in the storage means, and then calculating the estimated length of the trailer. It includes a detection area adjustment means for adjusting the obstacle detection area by using.

또한 상기 목적을 달성하기 위한 본 발명의 방법은, 차량에 탑재되어 장애물 감지영역을 조절하는 방법에 있어서, 저장수단이 속도에 따른 차간거리 정보를 저장하는 단계; 거리 측정수단이 후방 차량과의 차간거리를 측정하는 단계; 속도 측정수단이 속도를 측정하는 단계; 및 감지영역 조절수단이 상기 저장수단에 저장되어 있는 속도에 따른 차간거리 정보를 기반으로, 상기 속도 측정수단에서 측정한 속도에 해당하는 차간거리의 차이를 산출하여 트레일러의 길이를 추정한 후 상기 추정된 트레일러의 길이를 이용하여 장애물 감지영역을 조절하는 감지영역 조절단계를 포함한다.
In addition, the method of the present invention for achieving the above object, the method mounted on a vehicle for adjusting the obstacle detection area, the storage means for storing the distance information according to the speed; Measuring, by the distance measuring means, the distance between the vehicle and the rear vehicle; Measuring the speed by the speed measuring means; And estimating the length of the trailer by calculating a difference between the distances corresponding to the speeds measured by the speed measuring means, based on the distance information according to the speed stored in the storage means. And a sensing area adjusting step of adjusting the obstacle sensing area by using the length of the trailer.

상기와 같은 본 발명은, 속도에 따른 후방 차량과의 거리를 기반으로 트레일러의 장착 여부는 물론 장착된 트레일러의 길이를 추정하고 이를 기반으로 장애물 감지영역을 조절함으로써, 트레일러의 장착 여부에 상관없이 BSD 시스템 및 LCA 시스템이 정상으로 제 성능을 발휘할 수 있도록 하는 효과가 있다.
The present invention as described above, by estimating the length of the mounted trailer as well as whether the trailer is mounted on the basis of the distance to the rear vehicle according to the speed, and adjust the obstacle detection area based on this, regardless of whether the trailer is installed There is an effect that allows the system and LCA system to function properly.

도 1 은 본 발명에 따른 장애물 감지영역 조절 장치에 대한 일실시예 구성도,
도 2 는 본 발명에 따른 속도에 상응하는 차간거리를 나타내는 그래프에 대한 일예시도,
도 3 은 본 발명에 따른 장애물 감지영역 조절 방법에 대한 일실시예 흐름도이다.1 is a configuration diagram of an obstacle detecting region adjusting device according to an embodiment of the present invention;
Figure 2 is an exemplary view for a graph showing the inter-vehicle distance corresponding to the speed according to the present invention,
3 is a flowchart illustrating a method for adjusting an obstacle sensing region according to the present invention.

상술한 목적, 특징 및 장점은 첨부된 도면을 참조하여 상세하게 후술되어 있는 상세한 설명을 통하여 보다 명확해 질 것이며, 그에 따라 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자가 본 발명의 기술적 사상을 용이하게 실시할 수 있을 것이다. 또한, 본 발명을 설명함에 있어서 본 발명과 관련된 공지 기술에 대한 구체적인 설명이 본 발명의 요지를 불필요하게 흐릴 수 있다고 판단되는 경우에 그 상세한 설명을 생략하기로 한다. 이하, 첨부된 도면을 참조하여 본 발명에 따른 바람직한 실시예를 상세히 설명하기로 한다.BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, It can be easily carried out. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 1 은 본 발명에 따른 장애물 감지영역 조절 장치에 대한 일실시예 구성도이다.1 is a configuration diagram of an obstacle detecting region adjusting apparatus according to an embodiment of the present invention.

도 1에 도시된 바와 같이, 본 발명에 따른 장애물 감지영역 조절 장치는, 저장부(10), 거리 측정부(20), 속도 측정부(30), 및 감지영역 조절부(40)를 포함한다.As shown in FIG. 1, the obstacle sensing area adjusting apparatus according to the present invention includes a storage unit 10, a distance measuring unit 20, a speed measuring unit 30, and a sensing area adjusting unit 40. .

상기 각 구성요소들에 대해 살펴보면, 먼저 저장부(10)는 일예로 도 2의 (a)에 도시된 바와 같은 속도에 따른 차간거리 분포 그래프(정보)를 저장하고 있다. 여기서, 속도에 따른 차간거리 분포는 속도별 차간거리를 나타내는 그래프로서, 트레일러가 장착되지 않은 보통의 차량에서의 속도별 차간거리를 나타낸다. 만일, 트레일러가 장착된다면 후속 차량은 그 길이만큼 차간거리를 늘이게 될 것이며, 도 2의 (b)에 도시된 바와 같이 늘어난 차간거리가 곧 트레일러의 길이가 된다.Referring to each of the above components, first, the storage unit 10 stores, for example, a distance distribution graph (information) according to speed as shown in FIG. 2A. Here, the inter-vehicle distance distribution according to the speed is a graph showing the inter-vehicle distance by speed, and represents the inter-vehicle distance by speed in a normal vehicle without a trailer. If the trailer is mounted, the subsequent vehicle will increase the inter-vehicle distance by that length, and the increased inter-vehicle distance will be the length of the trailer as shown in FIG.

거리 측정부(20)는 일예로, 레이더, 적외선 센서 등을 포함하며, 후방 차량과의 이격거리를 측정한다. 이때, 레이더를 이용하는 경우 약한 값(신호)도 차량으로 검지할 수 있도록 레이더의 검지 임계치를 변화시킨다. 그 이유는 트레일러가 장착되면 트레일러로 인하여 후방에 위치한 차량을 감지했다 못했다 하는 현상이 발생하는데 이를 방지하기 위함이다.The distance measuring unit 20 includes, for example, a radar, an infrared sensor, and measures a distance from the rear vehicle. At this time, when using a radar, the detection threshold of the radar is changed so that a weak value (signal) can be detected by the vehicle. The reason for this is that when the trailer is mounted, a phenomenon that the trailer is not detected because of the trailer occurs to prevent this.

속도 측정부(30)는 자차의 속도를 측정한다.The speed measuring unit 30 measures the speed of the host vehicle.

감지영역 조절부(40)는 저장부(10)에 저장되어 있는 속도에 따른 차간거리 정보를 기반으로, 거리 측정부(20)가 측정한 후방 차량과의 이격거리와 속도 측정부(30)가 측정한 속도를 이용하여 속도에 따른 차간거리의 차이를 산출하여, 차간거리의 차이가 임계치(일예로 1m) 이내이면 트레일러가 장착되지 않은 것으로 판단하고, 임계치를 초과하면 트레일러가 장착된 것으로 판단한다.The detection area controller 40 is based on the inter-vehicle distance information according to the speed stored in the storage unit 10, the distance distance from the rear vehicle measured by the distance measuring unit 20 and the speed measuring unit 30 By using the measured speed, the difference in the distance between vehicles is calculated. If the difference is within the threshold (for example, 1m), it is determined that the trailer is not mounted. .

아울러, 감지영역 조절부(40)는 트레일러가 장착된 것으로 판단하면, 차간거리의 차이를 기반으로 BSD 시스템 및 LCA 시스템의 장애물 감지영역을 조절한다.In addition, when the detection area controller 40 determines that the trailer is mounted, it adjusts the obstacle detection area of the BSD system and the LCA system based on the difference in the vehicle distance.

예를 들어, 저장부(40)가 하기의 [표 1]과 같은 속도에 따른 차간거리 정보를 저장하고 있다고 할 때, 거리 측정부(20)가 측정한 차간거리가 21m이고, 속독 측정부(30)가 측정한 속도가 10m/s라고 하자.For example, when the storage unit 40 stores the inter-vehicle distance information according to the speed as shown in Table 1 below, the inter-vehicle distance measured by the distance measuring unit 20 is 21 m, and the speed reading unit ( Assume that the speed measured by 30) is 10 m / s.

10m/s의 속도에서 정상적인 차간거리는 15m이지만 실제 측정된 차간거리는 21m이다. 이 경우, 감지영역 조절부(40)는 6m의 트레일러가 장착된 것으로 판단한다.At a speed of 10m / s, the normal distance is 15m, but the actual measured distance is 21m. In this case, the sensing area controller 40 determines that the trailer of 6 m is mounted.

따라서, 감지영역 조절부(40)는 차체의 길이에 6m를 반영하여 BSD 시스템 및 LCA 시스템의 장애물 감지영역을 조절한다.Accordingly, the sensing area controller 40 adjusts the obstacle sensing area of the BSD system and the LCA system by reflecting 6 m in the length of the vehicle body.

[표 1][Table 1]

Figure pat00001
Figure pat00001

도 3 은 본 발명에 따른 장애물 감지영역 조절 방법에 대한 일실시예 흐름도이다.3 is a flowchart illustrating a method for adjusting an obstacle sensing region according to the present invention.

먼저, 저장부(10)가 속도에 따른 차간거리 정보를 저장한다(301).First, the storage unit 10 stores the inter-vehicle distance information according to the speed (301).

이후, 거리 측정부(20)가 후방 차량과의 차간거리를 측정한다(302).Then, the distance measuring unit 20 measures the distance between the vehicle and the rear vehicle (302).

그리고, 속도 측정부(30)가 속도를 측정한다(303).Then, the speed measuring unit 30 measures the speed (303).

이후, 감지영역 조절부(40)가 상기 저장부(10)에 저장되어 있는 속도에 따른 차간거리 정보를 기반으로, 상기 속도 측정부(30)에서 측정한 속도에 해당하는 차간거리의 차이를 산출하여 트레일러의 길이를 추정한 후 상기 추정된 트레일러의 길이를 이용하여 장애물 감지영역을 조절한다(304).Thereafter, the sensing area controller 40 calculates the difference between the vehicle distances corresponding to the speeds measured by the speed measurer 30 based on the vehicle distance information according to the speed stored in the storage unit 10. After estimating the length of the trailer, the obstacle detection area is adjusted using the estimated length of the trailer (304).

이러한 과정을 통해, 본 발명은 속도에 따른 후방 차량과의 거리를 기반으로 트레일러의 장착 여부는 물론 장착된 트레일러의 길이를 추정하고 이를 기반으로 장애물 감지영역을 조절함으로써, 트레일러의 장착 여부에 상관없이 BSD 시스템 및 LCA 시스템이 정상으로 제 성능을 발휘할 수 있도록 한다.Through this process, the present invention estimates the length of the mounted trailer as well as whether the trailer is mounted on the basis of the distance to the rear vehicle according to the speed and adjusts the obstacle detection area based on the distance, regardless of whether the trailer is mounted Make sure your BSD system and LCA system work properly.

한편, 전술한 바와 같은 본 발명의 방법은 컴퓨터 프로그램으로 작성이 가능하다. 그리고 상기 프로그램을 구성하는 코드 및 코드 세그먼트는 당해 분야의 컴퓨터 프로그래머에 의하여 용이하게 추론될 수 있다.　또한, 상기 작성된 프로그램은 컴퓨터가 읽을 수 있는 기록매체(정보저장매체)에 저장되고, 컴퓨터에 의하여 판독되고 실행됨으로써 본 발명의 방법을 구현한다. 그리고 상기 기록매체는 컴퓨터가 판독할 수 있는 모든 형태의 기록매체를 포함한다.Meanwhile, the method of the present invention as described above can be written in a computer program. And the code and code segments constituting the program can be easily deduced by a computer programmer in the field. In addition, the written program is stored in a computer-readable recording medium (information storage medium), and read and executed by a computer to implement the method of the present invention. The recording medium may include any type of computer readable recording medium.

이상에서 설명한 본 발명은, 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자에게 있어 본 발명의 기술적 사상을 벗어나지 않는 범위 내에서 여러 가지 치환, 변형 및 변경이 가능하므로 전술한 실시예 및 첨부된 도면에 의해 한정되는 것이 아니다.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. The present invention is not limited to the drawings.

10 : 저장부 20 : 거리 측정부
30 : 속도 측정부 40 : 감지영역 조절부10: storage unit 20: distance measuring unit
30: speed measurement unit 40: detection area control unit

Claims (4)

차량에 탑재되어 장애물 감지영역을 조절하는 장치에 있어서,
속도에 따른 차간거리 정보를 저장하는 저장수단;
후방 차량과의 차간거리를 측정하는 거리 측정수단;
속도를 측정하는 속도 측정수단; 및
상기 저장수단에 저장되어 있는 속도에 따른 차간거리 정보를 기반으로, 상기 속도 측정수단이 측정한 속도에 해당하는 차간거리의 차이를 산출하여 트레일러의 길이를 추정한 후 상기 추정된 트레일러의 길이를 이용하여 장애물 감지영역을 조절하는 감지영역 조절수단
을 포함하는 장애물 감지영역 조절 장치.
In the device mounted on the vehicle to adjust the obstacle detection area,
Storage means for storing the inter-vehicle distance information according to the speed;
Distance measuring means for measuring a distance between the vehicle and the rear vehicle;
Speed measuring means for measuring a speed; And
Based on the inter-vehicle distance information according to the speed stored in the storage means, by calculating the difference in the inter-vehicle distance corresponding to the speed measured by the speed measuring means to estimate the length of the trailer using the estimated trailer length Detection area control means for adjusting the obstacle detection area
Obstacle detection area control device comprising a.
제 1 항에 있어서,
상기 장애물 조절수단은,
BSD(Blind Spot Detection) 시스템 또는 LCA(Lane Change Assist) 시스템의 장애물 감지영역을 조절하는 것을 특징으로 하는 장애물 감지영역 조절 장치.
The method of claim 1,
The obstacle adjusting means,
Obstacle detection area control device, characterized in that for adjusting the obstacle detection area of the BSD (Blind Spot Detection) or LCA (Lane Change Assist) system.
차량에 탑재되어 장애물 감지영역을 조절하는 방법에 있어서,
저장수단이 속도에 따른 차간거리 정보를 저장하는 단계;
거리 측정수단이 후방 차량과의 차간거리를 측정하는 단계;
속도 측정수단이 속도를 측정하는 단계; 및
감지영역 조절수단이 상기 저장수단에 저장되어 있는 속도에 따른 차간거리 정보를 기반으로, 상기 속도 측정수단에서 측정한 속도에 해당하는 차간거리의 차이를 산출하여 트레일러의 길이를 추정한 후 상기 추정된 트레일러의 길이를 이용하여 장애물 감지영역을 조절하는 감지영역 조절단계
를 포함하는 장애물 감지영역 조절 방법.
In the method mounted on the vehicle to adjust the obstacle detection area,
Storing, by the storage means, the inter-vehicle distance information according to the speed;
Measuring, by the distance measuring means, the distance between the vehicle and the rear vehicle;
Measuring the speed by the speed measuring means; And
The detection area adjusting means estimates the length of the trailer by calculating the difference between the distances corresponding to the speeds measured by the speed measuring means based on the distance information according to the speed stored in the storage means, and then estimates the length of the trailer. Detection area control step of adjusting the obstacle detection area using the length of the trailer
Obstacle detection area control method comprising a.
제 3 항에 있어서,
상기 감지영역 조절단계는,
BSD(Blind Spot Detection) 시스템 또는 LCA(Lane Change Assist) 시스템의 장애물 감지영역을 조절하는 것을 특징으로 하는 장애물 감지영역 조절 방법.
The method of claim 3, wherein
The sensing area adjustment step,
A method for adjusting an obstacle detection area, comprising adjusting an obstacle detection area of a BSD (Blind Spot Detection) system or a LAN Change Assist (LCA) system.
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