KR20130113088A - Vehicle collision avoidance system and method for controlling the same - Google Patents

Abstract

PURPOSE: An apparatus for preventing the collision of a vehicle is provided to determine collision possibility of a vehicle with an obstacle and control the vehicle according to the extent of the collision possibility, thereby informing an operator about the collision possibility and enhancing stability about collision avoidance. CONSTITUTION: An apparatus (100) for preventing the collision of a vehicle comprises the following: a detection unit (110) detecting an obstacle; and a control unit (120) which determines a collusion possibility level based on the position of the obstacle and controls at least one device among a steering device, a suspension device, a warning device and a lamp device. The detection unit includes an image detection part (112) which obtains the images of road and road circumstance. The control unit recognizes the lane of the road based on the obtained images, perceives a preceding vehicle, an oppose vehicle and an obstacle based on the recognized lane and determines a collision possibility level by detecting a distance from the preceding vehicle, the oppose vehicle and the obstacle. The detection unit includes a distance detective part (111) detecting a distance from the obstacle. [Reference numerals] (111) Distance detective part; (112) Image detection part; (120) Control part; (130) Storage part; (141) Steering drive part; (142) Suspension drive part; (143) Alarm drive part; (144) Lamp drive part; (145) Brake drive part; (210) Steering wheel; (220) Steering gear; (230) Steering motor; (310) Damper; (320) Spring; (330) Solenoid valve; (400) Alarming device; (500) Lamp device; (600) Brake device; (AA) Radar; (BB) Camera

Description

Vehicle collision avoidance system and control method {Vehicle collision avoidance system and method for controlling the same}

The present invention relates to a vehicle collision avoidance apparatus and a control method thereof for preventing a collision with an opposing vehicle, a preceding vehicle, and an obstacle while driving.

Recently, a cruise control system has been developed that allows the driver to maintain the speed of the vehicle in accordance with external road conditions without having to step on the brake pedal or the accelerator pedal when the vehicle speed is set at a constant speed.

Furthermore, in recent years, a smart cruise control (SCC) system that includes a radar in a vehicle and detects the distance to the vehicle ahead and controls the throttle and the brake to decelerate or accelerate to maintain a safe distance from the vehicle ahead. This was developed.

Such a system collides with a preceding vehicle by calculating the distance with the preceding vehicle (ie, the preceding vehicle) and generating a braking force when the distance with the preceding vehicle is less than the reference distance, thereby reducing the speed and by notifying the driver of the possibility of collision with the preceding vehicle. It is based on an anti-collision device.

Such a collision avoidance device only performs a passive function such as a warning sound when a collision is possible, and despite the possibility of a collision, it does not perform any control through another device such as a steering device or a suspension device for the driver's safety. Increase the risk of an accident.

As such, the collision avoidance device relies solely on the driver's ability to avoid accidents and does not perform an accident preparedness function for the crash situation.In this case, even if the driver correctly recognizes the crash situation and suddenly avoids the accident, There is a problem that the movement becomes unstable, which causes a second accident such as other lane invasion, slipping.

In addition, the headlights irradiate the light toward the front of the vehicle, and thus, at night, when the vehicle is driving the lane furthest from the center line, for example, the lane closest to the shoulder, it does not help identify the pedestrian, animal, or parking vehicle on the shoulder.

Accordingly, the driver can secure the vision only when obstacles such as objects, people, and animals in the area other than the area where the light is irradiated by the headlights are close to the vehicle when driving at night. There is a problem that can not prepare in advance for the accident because of difficulty in driving defensive driving.

An object of the present invention for solving the above problems is to determine the possibility of collision with an obstacle using at least one of the camera and the radar, and to determine the possibility of collision with at least one of the steering device, the suspension device, the lamp device and the warning device according to the collision possibility. The present invention provides a collision avoidance apparatus for a vehicle and a method of controlling the same, which control a driving to notify a driver of a possibility of collision and stabilize a vehicle's movement.

Another object of the present invention is to widen the driver's viewing angle by driving an auxiliary light toward an area where the obstacle is detected when it is determined that an obstacle exists in an area other than the area where the headlight is irradiated using at least one of a camera and a radar. An anti-collision device of a vehicle and a control method thereof are provided.

An anti-collision device of a vehicle according to an aspect of the present invention includes a detector for detecting an obstacle; And a controller configured to determine a possible collision level with the obstacle based on the position of the obstacle, and to control driving of at least one of the steering device, the suspension device, the warning device, and the lamp device in response to the collision possible level.

The detection unit includes an image detection unit for acquiring an image of the road and the surroundings of the road, and the control unit recognizes a lane of the road based on the acquired image, and recognizes a preceding vehicle, an opposing vehicle, and an obstacle based on the recognized lane, The distance between the recognized preceding vehicle, the opposing vehicle and the obstacle is detected to determine the collision possible level.

The detector further includes a distance detector that detects a distance to the obstacle.

An anti-collision device of a vehicle may include a steering driver configured to apply steering torque to a steering device in response to a command from a controller; A suspension driver for applying a damping force to the suspension device in response to a command from the controller; A lamp driver adjusting an irradiation angle of the lamp device in response to a command from the controller; The apparatus may further include a warning driver configured to output a warning sound through the warning device in response to a command from the controller.

The control unit controls the warning device so that a warning sound is output when the collision possible level is higher, controls the steering device so that the steering wheel is vibrated, and controls the suspension device so that the damping force of the damper is increased.

The control unit controls the warning device so that a warning sound is output when the collision possible level is high.

The controller determines the position of the obstacle and adjusts the irradiation angle of the lamp device in a direction corresponding to the position of the obstacle if the position of the obstacle is an area other than the area to which the light of the lamp device is irradiated.

The lamp device includes a headlamp for irradiating light toward the front of the driving direction and at least one auxiliary lamp for irradiating light in a direction different from the headlight, and the control unit determines the position of the obstacle and the position of the obstacle is determined by the headlamp. If the area is irradiated with light, the driving of the headlamp is maintained and controlled. If the position of the obstacle is other than the area irradiated with the headlight, the driving of the auxiliary lamp corresponding to the position of the obstacle is controlled.

According to another aspect of the present invention, an apparatus for preventing collision of a vehicle includes: a detector configured to detect an obstacle; Determine the collision possible level with the obstacle based on the position of the obstacle, adjust the strength of the steering torque applied to the steering device in response to the collision possible level, adjust the strength of the damping force applied to the suspension device, and output a warning sound. And a control unit for controlling the driving of the warning device.

The detector includes a plurality of distance detectors that oscillate radio waves in different directions to detect distances of obstacles located in different directions, and the controller determines a possible collision level based on the distance to the obstacles.

The controller determines the position of the obstacle detected by the plurality of distance detectors, and adjusts the irradiation angle of the lamp device in a direction corresponding to the position of the obstacle if the position of the obstacle is an area other than the area to which the light of the lamp device is irradiated. .

The lamp device includes a headlamp for irradiating light toward the front of the travel direction and a plurality of auxiliary lamps for irradiating light in a direction different from the headlamp, and the control unit determines the position of the obstacle detected through the plurality of distance detectors. If the position of the obstacle is an area in which light of the headlight is irradiated, the driving of the headlamp is maintained and controlled. If the position of the obstacle is an area other than the area of the headlight light, the driving of the auxiliary light corresponding to the position of the obstacle is controlled. .

A plurality of auxiliary lights are located on the outer left and right sides of the headlamp, respectively.

According to another aspect of the present invention, an anti-collision control method for a vehicle may include detecting an obstacle while driving, determining a collision possible level based on a distance from an obstacle when an obstacle is detected, and determining whether a collision level is higher or higher. Controls the warning sound output, damper damping force and steering wheel vibration generation to recognize the possibility of collision and stabilize the movement of the vehicle, determine the position of obstacle when the collision possible level is high, and determine whether the obstacle is located outside the headlight irradiation area If the obstacle is located in an area other than the headlight irradiation area, the irradiation angle of the headlight is adjusted to the position of the obstacle.

Increasing the damping force of the damper and generating more vibration in the steering wheel when the collisionable level is higher than when it is in the middle.

The obstacle includes detecting using at least one of a radar and a camera.

According to the present invention, the possibility of collision with an obstacle is determined based on the information obtained through the camera and the radar, and the driver is recognized by the driver by controlling the warning device, the steering device, the suspension device, and the lamp device according to the degree of the collision possibility. To increase the stability against collision avoidance.

In addition, when the possibility of collision with an obstacle is low, a warning device is driven to recognize a driver with a possibility of collision, thereby reducing the risk of accidents caused by attentiveness even when the probability of collision is low.

In addition, after detecting obstacles such as objects, people, and animals approaching from areas other than the area where the headlight is irradiated, change the irradiation angle of the headlight to the obstacle detection area, or use an auxiliary lamp that irradiates light corresponding to the obstacle detection area. By driving, it is possible to secure a stable driving field at all times, which enables situational awareness through the driver's field of view, thereby ensuring ease of avoidance in case of an accident, and by not recognizing obstacles such as people and objects located in blind areas. Reduce the risk of accidents.

1 is a block diagram of a vehicle collision avoidance apparatus according to an embodiment of the present invention.
2A to 2C are exemplary views of a lamp device driven by an anti-collision device of a vehicle according to an embodiment of the present invention.
3 is a flowchart illustrating a collision avoidance control of a vehicle according to an exemplary embodiment of the present invention.
4A and 4B are diagrams illustrating an anti-collision control method of a vehicle according to an embodiment of the present invention.
5 is a block diagram of a vehicle collision avoidance apparatus according to another embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram of a vehicle collision prevention apparatus according to an embodiment of the present invention, the collision prevention apparatus includes a detector 110, a control unit 120, a storage unit 130, a driving unit 140.

The detector 110 detects roads and obstacles around the roads. The detector 110 includes a distance detector 111 for detecting a distance from an obstacle and an image detector 112 for detecting an image of a road and an obstacle.

More specifically, the distance detector 111 detects the distance between other vehicles and obstacles located in front of the vehicle while driving and transmits the distance between the detected obstacles to the controller 120.

The distance detecting unit 111 includes a radar that oscillates the radio wave in the directing direction and receives the radio wave coming back from another vehicle or obstacle.

The received radio wave includes information necessary to calculate an angle, a relative distance, a relative speed, and the like with another vehicle or an obstacle.

The image detector 112 detects an image of a road and its surroundings in real time, and processes the detected image.

The image detector 112 includes a camera installed on an upper portion of the windshield of the vehicle to detect an image of a road and its surroundings, and a vision controller for signal processing an image signal. The image sensor provided in the camera includes one of an electromagnetic coupling device (CCD) and a CMOS.

In addition, lanes and the like are marked on the road, and the image detected by the image detector 112 includes lanes, lanes, shoulders, sidewalks, and obstacles.

The obstacles include other vehicles, pedestrians, roadside trees, street lights, animals, and the like.

The controller 120 detects the vehicle speed of the vehicle based on the speed data of the wheel speed detector (not shown) installed on the front, rear, left, and right wheels of the vehicle, and uses the reflected wave information and the vehicle speed transmitted from the distance detector 111. The relative speed and the relative distance between the child vehicle and the other vehicle are calculated, and the possibility of collision is determined based on the calculated relative distance.

In this case, if it is determined that the collision is possible, the controller 120 determines a collision possibility level and controls the driving of at least one of the steering device, the suspension device, the warning device, and the lamp device based on the determined collision possibility level.

The controller 120 receives an image and performs image processing and signal processing to recognize a lane of a road in the signal-processed image, and based on the recognized lane, a lane, shoulder, sidewalk, and a preceding vehicle. Determine the opposing vehicle, the obstacle, and the like; detect the determined distance between the preceding vehicle, the opposing vehicle, and the obstacle; and determine a collision possibility level that is likely to collide with the preceding vehicle, the opposing vehicle, and the obstacle based on the detected distance. .

The controller 120 determines whether an obstacle exists in an area other than the irradiation area to which the headlight is irradiated by using the image detected by the image detector 112, and if it is determined that the obstacle exists in an area other than the irradiation area, Determine the position and adjust the irradiation angle of the headlamp so that the headlight is irradiated to the determined position.

At this time, it is also possible to notify the warning sound that the headlight irradiation angle is adjusted.

In addition, the controller 120 determines whether an obstacle exists in an area other than the irradiation area to which the headlight is irradiated by using the image detected by the image detector 112, and if it is determined that the obstacle exists in an area other than the irradiation area, the obstacle is determined. It is also possible to determine the position of and control the lighting of the auxiliary light corresponding to the determined position.

As a result, light can be irradiated to obstacles other than the irradiation area of the headlight to ensure the driver's field of view, thereby enabling mutual safe driving.

In addition, the controller 120 may use at least one of a distance detector and an image detector when detecting an obstacle.

Here, the collidable level may be formed of a plurality of levels, and three levels of levels, upper, middle, and lower levels will be described as an example.

The controller 120 controls the steering device to vibrate the steering wheel when the collision level is on or during the collision level, increases the damping force of the damper by controlling the suspension device, and generates a warning sound by controlling the warning device.

The control configuration of the suspension device and the steering device will be described in more detail.

The controller 120 controls the pressure of the damper by controlling the driving of the solenoid valve in the suspension system. This can increase the force (i.e., damping force) which suppresses the vehicle body from swinging or vibrating up and down by the elastic action of the spring in the suspension device, and can elastically absorb the shock.

The controller 120 controls the torque of the steering motor (not shown) for driving the steering gear to transmit the rotational force of the steering motor to the steering gear so that the steering wheel is vibrated.

This causes the steering wheel to vibrate more when in the phase than when the collisionable level is in the middle, and further increases the damping force of the damper. It is also possible to make the warning sound louder.

The controller 120 controls the warning device to generate a warning sound when the collision level is high, and adjusts the driver's viewing angle by controlling the irradiation angle of the headlamp of the lamp device. This may be the case when it is determined that an obstacle exists in an area other than the area to which the headlight is irradiated.

The controller 120 detects the brightness of the image detected by the image detector 112, recognizes the illuminance around the vehicle based on the brightness of the detected image, compares the recognized illuminance with the reference illuminance, and determines the recognized illuminance as a reference. It is also possible to control the headlight to be turned on if it is less than the illuminance, and to control the headlight to be turned off when the recognized illuminance is more than the standard illuminance.

The storage unit 130 stores information of the irradiation area to which the headlight is irradiated, stores reference illuminance, stores a possible collision level corresponding to the distance between the preceding vehicle, the opposing vehicle and the obstacle, and corresponds to the collision possible level. Save control information.

The driver 140 drives each device in response to a command of the controller 120.

The driving unit 140 is a steering driving unit 141 for driving the steering device 200 for steering of the vehicle, the suspension driving the suspension device 300 for absorbing the shock so that the impact of the road surface is not transmitted to the vehicle or the occupant. The driver 142, the warning driver 143 for driving the warning device 400 for outputting the warning sound, the lamp driver 144 for driving the lamp device 500 for adjusting the viewing angle of the driver and the braking device for braking the vehicle And a braking driver 145 for driving 600.

In this case, the suspension driver 142 may vary the movement characteristics of the damper mounted on the vehicle in real time according to the instruction of the controller 120 so that the vibration or impact force applied from the outside is attenuated.

The lamp driver 144 may include a motor driver for adjusting the angle of the headlamp, a switch driver for turning on / off the auxiliary lamp, and the like.

The braking driver 145 drives the front, rear, left and right wheels to drive the vehicle speed at the set speed according to the command of the controller 120 in the adaptive driving control mode, and the vehicle speed is decelerated when the distance between the vehicle and the other vehicle is less than or equal to the safety distance. Drive a brake (not shown).

In addition, the braking driver 145 drives the brake based on the stroke signal of the brake pedal pressed by the driver.

The steering apparatus 200 changes the driving direction of the vehicle by changing the angle of the wheel by the rotation of the steering wheel 210 when the driving direction of the vehicle is changed by the motor driven power steering system (MDPS). The steering wheel 210, the steering shaft, the steering gear 220, the steering motor 230, and the link mechanism.

A steering wheel 210 is coupled to the upper part of the steering column, a steering gear is coupled to the lower part of the steering column, and a steering gear is configured to control the steering force of the steering wheel 210 and the rotational force of the steering motor 230. The axis to pass to 220.

The steering gear 220 decelerates the rotation of the steering wheel 210 and the rotation of the steering motor 230 and simultaneously changes the direction of movement to the link mechanism.

The link mechanism transmits the steering gear operation to the front wheels and correctly supports the positions of the left and right front wheels.

In addition, by installing a vibration motor (not shown) on the steering wheel 210 of the vehicle, it is possible to ventilate the driver's surroundings by controlling the driving of the vibration motor when a collision is likely.

The suspension device 300 includes a damper 310 that prevents vibrations or shocks transmitted from the road surface to the axle while being driven directly to the vehicle body.

The damper 310 is connected to the axle and the body of each wheel to prevent damage to the cargo loaded on the vehicle, as well as the vehicle and provides a comfortable ride to the occupant.

The damper 310 prevents the driver from overturning the vehicle or other unpredictable risks due to the load phenomenon and loss of steering power when the driver excessively steers or the vehicle moves out of a constant track.

The damper 310 is configured together with the spring 320 to adjust the contraction of the spring 320, and to prevent the spring 320, shocked due to the road surface, to repeat the up and down repeatedly to return to the original state When the wheel vibrates due to the curvature of the road during driving, this vibration is not transmitted to the body as it is.

In other words, it weakens the stretching action of the spring 320, that is, the vehicle body shakes or vibrates up and down. Here, the force that suppresses the vibration of the spring 320 is referred to as the 'damping force'.

The damper 310 connected to each wheel has a hydraulic cylinder, and is connected to the solenoid valve 330 for adjusting the pressure of the hydraulic cylinder.

The solenoid valve 330 increases the pressure of the hydraulic cylinder of the damper 310 during operation to increase the height of the vehicle body and, conversely, reduces the pressure of the hydraulic cylinder of the damper 310 to lower the height of the vehicle body. Therefore, the height between each wheel and the vehicle body can be independently controlled by the hydraulic cylinder of the damper.

At this time, if the entire load of the vehicle body is suspended only by the hydraulic cylinder, excessive power is required, so that the spring shares a part of the vehicle body load by using a spring, and the rest is shared by the hydraulic cylinder.

The damper 310 is a dive phenomenon in which the vehicle body is moved forward by the inertia force toward the front when the vehicle is suddenly braked, a squat phenomenon in which the vehicle body is moved backward by the inertia force that is directed backward when the vehicle is suddenly started, and outwards during sudden curve Due to the centrifugal force that is directed, it is possible to quickly prevent the rolling phenomenon in which the body is pulled outward.

The warning device 400 includes a speaker or the like for generating an alarm sound. In addition, it is also possible to further include an indicator for visual identification of the driver.

The lamp device 500 is turned on or off according to the driving signal transmitted from the lamp driver 144. This lamp device will be described with reference to FIG.

As shown in FIG. 2A, the lamp device 500 includes a headlamp 510 for irradiating light toward the front of the driving direction, a pan tilt assembly 520 for adjusting the angle of the headlamp body, and a controller ( And a switch 530 that is turned on or off depending on whether power is supplied corresponding to the command of 120.

The lamp device 500 is turned on or off by turning on or off the headlight 510 provided in the vehicle, and adjusts the irradiation direction of the headlight 510 by adjusting the angle of the headlight 510 when the headlight is turned on below the standard illuminance.

The headlights allow the driver to secure a view by illuminating the front at night driving. When an obstacle exists in an area other than the area to which the headlight is adjusted at a predetermined irradiation angle, the headlight assembly 520 is driven. By adjusting the irradiation angle of the headlamp 510 up, down, left and right, the light is irradiated to the position where the obstacle exists.

As illustrated in FIGS. 2B and 2C, the lamp device 500 includes a headlamp 510 for irradiating light toward the front of the driving direction, and a plurality of auxiliary lamps 540 respectively provided on the outer left and right sides of the headlamp 510. 550 and a selector 560 for selectively turning on and off the plurality of auxiliary lights 540 and 550 according to a command of the controller 120.

The lamp device 500 selectively lights up or turns off a plurality of auxiliary lights 540 and 550 provided in a vehicle, thereby irradiating light to an area other than an area to which light of the headlamp is irradiated, and an area to which light of the headlight is irradiated. If there is an obstacle in the outside area, the auxiliary light corresponding to the corresponding position is turned on so that light is irradiated to the location where the obstacle exists.

The braking device 600 performs braking of the vehicle according to the pressurization of the brake pedal by the driver when there is a possibility of collision with other vehicles and obstacles.

In addition, when the relative distance between the vehicle and the other vehicle is included within the safety distance in the adaptive driving control mode, the braking device 600 operates according to a driving signal applied from the braking driver 145 to maintain the safety distance and prevent obstacles and other vehicles. It is also possible to prevent collisions with the.

The braking device 600 includes an electric parking brake (EPB) and electronically controls braking of the brake.

The collision avoidance device according to an embodiment may be performed separately from other devices to directly control another device, or may be performed in another chassis ECU such as an HMI unit, an ESC, an EPS, and the like by using vehicle communication.

 3 is a flowchart illustrating a collision avoidance control of a vehicle according to an embodiment of the present invention, and FIG. 4 is a diagram illustrating a collision avoidance control of a vehicle according to an embodiment of the present invention.

First, the collision avoidance apparatus 100 detects an obstacle 151 around the own vehicle using at least one of the distance detector and the image detector while driving the vehicle, and determines the distance to the obstacle when the obstacle is detected.

Next, the collision avoidance device 100 determines a collision possibility level based on the distance d with the obstacle 502, and according to the determined collision possibility level, the steering device 200, the suspension device 300, and the warning device. At least one of the 400, the lamp device 500, and the braking device 600 drives 153 to 156.

Here, the case where a collision possibility level consists of three levels of upper, middle, and lower levels is demonstrated, for example.

As shown in FIG. 4A, the collision avoidance apparatus 100 determines whether the determined collision possibility level is the collision possibility level 'up' or 'middle' (153), and the determined collision possibility level is the collision possibility level 'up' Or 'middle' to control the torque of the steering motor (not shown) for driving the steering gear to vibrate the steering wheel and output a warning sound so that the driver is aware of possible collisions.

At this time, in order to prevent the vehicle from becoming unstable due to collision avoidance with the obstacle, the collision avoidance device 100 controls the driving of the solenoid valve to increase the damping force of the damper (154).

The anti-collision apparatus 100 causes the steering wheel to vibrate more when the collision possible level is higher than when it is in the middle, and further increases the damping force of the damper. It is also possible to make the warning sound louder.

In addition, when the damping force of the damper is increased, it is performed until the movement of the vehicle is stabilized. At this time, the movement stabilization of the vehicle can be determined using data detected by a plurality of sensors (yaw rate sensor, acceleration sensor, etc.) provided in the vehicle.

In addition, when the damping force of the damper is increased, it is possible to perform for a predetermined time that the movement of the vehicle can be stabilized.

As shown in FIG. 4B, when the determined collision possible level is determined to be 'low' rather than 'up' or 'middle', the collision prevention level 100 is based on the image detected by the image detector 112. Determine the position of the obstacle, and if it is determined that the obstacle is located in an area other than the area to which the light of the headlight is irradiated (155), the irradiation angle of the headlamp is adjusted so that the headlight is irradiated in a direction corresponding to the position of the obstacle (156). do.

It is also possible to output a warning sound for the driver to recognize this.

In addition, the collidable level can be made in more steps, where the vibration of the steering wheel or the damping force of the damper becomes larger as the level is increased.

The collision avoidance apparatus may adjust the irradiation angle of the headlamp to the position of the obstacle if the obstacle is detected in the image and the position of the detected obstacle is not an area to which light of the headlamp is irradiated, regardless of the collision possible level.

5 is a block diagram of a vehicle collision prevention apparatus according to another embodiment of the present invention, the collision prevention apparatus includes a detector 110, a control unit 120, a storage unit 130, a driving unit 140.

The detector 110 includes a plurality of distance detectors 113 to 115 provided at the front left and right of the vehicle. In this case, the plurality of distance detectors 113 to 115 detect obstacles existing in the front and the side of the vehicle in the driving direction.

The distance detectors 113 to 115 detect the position and the distance between the vehicle and the obstacle using radio waves received through the first, second and third radars.

In addition, it is also possible to use some or all of the plurality of radars as an ultrasonic sensor.

At this time, the controller 120 determines the position and distance of the obstacle based on the signals transmitted from the plurality of distance detectors 113 to 115, and controls the driving of the driving unit 140 based on the determined position and distance of the obstacle. . The drive control here is the same as in the embodiment, and description thereof will be omitted. In addition, the plurality of devices driven by the driving unit are the same as in the exemplary embodiment, and thus description thereof is omitted.

The storage unit 130 stores positions of the plurality of distance detectors based on the driving direction of the vehicle, and stores distances corresponding to the received signals.

100: anti-collision device 110: detection unit
111: image detector 112: distance detector
120: control unit 130: storage unit
140:

Claims (16)

A detector detecting an obstacle;
And a controller configured to determine a possible collision level with the obstacle based on the position of the obstacle, and to control driving of at least one of a steering device, a suspension device, a warning device, and a lamp device in response to the collision possible level. Anti-collision device. The method of claim 1,
The detector includes a road and an image detector for acquiring an image around the road,
The controller may recognize a lane of the road based on the acquired image, recognize a preceding vehicle, a counter vehicle, and an obstacle based on the recognized lane, and detect a distance between the recognized preceding vehicle, the counter vehicle, and the obstacle. An anti-collision device for a vehicle that determines the collision possible level. The method of claim 1, wherein the detection unit,
And a distance detector configured to detect a distance from the obstacle. The method of claim 1,
A steering driver for applying steering torque to the steering apparatus in response to a command from the controller;
A suspension driver for applying a damping force to the suspension device in response to a command from the controller;
A lamp driver adjusting an irradiation angle of the lamp device in response to a command of the controller;
And a warning driver configured to output a warning sound through the warning device in response to a command of the controller. The apparatus of claim 1,
And controlling the warning device so that a warning sound is output when the collision possible level is higher, controlling the steering device so that a steering wheel is vibrated, and controlling the suspension device so that the damping force of the damper is increased. The apparatus of claim 1,
And a warning device for controlling the warning device so that a warning sound is output when the collision possible level is high. The apparatus of claim 1,
And determining the location of the obstacle and adjusting the irradiation angle of the lamp device in a direction corresponding to the location of the obstacle if the location of the obstacle is an area other than a region to which the light of the lamp device is irradiated. The method of claim 1,
The lamp device includes a headlamp for irradiating light toward the front of the driving direction and at least one auxiliary lamp for irradiating light in a direction different from the headlamp,
The controller determines the position of the obstacle, and if the position of the obstacle is a region in which light of the headlamp is irradiated, maintains and controls the driving of the headlight, and the position of the obstacle is a region other than the region of the headlight. The collision preventing device of the vehicle for controlling the driving of the auxiliary lights corresponding to the position of the obstacle. A detector detecting an obstacle;
Determine the collision possible level with the obstacle based on the position of the obstacle, adjust the strength of the steering torque applied to the steering device in response to the collision possible level, adjust the strength of the damping force applied to the suspension device, and generate a warning sound. The collision avoidance apparatus of the vehicle including the control part which controls the drive of a warning apparatus so that it may be output. The method of claim 9,
The detector includes a plurality of distance detector for detecting the distance of the obstacle located in different directions by oscillating radio waves in different directions,
And the control unit determines the collision possible level based on a distance from the obstacle. 11. The apparatus according to claim 10,
The position of the obstacle detected by the plurality of distance detectors is determined, and if the position of the obstacle is a region other than the region to which the light of the lamp apparatus is irradiated, the irradiation angle of the lamp apparatus is adjusted in a direction corresponding to the position of the obstacle. Vehicle anti-collision device. 11. The method of claim 10,
The lamp device includes a headlamp for irradiating light toward the front of the driving direction and a plurality of auxiliary lamps for irradiating light in a direction different from the headlamp,
The controller determines a position of an obstacle detected by the plurality of distance detectors, and maintains and controls driving of the headlamp when the position of the obstacle is a region where light of the headlamp is irradiated, and the position of the obstacle is the headlamp. The collision avoidance device of the vehicle which controls the drive of the said auxiliary lamp corresponding to the position of the said obstacle if it is an area | region other than the area | region to which light was irradiated. 13. The method of claim 12,
The plurality of auxiliary lights are located on the outer left and right sides of the headlight, respectively. Detect obstacles while driving
When the obstacle is detected, the collision possible level is determined based on the distance from the obstacle,
When the collision possible level is higher or higher, a warning sound output, an increase in damping force of a damper and vibration of a steering wheel are controlled to recognize a driver's possibility of collision and to stabilize a vehicle's movement.
If the collision possible level is high, determine the position of the obstacle,
Determine whether the obstacle is located in an area other than the headlight irradiation area,
And controlling the irradiation angle of the headlamp to the position of the obstacle when the obstacle is located outside the headlight irradiation area. 15. The method of claim 14,
And further increasing the damping force of the damper and generating more vibration in the steering wheel when the collisionable level is higher than when it is in the middle. 15. The method of claim 14,
And detecting the obstacle using at least one of a radar and a camera.

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