KR20140059096A - Curve speed warning methord - Google Patents

Abstract

According to one embodiment of the present invention, provided is a method for warning against speeds at a curve. The method includes a step of turning on CSWS, a system warns a driver when a vehicle travels at speeds higher than safety speeds at a curve, a step of obtaining curve information from external environment information in a vehicle traveling state, a step of obtaining a current traveling speed of a vehicle, and a step of warning when the traveling speed of the vehicle is determined higher than safety speeds using the curve information.

Description

Curve Speed Warning Method {Curve Speed Warning Methord}

The present invention relates to a curve speed warning method. More particularly, to a curve speed warning method using a Curve Speed Warning System (CSWS).

The contents described in this section merely provide background information on the embodiment of the present invention and do not constitute the prior art.

The number of vehicles currently operating continues to increase, and the physical and personnel damage caused by traffic accidents is also increasing. To cope with this, various kinds of vehicle safety devices or systems have been developed and utilized in order to protect the vehicle driver and the pedestrian.

In the past, passive safety devices such as safety belts and airbags, which are safety devices for reducing traffic accidents, were mainly used. However, research and development have been actively made on an active safety system that prevents a traffic accident in advance by recognizing the risk to a driver or a pedestrian in advance due to the advancement of sensors mounted on the vehicle through technology development. These active safety systems include CSWS.

CSWS (Curve Speed Warning System) refers to the curve speed warning device. CSWS is a device that warns when the speed of the vehicle being driven is greater than the safe speed at the curve before entering the curve.

1 is a block diagram for explaining a danger warning method for a vehicle driver using a general CSWS. The operation of the general CSWS is the same as that shown in FIG. 1 except that step S110 of turning on the CSWS, step S120 of confirming whether the curve ahead is the CSWS warning target curve, and step S130 of issuing the CSWS warning, .

However, in connection with the step S120 of confirming that the front curve is the CSWS warning target curve, information about the curve, that is, curve information is usually obtained through the information stored in the vehicle.

Therefore, there are many cases in which curve information that does not fit the road conditions is actually obtained, which confuses the driver and can not guarantee reliable operation because the information is not reliable.

It is necessary to acquire and use information from the external environment during driving due to the above-described problems.

Also, if necessary, it is necessary to update the existing information using the information thus obtained. In performing the CSWS warning, it is necessary to perform the warning by taking such information into consideration or taking into account the already stored information.

The technical object of the present invention is not limited to the above-mentioned technical objects and other technical objects which are not mentioned can be clearly understood by those skilled in the art from the following description will be.

The curve speed warning method according to an embodiment of the present invention may include turning on the CSWS, which is a system for giving a warning to a driver when the vehicle is traveling at a speed higher than a safe speed for a curve.

And, it may include obtaining the curve information on the road from the external environment information.

And obtaining the current running speed of the vehicle.

Further, it may further include a step of issuing a warning when the traveling speed is determined to be equal to or higher than the safe speed using the curve information obtained during the traveling. In this case, the warning may be triggered by considering the curve information obtained during the running and the corresponding curve information of the stored map data.

The curve speed warning method may further include storing curve information obtained during the running. In this case, when the curve corresponding to the curve information obtained during the running is stored again, the warning may be triggered according to the curve information stored during the running.

Also, the storage of the curve information may be stored in association with map data previously stored in the vehicle. The associatively stored information may mean that the curve information is stored corresponding to one or more points of the map data for the curve. In this case, the storage of the curve information may be stored to update the corresponding information of the map data.

Also, the storage of the curve information may be added to and stored in the related information of the map data. The curve information added and stored herein may include at least one of a terminal slope, a transverse slope, and a road surface state information according to an embodiment. In this case, when the curve corresponding to the curve information obtained during the running is stored again, the warning may be generated in consideration of the stored curve information and the map data.

The curve information may include at least one of a curvature of a curve, a radius of curvature, an end slope, a transverse slope, and road surface state information.

Here, the radius of curvature or radius of curvature can be obtained by sensing at least one of lateral acceleration, steering angle, yaw angle and yaw rate, or sensing a lane of a road. Here, the lane of the road may be sensed using at least one of a vision sensor, a radar, a laser, and a ladder.

The termination gradient may be obtained by sensing at least one of a pitch angle and a pitch rate.

The transverse gradient can be obtained by sensing the acceleration and the velocity in the vertical direction and the longitudinal direction.

The road surface state information of the road may be obtained using a slip sensor or a vision sensor, received from a user, or received via a communication module. Here, the road surface state information of the road may include, for example, information on the state of wrapping or unpacked state of the road.

The curve speed warning method may further include obtaining status information related to a current load of the vehicle. In this case, the warning issuing step may consider the state information together and issue a warning.

Here, the state information related to the current load of the vehicle may include load distribution state information of the vehicle. In this case, the warning may be triggered by varying the safety speed according to the load distribution state.

In the curve speed warning method, the curve information may be curve information in which a curvature of the curve is within a set range.

The curve speed warning method according to another embodiment of the present invention may include obtaining the first curve information on the road while the vehicle is running.

And obtaining the second curve information from the map data previously stored in the vehicle.

And obtaining the current running speed of the vehicle.

And generating a warning in accordance with the traveling speed in consideration of the first curve information obtained during the traveling and the second curve information of the map data.

Since the curve speed warning method of the embodiment described above can obtain the curve information on the road from the external environment information, curve information suitable for the actual road situation can be obtained and the curve speed is warned in consideration of curve information suitable for the actual road situation The confusion of the driver is alleviated, and reliability is imparted to the information, thereby ensuring safe operation.

1 is a block diagram for explaining a curve speed warning method using a general CSWS.
2 is a block diagram showing each step of the curve speed warning method according to an embodiment of the present invention.
3 is a block diagram illustrating a source in which the curve speed warning device receives curve information.
4 is a block diagram illustrating each step of the curve speed warning method according to another embodiment of the present invention.

Hereinafter, a curve speed warning method, which is an embodiment of the present invention, will be described in detail with reference to exemplary drawings. However, this is not intended to limit the scope of the invention.

It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

2 is a block diagram showing each step of the curve speed warning method according to an embodiment of the present invention. Referring to FIG. 2, a curve speed warning method according to an exemplary embodiment of the present invention includes turning on CSWS, which is a system for giving a warning to a driver when the vehicle is traveling at a speed higher than a safe speed for a curve (S210) A step S230 of obtaining curve information on the road from the external environment information (S220), a step S230 of obtaining the current traveling speed of the vehicle, and a warning (step S230) when the traveling speed is judged to be higher than the safe speed (S240). ≪ / RTI >

The step S210 of turning on the CSWS will be described.

The safe speed may mean a curve entry speed to allow a running vehicle to safely drive a curve road. That is, when the speed of the vehicle being driven is earlier than the preset warning speed at the point before entering the curve road, the warning light may be viewed as the light speed highway in the case where the alarm is triggered. The safe speed may be a predetermined speed as a function of the radius of curvature of the curve, vehicle speed.

Step S220 of obtaining curve information on the road from the external environment information will be described.

The curve information may be obtained by calculation or the like from the information previously stored in the vehicle, but the curve information is acquired from the external environment information. For example, it is possible to obtain the curve information by sensing the external environment or by communicating from outside.

 Here, the curve information may include at least one of a curvature of a curve, a radius of curvature, an end slope, a transverse slope, and a road surface state information.

The curvature or radius of curvature of the curve can be obtained by sensing at least one of lateral acceleration, steering angle, yaw angle, yaw rate, or sensing a lane of a road depending on the embodiment. Here, the lane of the road can be sensed using at least one of a vision sensor, a radar, a laser, and a lidar according to an embodiment. The vision sensor may be a CCD camera, an infrared camera, or the like.

The termination slope refers to the inclination of the road surface in the longitudinal direction of the road, that is, the slope of the slope. The end slope can be obtained by sensing at least one of a pitch angle (pitch angle) and a pitch rate (pitch rate).

The transverse slope refers to the slope of the road surface in the direction of the cross section. The transverse gradient can be obtained by sensing acceleration and / or velocity in the vertical direction and the longitudinal direction.

The road surface state information can be obtained by using a slip sensor or a vision sensor, receiving input from a user, or receiving the information through a communication module. Here, the road surface state information of the road may include information on the state of the road or the unpaved state of the road.

3 is a block diagram illustrating a source in which the curve speed warning device receives curve information. Referring to FIG. 3, the curve information may be at least one of information on a signal sensed from at least one sensor installed in a vehicle, information received from a driver, and information received through a communication module.

The sensors 330 installed in the vehicle include a GPS 331, a slip sensor 332, a steering angle sensor 333, an acceleration sensor 334, a vision sensor 335, a rain sensor 336, a yaw rate sensor 337a ), A pitch rate sensor 337b, a load distribution sensor 338, and a lane detecting sensor 339.

The information received from the driver may be weather-related information or road-related information. According to an embodiment, this information may be directly input from the driver through the user input unit 320 of the vehicle including the weather related input unit 321 or the road surface related input unit 322. [

The information received through the communication module may be information related to weather, road or traffic. Such information may be received from the agency 311 related to weather, road or traffic through the communication module 310.

On the other hand, the curve information may be obtained from the map data 340. The map data 340 will be described later.

4 is a block diagram illustrating each step of the curve speed warning method according to another embodiment of the present invention. Referring to FIG. 4, the curve speed warning method according to an embodiment of the present invention includes turning on the CSWS (S410), obtaining curve information from the external environment information (S420) (S430) of obtaining the current traveling speed of the vehicle (S430), and issuing a warning when the traveling speed is determined to be equal to or higher than the safe speed using the curve information obtained from the external environment information (S440) ). That is, the curve speed warning method may further include storing the curve information obtained from the external environment information (S420a). The apparatus for storing curve information may be a memory chip or a hard disk drive installed in a vehicle according to an embodiment.

Also, the storage of the curve information may be stored in association with the map data 340 already stored in the vehicle. Here, the map data 340 may be map information, for example. When each point on the map is represented by a point, it may be information (hereinafter referred to as point information) that the point has. The point information may include only position-related information such as coordinate information, but may also include various information such as a curvature or curvature radius of curves existing on the road, an end slope or a cross slope of the road, and road surface condition information. That is, the points on the map may include all the information on the road that can be stored as data according to the intention of the manufacturer. Stored in association with the map data 340 may mean that the curve information is stored corresponding to one or more points of the map data 340 for the curve. In some embodiments, if the map data 340 includes only positional information about the point and does not include information about the curvature or radius of curvature of the curve, the curvature or curvature of the curve may be determined by the positional information of one or more points. Information about the radius of curvature may be derived.

The curve information may be stored to update corresponding information of the map data 340. For example, when the map data 340 and the curve information obtained during the running differ from each other by more than a specific value, the curve information obtained during the running is regarded as the latest data, and the curve data obtained during the running Information can be updated.

The storage of the curve information may be added to the related information of the map data 340 and stored. For example, if there is only position information on a specific point on the map data 340, information on curvature or curvature radius may be additionally stored in addition to the position information on the specific point. For example, if the map data 340 already has information on the curvature or radius of curvature of a curve at a specific point as well as position information of a specific point, the curve information added to and stored in the related information of the map data 340, And may include at least one of an end slope of the point, a transverse slope, and a road surface state of the road.

Describing the step S230 (see Fig. 2) of obtaining the current running speed of the vehicle, a method of obtaining the current running speed of the vehicle can be obtained, for example, through a speed sensor mounted on the vehicle.

The step of issuing a warning (S240, see Fig. 2) will be described.

The warning may be triggered by considering the curve information obtained during the running and the curve information of the stored map data 340 together. Here, the 'curve information' used for the warning may be information obtained at the time of issuing the warning, or may be information obtained and stored in the past. That is, when the curve information obtained during the running is added to and stored in the curve information of the pre-stored map data 340, the curve speed warning device stores curve information obtained during running and corresponding curve information of the pre-stored map data 340 You can trigger a warning by considering it together. If the curve information is acquired and stored in the past running, it is effective to use the stored curve information when driving the curve again.

On the other hand, when there is no map data 340 information, it may be set to activate a warning using only the curve information obtained from the external environment information.

In the case of storing the curve information in association with the map data 340 already stored in the vehicle, the stored map data 340 may be updated or added to the map data 340 and stored.

The curve speed warning method according to an embodiment of the present invention may further include obtaining state information related to a current load of the vehicle. Here, the state information related to the current load of the vehicle may be the state information of the vehicle in relation to the weight of the vehicle, the weight of the rider and the weight of the load on the vehicle. In this case, the warning issuing step may consider the state information together and issue a warning.

The state information related to the load of the vehicle may include load distribution state information of the vehicle. Here, the load distribution state information of the vehicle will be concentrated on the left side of the load distribution of the vehicle, for example, when the rider is seated only on the left seat of the vehicle. Further, for example, if the load is placed on the trunk behind the vehicle, the load distribution of the vehicle will be concentrated on the rear side. If the load is concentrated in this way, it can mean state information related to the load. In this case, the warning triggering step may trigger the warning by varying the safety speed according to the current load distribution state of the vehicle.

In the curve speed warning method according to an embodiment of the present invention, the curve information may be information on a curve whose curvature of the curve is within a preset range. The curve to be subjected to the curve speed warning method according to an embodiment of the present invention may be a curve having a certain radius of curvature. For example, the curvature radius R of the curve to be subjected to the curve speed warning method may be within the range of the minimum curvature radius Rmin <curvature radius R <maximum radius of curvature Rmax. Here, the minimum curvature radius Rmin and the maximum curvature radius Rmax can be preset. This is because all roads, including straight roads other than curves, are considered as CSWS and are inefficient unless the limit is set.

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 and scope of the invention as defined by the appended claims.

Claims (23)

Turning on the CSWS, which is a system that warns the driver when the vehicle is traveling above the safe speed for the curve;
Obtaining curve information on the road from external environment information;
Obtaining a current running speed of the vehicle; And
A step of issuing a warning when the traveling speed is judged to be higher than the safe speed by using the curve information obtained during the traveling;
/ RTI &gt; The method according to claim 1,
Further comprising the step of storing curve information obtained from the external environment information. 3. The method of claim 2,
Wherein the curve information is stored in association with map data previously stored in the vehicle. The method of claim 3,
Wherein the curve information is stored corresponding to one or more points of map data for the curve. 5. The method of claim 4,
Wherein the curve information is stored to update the corresponding information of the map data. 5. The method of claim 4,
Wherein the storing of the curve information is added to and stored in the associated information of the map data. The method according to claim 6,
Wherein the stored curve information includes at least one of a terminal slope, a transverse slope, and a road surface state of a road. The method of claim 3,
Further comprising the step of generating a warning by considering the stored curve information and the map data information together when the curve corresponding to the curve information obtained from the external environment information is run again. 3. The method of claim 2,
Further comprising the step of activating a warning according to the stored curve information when the curve corresponding to the curve information obtained from the external environment information is traveled again. The method according to claim 1,
Wherein the warning is generated by taking into consideration curve information obtained from the external environment information and corresponding curve information of pre-stored map data together. The method according to claim 1,
Wherein the curve information is at least one of information on a signal sensed from at least one sensor installed in a vehicle, information received from a driver, and information received through a communication module. The method according to claim 1,
Wherein the curve information includes at least one of a curvature of a curve, a radius of curvature, an end slope, a cross slope, and a road surface state information. 13. The method of claim 12,
Wherein the curvature or curvature radius is obtained by sensing at least one of a lateral acceleration, a steering angle, a yaw angle and a yaw rate, or sensing a lane of a road. 14. The method of claim 13,
Wherein the lane of the road is sensed using at least one of a vision sensor, a radar, a laser, and a lidar. 13. The method of claim 12,
Wherein the end slope is obtained by sensing at least one of a pitch angle and a pitch rate. 13. The method of claim 12,
Wherein the transverse gradient is obtained by sensing an acceleration and a velocity in a vertical direction and a longitudinal direction. 13. The method of claim 12,
Wherein the road surface state information of the road is obtained using a slip sensor or a vision sensor, received from a user, or received via a communication module. 13. The method of claim 12,
Wherein the road surface state information of the road includes information about a state of wrapping or unpacked state of the road. The method according to claim 1,
Further comprising the step of obtaining state information related to a current load of the vehicle, wherein the warning issuing step invokes a warning by considering the state information together. 20. The method of claim 19,
Wherein the state information includes load distribution state information of the vehicle. 21. The method of claim 20,
Wherein the warning is triggered by varying the safe speed according to the load distribution state. The method according to claim 1,
Wherein the curve information is curve information in which the curvature of the curve is within a set range. Obtaining first curve information on the road from external environment information;
Obtaining second curve information from map data previously stored in the vehicle;
Obtaining a current running speed of the vehicle; And
Generating a warning based on the first curve information obtained during the running and the second curve information of the map data in accordance with the running speed
/ RTI &gt;

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