KR20140112925A - Apparatus for adjusting speed of vehicle and method for adjusting speed thereof - Google Patents

Abstract

Provided are an apparatus to control a speed of a vehicle and a speed control method thereof. The apparatus includes: a communication unit communicating with a global positioning system and receiving road map information containing current speed profile module information generated in accordance to the current position of the vehicle from the global positioning system; a detection unit to detect the current situation in accordance to the current position of the vehicle; a control unit receiving the current speed profile module information and current situation information corresponding to the current situation to output a control signal; a target speed profile generating unit receiving the control signal from the control unit, generating predicted speed profile module information based on the current speed profile module information and the current situation information, and generating target speed profile module information based on the generated predicted speed profile module information; and a speed control unit receiving the control signal from the control unit, and controlling the current speed of the vehicle in accordance to the target speed profile module information generated by the target speed profile generating unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle speed adjusting device,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle speed adjusting device and a speed adjusting method thereof.

Generally, satellite navigation devices are provided for vehicles, airplanes and ships and are provided to measure position, latitude and longitude, altitude and speed through satellites.

For example, a satellite navigation device is provided in a vehicle to provide the driver with the current speed measured by the current speed measured by the satellite when the vehicle is traveling on curved roads, straight roads, and speed limit roads.

However, the conventional navigation system has a limitation in detecting all the events occurring during traveling, such as falling speed and current driving speed of another vehicle when the vehicle is traveling on a curved road, a straight road, or a speed limit road, there was.

Therefore, in recent years, considering all the events occurring during curved roads, speed limit roads, and frontal vehicle accidents and falling rockets, the speed of the present vehicle can be efficiently controlled in consideration of the ride quality, thereby improving the comfort of the vehicle and the reliability of the apparatus There has been a continuous study on an improved vehicle speed regulator and its speed control method.

SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle speed control system and a control method thereof that can efficiently control a speed of a current vehicle by considering a ride comfort for all events occurring during a curved road, And to provide a speed control method for the vehicle.

Another object of the present invention is to provide a vehicle speed control system and a vehicle speed control method capable of identifying the generation state of current target speed profile model information, And a method of controlling the speed of the vehicle.

In order to accomplish the above object, the present invention provides a communication system that communicates with a satellite navigation device, and a road map including current speed profile model information generated according to a current location of the current vehicle, A communication unit provided to receive information; A sensing unit for sensing a current state of the current vehicle; A control unit for receiving current speed profile model information and current situation information corresponding to the current situation and outputting a control signal; Receives a control signal from a control unit, generates predicted speed profile model information based on current speed profile model information and current situation information, and outputs the generated predicted speed profile, A target velocity profile generating unit for generating target velocity profile model information based on the model information; And a speed adjusting unit that receives a control signal from the control unit and adjusts the current speed of the present vehicle in accordance with the target speed profile model information generated by the target speed profile generating unit.

According to another aspect of the present invention, the road map information includes a current speed profile model including a link speed between link points of each driving road generated according to the position of the current vehicle, (model) information.

According to another aspect of the present invention, the road map information includes at least one of straight road map information and curved road map information; The straight road map information includes a link speed between link points of the running road generated based on the distance between the speed limit zone and the toll booth at the present vehicle position ; The curved road map information includes a link speed between link points of the running road generated according to the lateral acceleration of the present vehicle.

According to another aspect of the present invention, the predicted speed profile model information includes roadway-specific link points (hereinafter referred to as " roadway ") generated based on the distance between at least one of the speed- link speed between a current speed profile and a link-point, and at least one of a falling rock state corresponding to the current situation, a fault vehicle occurrence state, and an accident vehicle occurrence state based on the current speed profile model information including the link speed And current-state information including a link speed between link points generated by the roads and link-points generated by the roads using the at least one information.

According to another aspect of the present invention, the predicted speed profile model information includes at least one of the current speed profile model information and the current situation information, link speed between a link speed and a link-point of a target longitudinal deceleration.

According to another aspect of the present invention, the target velocity profile model information includes an already set target velocity value; The target velocity profile model information is based on predicted velocity profile model information and includes a target velocity profile model based on the predicted velocity value that is lower than the target velocity value model is generated.

According to another aspect of the present invention, when generating target velocity profile model information by a target velocity profile generating unit, a control signal is further supplied from the control unit to obtain a current target velocity profile, And an identification unit for identifying the generation status of the model information.

According to another aspect of the present invention, there is provided a communication system for communicating with a satellite navigation device, for receiving road map information including current speed profile model information generated according to a position of a current vehicle from a satellite navigation device, A communication step provided for receiving a supply; A sensing step of sensing, by the sensing unit, a current situation corresponding to a current position of the vehicle; A target speed profile generating unit generates predicted speed profile model information based on current speed profile model information and current situation information in accordance with a control signal of the control unit, Based on the predicted speed profile profile information of the target speed profile to generate the target speed profile model information in the target speed profile generating unit according to the control signal of the control unit, ) Generating step; And a speed adjusting step of adjusting the current speed of the current vehicle in accordance with the control signal of the control unit in accordance with the target speed profile model information generated by the target speed profile generating unit .

According to another aspect of the present invention, the communication step includes a step of generating a current speed profile (link speed) including a link speed between link points of each running road generated according to the position of the current vehicle in the road map information profile model information included in the received information.

According to another aspect of the present invention, the step of communicating includes the step of providing road map information by including at least one of straight road map information and curved road map information; The link speed between the link points of the running roads generated based on the distance between the speed limit zone and the toll booth at the position of the current vehicle in the straight road map information is included ; And providing a link speed between link points of each roadway generated in accordance with the lateral acceleration of the present vehicle to curved road map information.

According to another aspect of the present invention, a target velocity profile generating step is a step of generating a target velocity profile based on a distance between at least one of the rate limiting zone and the tollgate at the position of the current vehicle in the predicted velocity profile model information Current speed profile model information including link speeds between link points generated by the roads generated by the roads and crash speeds corresponding to the current situation, And the current situation information including a link speed between link points of each roadway generated based on at least one of the occurrence conditions of the roads, do.

According to another aspect of the present invention, a target velocity profile generating step may include generating at least one of information on a current velocity profile model and current situation information in predicted velocity profile model information And generating a predicted speed profile model according to the target longitudinal deceleration based on a link speed between link points of the roads generated by the roads.

According to still another aspect of the present invention, the target velocity profile generation step includes providing a target velocity value already set in the target velocity profile model information, and providing the target velocity profile; A target velocity profile model (model) information based on predicted velocity profile model information, and based on a predicted velocity value lower than the target velocity value, model is generated.

According to another aspect of the present invention, there is provided a method for generating a target velocity profile, comprising: after a target velocity profile generation step or synchronizing with a target velocity profile generation step, The control unit further receives a control signal from the control unit and identifies, in the identification unit, the generation status of the current target profile profile model information.

According to the vehicle speed adjusting device and the speed adjusting method of the present invention as described above, the following effects can be obtained.

First, it is possible to control the current speed of the present vehicle efficiently by taking the ride comfort into consideration for all events occurring during curved roads, speed limit roads, forward vehicle accidents and falling rocks, thereby improving comfort during traveling and reliability of the apparatus There is an effect.

Second, since the generation status of the current target speed profile model information can be identified, it is possible to induce driver's attention driving at the time of driving, thereby having another effect of preventing the occurrence of a traffic accident in advance.

1 is a block diagram showing a state in which a satellite navigation device is connected to a vehicle speed adjusting device according to a first embodiment of the present invention;
FIG. 2 is a block diagram showing an example of a vehicle speed adjusting device shown in FIG. 1. FIG.
3 is a plan view showing a form of a current velocity profile model of the communication unit shown in Fig.
FIG. 4 is a graph showing the relationship between the shape of a current speed profile model of the communication unit shown in FIG. 2, the shape of a predicted speed profile model of the target speed profile generator, A graph showing the shape of a model at a speed along a distance.
FIG. 5 is a plan view showing straight road map information and curve road map information for measuring speed information of the speed adjusting unit shown in FIG. 1; FIG.
FIG. 6 is a graph showing speed information of a speed control unit and speed information at the time of a normal driving according to distance, according to the straight road map information and the curve road map information shown in FIG.
7 is a flowchart showing a speed adjusting method of a vehicle speed adjusting device according to the first embodiment of the present invention.
8 is a flowchart showing an example of a speed adjusting method of a vehicle speed adjusting device according to the first embodiment of the present invention.
9 is a flowchart showing another example of a speed adjusting method of a vehicle speed adjusting device according to the first embodiment of the present invention.
10 is a flowchart showing another example of a speed adjusting method of a vehicle speed adjusting device according to the first embodiment of the present invention.
11 is a flowchart showing another example of a speed adjusting method of a vehicle speed adjusting device according to the first embodiment of the present invention.
FIG. 12 is a flow chart showing another example of a speed adjusting method of a vehicle speed adjusting device according to the first embodiment of the present invention. FIG.
13 is a block diagram showing an example of a vehicle speed adjusting device according to a second embodiment of the present invention.
14 is a flowchart showing a method of adjusting a speed of a vehicle speed adjusting device according to a second embodiment of the present invention.
15 is a flowchart showing an example of a speed adjusting method of a vehicle speed adjusting device according to a second embodiment of the present invention.
16 is a flowchart showing another example of a speed adjusting method of a vehicle speed adjusting device according to a second embodiment of the present invention.
17 is a flowchart showing another example of a speed adjusting method of a vehicle speed adjusting device according to a second embodiment of the present invention.
18 is a flowchart showing another example of a speed adjusting method of a vehicle speed adjusting device according to a second embodiment of the present invention.
FIG. 19 is a flowchart showing another example of a speed adjusting method of a vehicle speed adjusting device according to a second embodiment of the present invention. FIG.

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

≪ Embodiment 1 >

FIG. 1 is a block diagram showing a state in which a satellite navigation device is connected to a vehicle speed adjusting device according to a first embodiment of the present invention, and FIG. 2 is a block diagram showing an example of a vehicle speed adjusting device shown in FIG. 1 .

FIG. 3 is a plan view showing a form of a current speed profile model of the communication unit shown in FIG. 2, FIG. 4 is a view showing a form of a current speed profile model of the communication unit shown in FIG. 2, A graph of the type of a predicted speed profile model and the shape of a target speed profile model of a target speed profile generating section at a speed according to distance.

FIG. 5 is a plan view showing straight road map information and curve road map information for measuring speed information of the speed adjusting unit shown in FIG. 1, FIG. 6 is a diagram showing a straight road map map Speed information of the speed control unit and speed information at the time of normal driving according to the distance information.

1 to 6, a vehicle speed regulating apparatus 100 according to a first embodiment of the present invention includes a communication unit 102, a sensing unit 104, a control unit 106, (108) and a speed regulator (110).

2 and 3, the communication unit 102 communicates with the satellite navigation device 10 and receives a current velocity profile (hereinafter referred to as a " current velocity profile " and road map information including profile model information A1.

For example, as shown in FIG. 3, the road map information includes a link speed (link speed) between link points (P1 to P7) of each traveling road generated according to the position of the current vehicle V1 Current model profile information A1 including current velocity profiles LV1 to LV6.

At this time, although the road map information is limited to seven link-points P1 to P7 for each traveling road generated according to the position of the present vehicle V1, The link points Pm and Pn for each road can be selected as m and n on the front and rear sides, respectively, on the basis of the vehicle speed V as a reference.

In another example, the road map information may include at least one of straight road map information and curved road map information.

That is, the straight road map information is generated based on the distance between at least one of the speed limit zone C1 and the tollgate (not shown) at the current position of the subject vehicle V1, -point (P6 and P7) of the link speed (LV6).

The curved road map information also includes the link speeds LV3 and LV4 between the link points P3 to P5 of the running roads generated according to the lateral acceleration of the present vehicle V1. .

For example, the current velocity profile model information A1 can be generated as a current velocity profile model by the following equations (1) and (2).

That is, the current velocity profile model information A1 is obtained by calculating the curvature of a link-point for each driving road by Equations (1) and (2) The speed (VLink_target) can be calculated.

&Quot; (1) "

&Quot; (2) "

In this case, R is the radius value of the circumscribed circle (CR), and S is a circumscribed circle (CR) calculation using the relationship between the link points of the three traveling roads among the link points of each traveling road in the differential equation A, b, and c are the lengths of link-points between the three roads, and aLat_target is the target lateral acceleration.

As shown in FIGS. 2 and 3, the sensing unit 104 is provided to sense the current state of the present vehicle V1.

For example, the sensing unit 104 may be provided to sense at least one of a falling-stone state corresponding to a current state of the present vehicle V1, a fault vehicle occurrence state, and an accident vehicle occurrence state There is a number.

2 and 3, the control unit 106 receives current velocity profile model information A1 and current state information (not shown) corresponding to the current situation and outputs a control signal Lt; / RTI >

2 and 4, the target velocity profile generating unit 108 receives a control signal from the control unit 106 and receives current velocity profile model information A1 and current velocity profile information A1, Generates predicted speed profile model information A2 based on the situation information (not shown), and generates a predicted speed profile model information A2 based on the predicted speed profile profile model information A2, To generate profile model information (A3).

For example, as shown in FIG. 4, the predicted speed profile model information A2 includes at least one of a speed limit zone C1 and a tollgate (not shown) at the current position of the subject vehicle V Current model profile information A1 including the link speed LV6 between link points P6 and P7 for each roadway generated on the basis of the distance between the link points P6 and P7, , A link speed (link speed) between link points (P2 and P3) for each running road generated based on at least one of a falling-edge situation corresponding to the current situation, And current state information including the current state information LV2.

At this time, the predicted speed profile model information A2 includes information on the current speed profile, which is generated from at least one of the current speed profile model information A1 and the current situation information, a predicted speed profile model according to the target longitudinal deceleration can be generated based on the link speeds (LV6, LV2) between the link speeds (LV6, LV2) between the link speeds (LV6, LV2)

For example, the predicted speed profile model information A2 can be generated by a predicted speed profile model according to Equation (3) and Equation (4) below.

That is, the predicted speed profile model information A2 is obtained by multiplying the target speed VLink_target according to the link-point of each driving road by Equation 3 and Equation 4, The target speed Vcurr_target can be calculated at the position of the present vehicle V1 using the target longitudinal deceleration amount.

&Quot; (3) "

&Quot; (4) "

Here, aLong_target is the target acceleration according to the hardness, t is the entry time to the link-point for each running road, and D is the target distance to the link-point for each running road Indicate.

In addition, as shown in FIG. 4, the target velocity profile model information A3 may include a target velocity value that has already been set.

At this time, the target speed profile model information A3 is based on the predicted speed profile model information A2, but based on the predicted speed value lower than the target speed value A target velocity profile model can be generated.

2 to 4, the speed adjusting unit 110 receives a control signal from the control unit 105 and receives a target speed profile generated by the target speed profile generating unit 108, And is provided to adjust the current speed of the present vehicle V1 in conformity with the model information A3.

For example, as shown in FIG. 2, FIG. 5 and FIG. 6, the speed information of the speed regulator 110 includes a target speed having a target speed value of 90 kph, a target lateral acceleration of 0.07 G and a target longitudinal deceleration of 0.15 G Compared with the speed information at the time of normal driving in the condition of the profile model information A3, the straight road map information D1 and D3 provided through the navigation device 10 and the curved road The speed information of the map information D2 and D4 travels at a constant speed while being higher than the speed value at the time of normal traveling so that the speed of the present vehicle V1 can be efficiently controlled on the straight road and the curved road, .

At this time, the speed information of the speed controller 110 corresponding to the 50 kph speed limit zone D3 'is compared with the speed information at the time of normal driving. When the speed value provided through the navigation device 10 is equal to the speed And the vehicle speed is controlled efficiently in the 50kph speed limit zone (D3 ') considering the ride comfort.

The speed adjusting method for adjusting the speed using the vehicle speed adjusting device 100 according to the first embodiment of the present invention will now be described with reference to FIGS. 7 to 12. FIG.

FIG. 7 is a flowchart illustrating a method of adjusting a speed of a vehicle speed adjusting apparatus according to a first embodiment of the present invention. FIG. 8 is a flowchart illustrating an example of a speed adjusting method of a vehicle speed adjusting apparatus according to the first embodiment of the present invention. to be.

FIG. 9 is a flow chart showing another example of the speed adjusting method of the vehicle speed adjusting device according to the first embodiment of the present invention, FIG. 10 is a flowchart illustrating a method of adjusting the speed of the vehicle speed adjusting device according to the first embodiment of the present invention, And FIG.

FIG. 11 is a flow chart showing another example of the speed adjusting method of the vehicle speed adjusting device according to the first embodiment of the present invention, and FIG. 12 is a flowchart illustrating a method of adjusting the speed of the vehicle speed adjusting device according to the first embodiment of the present invention. Fig. 10 is a flowchart showing another example.

7 to 12, a speed adjustment method 700, 800, 900, 1000, 1100, 1200 of the vehicle speed adjusting apparatus (100 of FIGS. 1 and 2) according to the first embodiment of the present invention, (S702, S902, S903), sensing steps S701 and S801, and a target velocity profile generating step S704, S904, S905, S1004, S1104, S1204 and a speed adjusting step S706 .

First, as shown in Fig. 7, the communication step S702 communicates with the satellite navigation device (10 in Fig. 1 and Fig. 2) 2) provided in the communication unit (102 in FIG. 2), including road map information including current speed profile model information (A1 in FIG. 4) .

For example, as shown in Figs. 8 and 11, the communication step S802 is a step of link-pointing the road map information generated according to the position of the present vehicle (V1 in Fig. 3) Including the current speed profile model information (A1 in FIG. 3) including the link speed (LV1 to LV6 in FIG. 3) between the link speeds There is a number.

9 and 10 and 12, the communication steps (S902 and S903) may include at least one of straight road map information and curved road map information to the road map information, And a step of providing the information.

That is, the communication step S902 sets the distance between the speed limit zone (C1 in FIG. 3) and at least one of the tollgates (not shown) at the position of the present vehicle (V1 in FIG. 3) (LV6 in FIG. 3) between a link point (P6 and P7 in FIG. 3) and a link point (LV6 in FIG. 3) generated based on the running road.

The communication step S903 includes a link-point (P3 to P5 in Fig. 3) generated in accordance with the lateral acceleration of the present vehicle (V1 in Fig. 3) to the curved road map information, (LV3 and LV4 in Fig. 3) between the link speeds (LV3 and LV4 in Fig. 3).

In addition, as shown in FIG. 7, the sensing step S701 detects the current state of the current vehicle (V1 in FIG. 3) in the sensing unit (104 in FIG. 2).

For example, as shown in FIGS. 8 to 12, the sensing step S801 may include detecting a falling rock state corresponding to the current state of the present vehicle (V1 in FIG. 3), a fault vehicle occurrence state, And detecting at least one situation in the sensing unit (104 in FIG. 2).

7 and 8, the target speed profile generation step S704 is performed based on the current speed profile model information (A1 in FIG. 4) and the current situation information 2) in the target velocity profile generating section (108 in Fig. 2) in accordance with the control signal of the control section (106 in Fig. 2), and outputs the predicted velocity profile model information The target speed profile model information (A3 in Fig. 4) is added to the control signal of the control section (106 in Fig. 2) based on the predicted speed profile model information (A2 in Fig. 4) (108 in FIG. 2) in the target velocity profile generating section.

For example, as shown in FIG. 9, the target speed profile generation step (S904, S905) may include adding the present vehicle speed V1 (FIG. 3) to the predicted speed profile model information (P6 and P7 in Fig. 4) generated on the basis of the distance between the speed limit zone (C1 in Fig. 4) and at least one of the tollgates (not shown) The current speed profile model information (A1 in FIG. 4) including the link speed (LV6 in FIG. 4), the falling rock state corresponding to the current situation, the occurrence situation of the faulty vehicle, (LV2 in Fig. 4) between a link-point (P2 and P3 in Fig. 4) and a link-point (LV2 in Fig. 4) By using the information of < RTI ID = 0.0 >

At this time, as shown in FIG. 10, the target speed profile generating step S1004 may include adding the current speed profile model information to the predicted speed profile model information (A2 in FIG. 4) (P6 and P7 in Fig. 4, P2 and P3 in Fig. 4) generated by at least one of the road information (A1 in Fig. 4) and the current situation information (LV6, LV2 in FIG. 4) based on the target longitudinal deceleration (LV6, LV2 in FIG. 4).

11 and 12, the target speed profile generating step (S1104, S1204) may be performed by setting the target speed value already set in the target speed profile model information (A3 in FIG. 4) And may be a step to provide and provide.

At this time, the target velocity profile generating step (S1104, S1204) generates predicted velocity profile model information (A2 in Fig. 4) to the target velocity profile model information (A3 in Fig. 4) ), And generating a target velocity profile model based on the predicted velocity value at a level lower than the target velocity value.

7 to 12, the speed adjustment step S706 may include the target speed profile model information generated by the target speed profile generator 108 (FIG. 2) 2) in accordance with the control signal of the controller (106 in Fig. 2) in accordance with the control signal (A3 in Fig. 4).

The vehicle speed adjusting apparatus 100 and the speed adjusting methods 700, 800, 900, 1000, 1100, and 1200 according to the first embodiment of the present invention may include a communication unit 102, a sensing unit 104, (S702, S802, S902, S903), a sensing step (S701, S801), and a target speed profile (profile) including a target speed profile generating unit 108 and a speed adjusting unit 110, (S704, S904, S905, S1004, S1104, S1204) and a speed adjustment step (S706).

Therefore, the vehicle speed adjusting device 100 and the speed adjusting methods 700, 800, 900, 1000, 1100, and 1200 according to the first embodiment of the present invention are applicable to curved roads, speed limit roads, The current speed of the present vehicle V1 can be adjusted in accordance with the target speed of the present vehicle V1 by generating the target speed of the present vehicle V1 with respect to all events occurring during the driving.

Accordingly, the vehicle speed adjusting apparatus 100 and the speed adjusting methods 700, 800, 900, 1000, 1100, and 1200 according to the first embodiment of the present invention are applicable to curved roads and speed limit roads, The speed of the present vehicle V1 can be efficiently controlled in consideration of the ride comfort for all the events occurring during the driving of the vehicle, so that the comfort during driving and the reliability of the apparatus can be improved.

≪ Embodiment 2 >

13 is a block diagram showing an example of a vehicle speed adjusting device according to a second embodiment of the present invention.

13, a vehicle speed adjusting apparatus 1300 according to a second embodiment of the present invention includes a communication unit 102, a sensing unit 104, and a control unit 104, similar to the vehicle speed adjusting apparatus 100 according to the first embodiment. A target velocity profile generating unit 108, and a velocity adjusting unit 110. The control unit 106 includes a target velocity profile generating unit 108 and a velocity adjusting unit 110. [

The function of each component corresponding to the vehicle speed regulating device 1300 according to the second embodiment of the present invention and the organic connection relation between them are identical to those of the vehicle speed regulating device 100 according to the first embodiment, The functions of the respective components corresponding to the components and their organic connection relations are the same as each other, and therefore, the detailed description thereof will be omitted below.

Here, the vehicle speed regulating device 1300 according to the second embodiment of the present invention further includes an identification part 1312. [

That is, when generating the target speed profile model information (A3 in Fig. 4) by the target speed profile generating unit 108, the identifying unit 1312 receives from the control unit 106 a control signal And is provided to identify the generation status of the current target speed profile model information (A3 in Fig. 4).

Although not shown, the identification unit 1312 may include a speaker (not shown), a light emitting member (not shown), an HMI (human machine interface) module (not shown) provided to the driver to identify the information or state of the vehicle (Not shown), a light emitting operation of a light emitting member (not shown) and a HMI (Human Machine Interface) module (not shown) of a speaker (not shown) including at least one of a head- The present target speed profile model is obtained through at least one operation of displaying a message (Human Machine Interface) message and a HUD (Head-UP Display) message display operation of a HUD (Head-Up Display) module (not shown) It is possible to identify the generation status of the information (A3 in Fig. 4).

A speed adjusting method for adjusting the speed using the vehicle speed adjusting device 1300 according to the second embodiment of the present invention will now be described with reference to FIGS. 14 to 19. FIG.

FIG. 14 is a flowchart showing a speed adjusting method of a vehicle speed adjusting apparatus according to a second embodiment of the present invention, FIG. 15 is a flowchart showing an example of a speed adjusting method of a vehicle speed adjusting apparatus according to a second embodiment of the present invention, to be.

FIG. 16 is a flow chart showing another example of the speed adjusting method of the vehicle speed adjusting device according to the second embodiment of the present invention, FIG. 17 is a flowchart illustrating a speed adjusting method of the vehicle speed adjusting device according to the second embodiment of the present invention, And FIG.

FIG. 18 is a flow chart showing another example of the speed adjusting method of the vehicle speed adjusting device according to the second embodiment of the present invention, and FIG. 19 is a flowchart illustrating a method of adjusting the speed of the vehicle speed adjusting device according to the second embodiment of the present invention. Fig. 10 is a flowchart showing another example.

14 to 19, the speed adjustment methods 1400, 1500, 1600, 1700, 1800, and 1900 of the vehicle speed adjusting device 1300 according to the second embodiment of the present invention are the same as those of the first embodiment (S702, S802, S902, S903) and a sensing step (S902, S904) in the same manner as the speed adjustment method 700, 800, 900, 1000, 1100, 1200 of the vehicle speed adjusting device S701, S801) and a target speed profile generation step (S704, S904, S905, S1004, S1104, S1204) and a speed adjustment step S706.

The functions for the respective steps corresponding to the speed adjustment methods (1400, 1500, 1600, 1700, 1800, 1900) of the vehicle speed regulating device (1300 in Fig. 13) according to the second embodiment of the present invention, The organic linking relationship between the vehicle speed control apparatus 100 and the vehicle speed control apparatus 100 is the same as in the respective steps corresponding to the speed adjusting method 700, 800, 900, 1000, 1100, 1200 of the vehicle speed adjusting apparatus And the organic connections between them are the same, and therefore, the respective further descriptions thereof will be omitted below.

Here, the speed adjustment methods 1400, 1500, 1600, 1700, 1800, and 1900 of the vehicle speed adjusting device 1300 according to the second embodiment of the present invention are performed in the target speed profile generating step S704 (Not shown in FIG. 13) in synchronization with the target velocity profile generation step (S704, S904, S905, S1004, S1104, S1204) after the step S904, S904, S905, S1004, S1104, (S1405, S1505, S1605, S1705, S1805, and S1905) when generating the target speed profile model information (A3 in Fig.

For example, the identifying steps S1405, S1505, S1605, S1705, S1805, and S1905 are performed after the target speed profile generating step (S704, S904, S905, S1004, S1104, S1204) and before the speed adjusting step (S706) Or target speed profile generating step (108 in FIG. 13) in synchronization with the target speed profile generating step (S704, S904, S905, S1004, S1104, S1204) S1505, S1605, S1705, S1805, and S1905) can be further performed at the time of generating A3 in FIG. 4).

That is, the identification step (S1405, S1505, S1605, S1705, S1805, S1905) further receives the control signal from the control unit (106 in FIG. 13) (1312 in Fig. 13).

The vehicle speed adjusting apparatus 1300 and the speed adjusting methods 1400, 1500, 1600, 1700, 1800, and 1900 according to the second embodiment of the present invention may include a communication unit 102, a sensing unit 104, (S702, S802, S902, S903) and sensing steps (S701, S801) including the target speed profile generating unit 108, the speed adjusting unit 110 and the identifying unit 1312, And a target speed profile generating step S704, S904, S905, S1004, S1104 and S1204 and a discriminating step S1405, S1505, S1605, S1705, S1805 and S1905 and a speed adjusting step S706.

Accordingly, the vehicle speed adjusting device 1300 and the speed adjusting methods 1400, 1500, 1600, 1700, 1800, and 1900 according to the second embodiment of the present invention are applicable to curved roads, speed limit roads, The current speed of the present vehicle V1 can be adjusted in accordance with the target speed of the present vehicle V1 by generating the target speed of the present vehicle V1 with respect to all events occurring during the driving.

Accordingly, the vehicle speed adjusting device 1300 and the speed adjusting methods 1400, 1500, 1600, 1700, 1800, and 1900 according to the second embodiment of the present invention are applicable to curved roads, The speed of the present vehicle V1 can be efficiently controlled in consideration of the ride comfort for all the events occurring during the driving of the vehicle, so that the comfort during driving and the reliability of the apparatus can be improved.

The vehicle speed adjusting device 1300 and the speed adjusting methods 1400, 1500, 1600, 1700, 1800, and 1900 according to the second embodiment of the present invention may further include current target speed profile model information A3), it is possible to induce the driver to drive the vehicle at the time of driving, thereby preventing the occurrence of a traffic accident in advance.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Therefore, it should be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than the foregoing description, It is intended that all changes and modifications derived from the equivalent concept be included within the scope of the present invention.

Claims (14)

A communication unit that communicates with the satellite navigation device and receives map information including current speed profile model information generated according to a current location of the current vehicle from the satellite navigation device; ;
A sensing unit for sensing a current situation according to a position of the present vehicle;
A controller for receiving the current speed profile model information and current status information corresponding to the current status and outputting a control signal;
Receives the control signal from the control unit, generates predicted velocity profile model information based on the current velocity profile model information and the current state information, A target velocity profile generating unit for generating target velocity profile model information based on profile model information; And
And a speed control unit that receives the control signal from the control unit and adjusts the current speed of the present vehicle in accordance with target speed profile model information generated by the target speed profile generating unit Speed control device for a vehicle.
The method according to claim 1,
The road map information includes road map information,
And current speed profile model information including a link speed between link points of each driving road generated according to the position of the present vehicle.
3. The method of claim 2,
Wherein the road map information includes at least one of straight road map information and curved road map information;
The straight road map information may be map information,
A link speed between link points of the running road based on a distance between the speed limit zone and at least one of the toll booths at a position of the present vehicle;
The curved road map information may include at least one of:
And a link speed between link points of the running road generated according to the lateral acceleration of the present vehicle.
The method according to claim 1,
The predicted speed profile model information may include at least one of:
A current speed profile model including a link speed between link points of each roadway generated based on a distance between the speed limit zone and at least one of the toll booths at the position of the current vehicle; a link between link points of each roadway generated based on at least one of a falling-state situation corresponding to the current situation, a fault vehicle occurrence state, and an accident vehicle occurrence state, And current state information including the vehicle speed and the vehicle speed.
5. The method of claim 4,
The predicted speed profile model information may include at least one of:
Based on a link speed between link points generated by at least one of the current speed profile model information and the current situation information, And a predicted speed profile model corresponding to the vehicle speed is generated.
The method according to claim 1,
Wherein the target velocity profile model information includes a target velocity value that is already set;
The target velocity profile model information may include:
Wherein a target velocity profile model is generated on the basis of the predicted velocity profile model information and based on a predicted velocity value at a level lower than the target velocity value, Speed control device.
The method according to claim 1,
When generating the target speed profile model information by the target speed profile generating unit, the control unit receives the control signal from the control unit and receives the current target speed profile model information And an identification unit for identifying the generation status of the vehicle.
And a map information providing unit for receiving from the communication unit map map information including current speed profile model information generated according to the position of the present vehicle from the satellite navigation apparatus A communication step;
A sensing step of sensing, by the sensing unit, a current situation according to a position of the present vehicle;
Based on the current speed profile model information and the current situation information, predicted speed profile model information is generated in the target speed profile generating unit according to the control signal of the control unit A target velocity profile generating unit for generating a target velocity profile model information based on the generated predicted velocity profile model information in accordance with a control signal of the control unit, Creating a profile; And
And a speed control unit that adjusts the current speed of the current vehicle according to the control signal of the control unit in accordance with the target speed profile model information generated by the target speed profile generating unit, Wherein the vehicle speed control method comprises the steps of:
9. The method of claim 8,
The communication step includes:
The present road map information includes current speed profile model information including a link speed between link points of each roadway generated according to the current location of the present vehicle Wherein the step of controlling the speed of the vehicle comprises the steps of:
10. The method of claim 9,
The communication step includes:
Providing at least one of straight road map information and curved road map information to the road map information;
Wherein the straight road map information includes:
Providing a link speed between link points for each traveling road based on a distance between the speed limit zone and at least one of the toll booths at the location of the current vehicle;
In the curved road map information,
And providing a link speed between link points generated by the road in accordance with the lateral acceleration of the present vehicle.
9. The method of claim 8,
Wherein the target velocity profile generation step comprises:
Wherein the predicted speed profile model information includes:
A current speed profile model including a link speed between link points of each roadway generated based on a distance between the speed limit zone and at least one of the toll booths at the position of the current vehicle; a link between link points of each roadway generated based on at least one of a falling-state situation corresponding to the current situation, a fault vehicle occurrence state, and an accident vehicle occurrence state, And the current state information including the velocity of the vehicle.
12. The method of claim 11,
Wherein the target velocity profile generation step comprises:
Wherein the predicted speed profile model information includes:
Based on a link speed between link points generated by at least one of the current speed profile model information and the current situation information, And generating a predicted speed profile model according to the estimated speed profile.
9. The method of claim 8,
Wherein the target velocity profile generation step comprises:
Providing a target velocity value already set in the target velocity profile model information and providing the target velocity value;
In the target speed profile model information,
And generating a target velocity profile model based on the predicted velocity profile model information and based on a predicted velocity value lower than the target velocity value, Speed control method for a vehicle.
9. The method of claim 8,
When generating the target velocity profile model information by the target velocity profile generation unit after the target velocity profile generation step or in synchronization with the target velocity profile generation step,
Further comprising an identification step of further receiving the control signal from the control unit and identifying the generation status of the current target speed profile model information by the identification unit.

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