KR20150051548A - Driver assistance systems and controlling method for the same corresponding to dirver's predisposition - Google Patents
Driver assistance systems and controlling method for the same corresponding to dirver's predisposition Download PDFInfo
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- KR20150051548A KR20150051548A KR1020130133126A KR20130133126A KR20150051548A KR 20150051548 A KR20150051548 A KR 20150051548A KR 1020130133126 A KR1020130133126 A KR 1020130133126A KR 20130133126 A KR20130133126 A KR 20130133126A KR 20150051548 A KR20150051548 A KR 20150051548A
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- vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W40/09—Driving style or behaviour
Abstract
Description
BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a driving assistance system that reflects a tendency of a driver and a control method thereof, and more particularly, to a driving assistance system that reflects a braking input tendency of a driver and a control method thereof.
The driver assistance system is a safety device that detects the danger and notifies the driver of the risk of an accident through visual, auditory and tactile factors, as well as a vehicle safety device that actively performs speed reduction or braking for avoiding frontal collision to be. In addition, the driving assistance system can perform lane departure warning, blind spot monitoring, and improved rearward surveillance.
The driving assist system is divided into various types according to its functions. The Forward Collision Warning System (FCW) is a system that provides visual, auditory, and tactile warning to drivers for the purpose of avoiding collision with the forward vehicle by detecting the vehicle in the same direction ahead of the driving lane to be.
The Advanced Emergency Braking System (AEBS) detects the possibility of collision with an automobile located in front of the driving lane and warns the driver. If the driver does not respond or it is determined that a collision is inevitable, It is a system for automatically decelerating the vehicle for the purpose of making it possible.
The Adaptive Cruise Control (ACC) automatically detects the vehicle in the same direction in front of the driving lane according to the driver's setting conditions and automatically adjusts and decelerates according to the speed of the vehicle and maintains the safety distance And automatically runs at the target speed.
Such a driving assist system operates according to a certain standard of the manufacturer, and thus the driving habits of the driver are not reflected.
SUMMARY OF THE INVENTION [0006] The present invention provides a driver assistance system and a control method thereof, which reflect a tendency of a driver.
The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.
According to an aspect of the present invention, there is provided a method of controlling a driver assistance system that reflects a driver's tendency according to an embodiment of the present invention includes: recognizing a driver driving a vehicle; Setting a learning threshold value for each recognized driver based on a collision estimated time calculated from a relative distance and a relative velocity with respect to a target object when a braking signal of the vehicle is input; Warning the driver of the vehicle according to the collision estimated time calculated from the relative distance between the set learning threshold value and the new target object and the relative speed; And braking the vehicle according to a collision expected time calculated from a relative distance between the set learning threshold and a new target object and a relative speed.
According to an aspect of the present invention, there is provided a method of controlling a driver assistance system that reflects a driver's tendency according to an embodiment of the present invention includes: recognizing a driver driving a vehicle; Calculating a collision expected time from a relative distance and a relative speed with respect to the target object; Storing a calculated collision prediction time when the calculated collision prediction time is less than a set value when a braking signal of the vehicle is input; And calculating and storing a learning threshold value for each recognized driver from the stored estimated collision time.
According to an aspect of the present invention, there is provided a driving assistance system including a radar module for sensing a relative distance and a relative speed with respect to an object, A camera module for capturing an image outside the vehicle and recognizing a target object; A driver recognition module for recognizing a driver driving the vehicle; A braking input module for outputting a braking signal for braking the vehicle in response to a driver's operation; And calculating a collision predicted time from a relative distance and a relative speed with respect to the target object detected by the radar module, and based on the calculated collision estimated time when the braking signal is input from the braking input module, And a controller for setting a learned threshold value for each recognized driver.
The details of other embodiments are included in the detailed description and drawings.
According to the driving assistance system and the control method of the present invention, one or more of the following effects can be obtained.
First, there is an advantage that an automatic emergency braking system and / or an adaptive cruise control system that reflects the driver's braking input tendency can be implemented.
Second, there is an advantage that the driver's tendency can be accurately reflected by calculating the learning threshold value from the collision prediction time calculated from the relative distance and the relative velocity with the target object in the braking of the driver.
Third, there is an advantage in that even if a driver operates a vehicle by setting a learning threshold value for each driver, the driver's tendency can be reflected.
The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.
1 is a block diagram of a driving assistance system according to an embodiment of the present invention.
2 is a diagram illustrating the operation of a vision module and a radar module of a driving assistance system according to an embodiment of the present invention.
3 is a flowchart illustrating a method of learning a learning threshold value in a driving assistance system control method according to an embodiment of the present invention.
FIG. 4 is a flowchart illustrating an automatic emergency braking method using a learning threshold value in a driving assistance system control method according to an exemplary embodiment.
BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.
Hereinafter, the present invention will be described with reference to the drawings for explaining a driving assistance system and a control method thereof according to embodiments of the present invention.
FIG. 1 is a block diagram of a driving assistance system according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating an operation of a vision module and a radar module of a driving assist system according to an embodiment of the present invention.
A driving assist system according to an embodiment of the present invention includes a radar module 132 for detecting a relative distance and a relative speed with respect to an object, a
The
The
When the driver operates the
The
The
When the driver operates the
The
The
The
The
The driver recognition module 151 recognizes and distinguishes the driver who is currently driving the vehicle. The driver recognition module 151 can recognize the driver of the vehicle in various ways. The driver recognition module 151 recognizes the driver according to the vehicle smart key, the FOB key, and the remote controller for the vehicle owned by the driver, or recognizes the driver according to the driver's seat setting.
The driver recognition module 151 outputs the recognized driver information to the controller 111. [
The
As shown in FIG. 2 (a), the
The
The
The recognition and the discrimination of the object O can be performed in the
The
The
The
The radar module 132 is a device that emits an electromagnetic wave to a specific object O and then receives an electromagnetic wave reflected from the object O and senses a distance, a position, a direction, and a speed with respect to the object O. The radar module 132 is generally disposed at the front end of the vehicle to calculate a distance to a specific object O in front of the vehicle and the like. According to an embodiment, the radar module 132 may be a lidar that fires a laser at the object O. [
The radar module 132 detects the distance, the position, the direction, the speed, and the like to the target object T which is a specified one among the various objects O as shown in FIG. 2 (b). The target object T is selected from the data detected by the radar module 132 and the
The radar module 132 may include a radar that emits electromagnetic waves, a processor that processes information about the electromagnetic waves received by the radar, and a memory that stores data.
The radar module 132 may output information such as the distance to the object O, the position, the direction, and the velocity to the controller 111. In this embodiment, And the relative speed to the controller 111.
The warning module 191 is a device for giving a warning to the driver who drives the vehicle. The warning module 191 can warn various audiences visually, audibly and tactually according to the embodiment. The warning module 191 may display a warning on the dash panel of the driver's seat, head-up display, navigation, integrated information display device and the like. The warning module 191 can aloud a warning through the speaker of the vehicle. The warning module 191 can warn the driver by vibrating the handle of the vehicle or tightening the seat belt.
The warning module 191 may operate under the control of the controller 111 to alert the driver.
The power /
The power /
The controller 111 includes an
The controller 111 calculates the collision predicted time from the relative distance and the relative speed with respect to the target object T sensed by the radar module 132. [ The controller 111 calculates the collision estimated time tc from the relative distance D with the target object T and the relative velocity V between the target object T as follows.
(Tc) = relative distance (D) / relative speed (V)
The controller 111 continuously calculates the collision expected time tc for the target object T for various functions of the driving assistance system.
The controller 111 stores the collision prediction time in the
The controller 111 calculates a collision prediction time each time a braking signal is input from the
The controller 111 calculates a learning threshold value from the collision predicted time tc stored in the
The controller 111 preferably calculates a learning threshold value for each driver recognized by the driver recognition module 151. [ The controller 111 stores the estimated collision time calculated when the driver recognized by the driver recognition module 151 operates the
The controller 111 stores the calculated learning threshold value in the
The controller 111 operates the warning module 191 according to the estimated collision time T 'with the new target object T' and the set learning threshold value to warn the driver or operates the power /
The controller 111 preferably calls the learning boundary value from the
The controller 111 calculates the collision estimated time tc 'from the relative distance and the relative speed with respect to the new target object T' sensed by the radar module 132. The controller 111 operates the warning module 191 to warn the driver when the collision estimated time tc 'for the new target object T' is less than the value obtained by adding the warning weight to the learning threshold value. The controller can compare the learning threshold value with the estimated collision time tc 'by adding or multiplying the warning weight value. In this embodiment, the learning threshold value is multiplied by the warning weight value and compared with the estimated collision time tc'.
The controller 111 operates the power /
The warning weight and the braking weight are preset and stored in the
3 is a flowchart illustrating a method of learning a learning threshold value in a driving assistance system control method according to an embodiment of the present invention.
The driver recognition module 151 recognizes the driver (S210). The driver recognition module 151 can recognize the driver of the vehicle in various ways. In this embodiment, the driver recognition module 151 recognizes the driver according to the vehicle smart key owned by the driver. The driver recognition module 151 outputs the recognized driver information to the controller 111 and the controller 111 stores the driver information in the
The radar module 132 detects the relative distance and the relative speed with respect to the target object T recognized by the vision module 131 (S220). The target object T is selected from the data detected by the radar module 132 and the
The radar module 132 outputs the relative distance and the relative speed to the detected target object T to the controller 111. [
The controller 111 calculates the collision expected time tc from the relative distance and the relative velocity with the target object T (S230). The controller 111 calculates the collision estimated time tc from the relative distance D between the target object T and the target object T and the relative velocity V between the target object T and the target object T as follows.
(Tc) = relative distance (D) / relative speed (V)
The controller 111 continuously calculates the collision expected time tc for the target object T for various functions of the driving assistance system.
The controller 111 determines whether the estimated collision time tc calculated at the time of inputting the braking signal is smaller than the set value (S240). When the driver operates the
If the calculated collision expected time tc is equal to or greater than the set value, the controller 111 continues to calculate the collision estimated time tc (S230).
If the calculated collision prediction time tc is smaller than the set value, the controller 111 stores the calculated collision prediction time tc in the memory 112 (S250). The controller 111 calculates a collision prediction time each time a braking signal is input from the
The controller 111 preferably stores the estimated collision time for each driver by using the driver information stored in the
According to the embodiment, the controller 111 determines whether the collision expected time tc when the braking signal is input is less than or equal to the set value, and when the collision estimated time tc is less than or equal to the set value, (tc) may be stored in the
The controller 111 stores the moving average value for the estimated collision time as a learned threshold value of the recognized driver (S260). In the embodiment, the controller 111 calculates a moving average of a plurality of collision estimated time tc stored in the
The controller 111 calculates a learning threshold value for each driver recognized by the driver recognition module 151. [ The controller 111 calculates the learning threshold value of each driver from the estimated collision time stored for each driver.
The controller 111 stores the calculated learning threshold value in the
FIG. 4 is a flowchart illustrating an automatic emergency braking method using a learning threshold value in a driving assistance system control method according to an exemplary embodiment.
The driver recognition module 151 recognizes the driver (S310). The driver recognition module 151 outputs the recognized driver information to the controller 111 and the controller 111 stores the driver information in the
The controller 111 determines whether the driving assist system is operating (S320). The controller 111 judges whether the automatic emergency braking system among the driving assist systems is in operation.
When the driving assist system is in operation, the radar module 132 senses the relative distance and the relative speed with respect to the target object T 'recognized by the vision module 131 (S330). The target object T 'may be the same as or different from the above-described target object T as the target object being tracked by the current controller 111. The radar module 132 outputs the relative distance and the relative speed to the detected target object T 'to the controller 111.
The controller 111 calculates the collision expected time tc from the relative distance and the relative speed with respect to the target object T '(S330). The controller 111 calculates the collision estimated time tc 'from the relative distance D between the target object T' and the target object T as follows.
The estimated collision time (tc ') = relative distance (D) / relative speed (V)
The controller 111 continuously calculates the collision expected time tc 'for the target object T' in order to realize the function of the driving assist system.
The controller 111 calls the learning threshold of the recognized driver (S350). The controller 111 calls the driver information stored in the
This step may be performed simultaneously with step S310. For example, the controller 111 may call the learning boundary value from the
The controller 111 determines whether the estimated collision time tc 'is smaller than a value obtained by multiplying the learning threshold value by the warning weight (S360). According to the embodiment, the controller 111 can determine whether the collision estimated time tc 'is less than the learning threshold value plus the weight.
The controller 111 continues to calculate the estimated collision time tc 'at step S340 when the estimated collision time tc' is equal to or greater than the value obtained by multiplying the learning threshold value by the warning weight. The warning weight is preset and stored in the
The controller 111 operates the warning module 191 to warn the driver when the collision estimated time tc 'is smaller than the learning threshold value multiplied by the warning weight (S370). The warning module 191 displays a warning on the instrument panel of the driver's seat, a head-up display, a navigation system, an integrated information display device, a warning sound through the speaker of the vehicle, a vibration of the steering wheel of the vehicle, I can warn you.
According to an embodiment, the controller 111 may alert the driver by operating the warning module 191 if the collision prediction time tc 'is less than or equal to the learning threshold multiplied by the warning weight.
The controller 111 determines whether the estimated collision time tc 'is smaller than the learning threshold multiplied by the braking weight (S380). The braking weight is preset and stored in the
The controller 111 continues to calculate the collision estimated time tc '(S340) when the estimated collision time tc' is equal to or greater than the value obtained by multiplying the learning threshold value by the braking weight.
The controller 111 operates the power /
According to the embodiment, the controller 111 may operate the power /
According to the embodiment, when the adaptive cruise control system is in operation, the controller 111 may determine whether the collision expected time tc 'is less than the learning threshold multiplied by the deceleration weight. If the estimated collision time tc 'is smaller than the learning threshold value multiplied by the deceleration weight, the power /
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It should be understood that various modifications may be made by those skilled in the art without departing from the spirit and scope of the present invention.
Claims (9)
Recognizing a driver driving the vehicle;
Setting a learning threshold value for each recognized driver based on a collision estimated time calculated from a relative distance and a relative velocity with respect to a target object when a braking signal of the vehicle is input;
Warning the driver of the vehicle according to the collision estimated time calculated from the relative distance between the set learning threshold value and the new target object and the relative speed; And
And braking the vehicle in accordance with the estimated collision time calculated from the relative distance between the set learning threshold value and the new target object and the relative speed.
Wherein the step of warning the driver of the vehicle alerts the driver of the vehicle when the estimated collision time is less than a value obtained by multiplying the learning threshold by the warning weight,
The step of braking the vehicle may include braking the vehicle if the expected collision time is less than a value obtained by multiplying the learning threshold value by the braking weight,
Wherein the warning weight is greater than the braking weight.
Recognizing a driver driving the vehicle;
Calculating a collision expected time from a relative distance and a relative speed with respect to the target object;
Storing a calculated collision prediction time when the calculated collision prediction time is less than a set value when a braking signal of the vehicle is input; And
And calculating and storing a learning threshold value for each of the recognized drivers from the stored estimated collision time.
Wherein the target object is selected from a radar module that detects a distance and a speed between a vision module for capturing an image of the outside of the vehicle and an object,
Wherein the relative distance to the target object and the relative speed are detected from the radar module.
Calculating a collision expected time with a new target object;
Warning the driver of the vehicle when the collision expected time is less than the learning threshold multiplied by the warning weight; And
And braking the vehicle if the estimated collision time is less than a value obtained by multiplying the learning threshold value by the braking weight value.
Wherein the warning weight is greater than the braking weight.
A radar module for sensing a relative distance and a relative speed with the object;
A camera module for capturing an image outside the vehicle and recognizing a target object;
A driver recognition module for recognizing a driver driving the vehicle;
A braking input module for outputting a braking signal for braking the vehicle in response to a driver's operation; And
Calculating a collision predicted time from a relative distance and a relative speed with respect to the target object sensed by the radar module, and based on the calculated collision estimated time when the braking signal is input from the braking input module, And a controller for setting a learning threshold for each recognized driver.
A warning module for warning a driver driving the vehicle; And
Further comprising a power / brake module for braking the vehicle,
Wherein the controller operates the warning module according to the estimated collision time between the set learning threshold value and a new target object recognized by the camera module, and operates the power / brake module to brake the vehicle.
Wherein the controller operates the warning module if the expected collision time is less than a value obtained by multiplying the learning threshold by an alert weight and if the expected collision time is less than a value obtained by multiplying the learning threshold by a braking weight, Operating the module to brake the vehicle,
Wherein the warning weight is greater than the braking weight.
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
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KR20170056296A (en) * | 2015-11-13 | 2017-05-23 | 현대자동차주식회사 | Apparatus and Method for altering blind spot detection region |
US9849865B2 (en) | 2015-12-15 | 2017-12-26 | Hyundai Motor Company | Emergency braking system and method of controlling the same |
KR20180061755A (en) * | 2016-11-30 | 2018-06-08 | 주식회사 만도 | Driver Assistance System having Controller and Controlling Method thereof |
KR20200005864A (en) * | 2018-07-09 | 2020-01-17 | 현대모비스 주식회사 | Apparatus and method for adjusting a warning time |
KR102057453B1 (en) * | 2018-07-06 | 2020-01-22 | 전자부품연구원 | Acceleration and deceleration device and method of vehicle based on driving habits |
CN111319620A (en) * | 2018-12-13 | 2020-06-23 | 现代自动车株式会社 | Vehicle and control method thereof |
KR20210038791A (en) * | 2019-09-30 | 2021-04-08 | 한국자동차연구원 | Back warning apparatus for older driver and method thereof |
CN114347986A (en) * | 2022-01-25 | 2022-04-15 | 厦门金龙联合汽车工业有限公司 | Intelligent energy-saving and safety control method for new energy vehicle |
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Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
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KR20170056296A (en) * | 2015-11-13 | 2017-05-23 | 현대자동차주식회사 | Apparatus and Method for altering blind spot detection region |
US9849865B2 (en) | 2015-12-15 | 2017-12-26 | Hyundai Motor Company | Emergency braking system and method of controlling the same |
KR20180061755A (en) * | 2016-11-30 | 2018-06-08 | 주식회사 만도 | Driver Assistance System having Controller and Controlling Method thereof |
KR102057453B1 (en) * | 2018-07-06 | 2020-01-22 | 전자부품연구원 | Acceleration and deceleration device and method of vehicle based on driving habits |
KR20200005864A (en) * | 2018-07-09 | 2020-01-17 | 현대모비스 주식회사 | Apparatus and method for adjusting a warning time |
CN111319620A (en) * | 2018-12-13 | 2020-06-23 | 现代自动车株式会社 | Vehicle and control method thereof |
KR20210038791A (en) * | 2019-09-30 | 2021-04-08 | 한국자동차연구원 | Back warning apparatus for older driver and method thereof |
CN114347986A (en) * | 2022-01-25 | 2022-04-15 | 厦门金龙联合汽车工业有限公司 | Intelligent energy-saving and safety control method for new energy vehicle |
CN114347986B (en) * | 2022-01-25 | 2023-03-31 | 厦门金龙联合汽车工业有限公司 | Intelligent energy-saving and safety control method for new energy vehicle |
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