KR20150106114A - Apparatus for controlling vehicle and method for controlling thereof - Google Patents

Abstract

The present invention provides an apparatus for controlling a vehicle and a method therefor. The apparatus comprises: an identification unit notifying a collision risk with a front vehicle to a driver; a relative velocity sensing unit sensing a relative velocity based on a distance between the vehicle and the front vehicle; a driver motion sensing unit sensing a motion of the driver; a calculation unit obtaining the final warning distance based on the sensed relative velocity and the sensed driver motion; and a control unit controlling the identification unit to notify the collision risk to the driver when the final warning distance is larger than the distance between the vehicle and the front vehicle.

Description

[0001] The present invention relates to a vehicle control apparatus and a control method thereof,

The present invention relates to a control apparatus for a vehicle and a control method thereof.

In general, a forward collision warning system (FCW) is a system in which a danger is predicted by a human machine interface (HMI) to a driver when a danger is predicted in the traveling direction of the vehicle, The driver is provided with an alarm to prevent collision with the preceding vehicle.

However, the conventional forward collision warning system (FCW) has a limitation in predicting the collision situation with the forward vehicle in consideration of the driver's condition.

Therefore, in recent years, it is an object of the present invention to provide an improved vehicle control apparatus and a control method thereof, which can detect a state of a driver and make a collision danger warning time different according to a state of a sensed driver.

Another object of the present invention is to provide an improved vehicle control apparatus and a control method thereof that can efficiently increase the traveling speed of a vehicle by not considering the driver's state when the driver is detected as normally operating.

SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle control device and a control method thereof capable of preventing occurrence of a traffic accident in advance because the collision risk warning time can be differentiated in consideration of the driver's condition, To provide a method.

Another object of the present invention is to provide a vehicle control device and a control method thereof that can prevent the occurrence of a traffic accident more effectively because it can induce driver's attention driving have.

It is still another object of the present invention to provide a vehicle control apparatus and a control method thereof that can improve the running speed of a vehicle in a vehicle efficiently and improve reliability.

In order to achieve the above object, the present invention provides an information processing apparatus comprising: an identification unit informing a driver of a risk of collision with a preceding vehicle; A relative speed sensing unit for sensing a relative speed based on a distance between the subject vehicle and the preceding vehicle; A driver's motion detection unit for detecting a driver's motion; An operation unit for obtaining a final alarm distance based on the detected relative speed and the sensed driver's movement; And a control unit for controlling the identification unit to inform the driver of the risk of collision if the final alarm distance is greater than the distance from the preceding vehicle.

According to another aspect of the present invention, the driver state detection unit includes a monitoring camera that detects whether the driver is located within a predetermined area.

According to another aspect of the present invention, the driver state sensing unit includes a torque sensor for sensing whether the steering wheel is operated by the driver.

According to another aspect of the present invention, the driver state sensing unit includes at least one input unit for receiving a control command from a driver.

According to another aspect of the present invention, the at least one input unit includes at least one of a navigation input unit, an audio input unit, a room light input unit, or a gear input unit.

According to another aspect of the present invention, the arithmetic operation unit may calculate a system delay distance, which is a distance traveled by the vehicle during a time when a driver recognizes a risk of collision and a time when steering or braking is started, The collision avoidance distance, and the driver's delay distance according to the driving concentration of the driver, to obtain the final alarm distance.

According to still another aspect of the present invention, the arithmetic unit obtains the system delay distance and the collision avoiding distance using the detected relative speed.

According to another aspect of the present invention, the arithmetic unit includes obtaining the degree of operation concentration by quantifying the degree of the detected driver's movement.

According to still another aspect of the present invention, the arithmetic unit obtains a larger value of the driver delay distance as the driver's concentration of the driver obtained according to the driver's motion is lower.

According to another aspect of the present invention, there is provided a control method for a vehicle, including: sensing a relative speed based on a distance between a vehicle and a preceding vehicle; Sensing a movement of a driver; Obtaining a final alert distance based on the sensed relative speed and sensed driver movement; And notifying the driver of the risk of collision if the final alert distance is greater than the distance from the preceding vehicle; .

According to another aspect of the present invention, sensing the driver's motion includes sensing whether the driver is located within a predetermined area.

According to still another aspect of the present invention, sensing the driver's movement includes sensing whether the steering wheel has been operated by the driver.

According to another aspect of the present invention, the step of acquiring the driver delay distance includes acquiring the driving concentration by quantifying the degree of motion of the sensed driver.

According to another aspect of the present invention, the step of acquiring the driver's delay distance acquires a driver's delay distance of a larger value as the driver's concentration of the driver acquired according to the driver's motion is lower.

According to the vehicle control apparatus and control method of the present invention as described above, the following effects can be obtained.

First, since the state of the driver can be taken into consideration, the collision situation with the preceding vehicle can be prevented beforehand, so that the occurrence of a traffic accident can be prevented in advance.

Secondly, since it is possible to induce the driver to drive the driver's car, it is possible to further prevent the occurrence of a traffic accident, thereby further protecting the passenger's life.

Third, there is another effect that the running speed of the vehicle can be efficiently increased and the reliability can be improved.

1 is a block diagram showing a vehicle control apparatus according to an embodiment of the present invention.
2 is a view for explaining a monitoring camera for detecting a motion of a driver.
3 is a view for explaining a torque sensor for detecting a motion of a driver.
Fig. 4 is a diagram for explaining an input unit in the vehicle.
5 is a flowchart illustrating a vehicle control method according to an embodiment of the present invention

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

1 is a block diagram showing a vehicle control apparatus according to an embodiment of the present invention.

The vehicle control apparatus according to an embodiment of the present invention includes an identification unit 500 for informing a driver of a risk of collision with a preceding vehicle; A relative speed sensing unit 100 for sensing a relative speed based on a distance between the subject vehicle and the front vehicle; A driver's motion detection unit 200 for sensing a driver's motion; An operation unit 300 for obtaining a final alarm distance based on the detected relative speed and the detected driver's movement; And a control unit 400 for controlling the identification unit 500 to inform the driver of the risk of collision if the final warning distance is greater than the distance from the preceding vehicle.

The relative speed sensing unit 100 may sense the relative speed of the subject vehicle in relation to the preceding vehicle. For this purpose, the distance between the vehicle and the preceding vehicle can be detected.

At this time, the relative speed sensing unit 100 may include a sensor. The sensor can sense the distance to the preceding vehicle or directly sense the relative speed of the vehicle in relation to the preceding vehicle.

The relative speed sensed by the relative speed sensing unit 100 may be used to acquire the final alarm distance in the operation unit 300, which will be described later.

The driver's motion detection unit 200 can detect whether there is a motion of the driver in operation. The movement of the driver sensed by the driver's motion sensing unit 200 can be used to acquire the driving concentration of the driver in the operation unit 300 to be described later.

One embodiment of the driver's motion sensing unit 200 may include a monitoring camera 210 for sensing the motion of the driver. Hereinafter, the monitoring camera 210 will be described with reference to FIG.

2 is a view for explaining a monitoring camera 210 for detecting a motion of a driver.

As shown in FIG. 2, the monitoring camera 210 may be provided inside the vehicle. 2, the monitoring camera 210 is provided on the ceiling of the vehicle, but it is also possible to provide the monitoring camera 210 at a different position. Also, it may be arranged to detect the movement of the driver from outside of the vehicle.

That is, the monitoring camera 210 may be provided at any position capable of detecting the motion of the driver.

One embodiment of the monitoring camera 210 may sense whether the driver is located within a predetermined area. In this case, the predetermined position may be a region positioned when the driver operates in a normal state.

For example, the body can be positioned when the driver is normally concentrating only on driving, and the area in which the driver is leaving the sleeping driving state or departing from the driving other than the driving state can be determined in advance.

As shown in FIG. 2, the S area is predetermined, and the monitoring camera 210 can detect whether the driver is located within the S area. If it is detected that the driver is located in the S area, the monitoring camera 210 can determine that there is no movement of the driver since the driver is operating in a normal state. On the other hand, if it is detected that the driver is located away from the S area, the monitoring camera 210 can determine that the driver's motion exists because the driver is in the drowsy driving state or the driving concentration is decreased.

Alternatively, the monitoring camera 210 may detect whether or not the driver is looking ahead. For this purpose, it is possible to detect whether the position of the driver's eye is located in a predetermined area. In this case, the predetermined area may be an area of the eyes positioned when the driver looks forward.

If it is detected that the driver's eye is located in the predetermined area, the monitoring camera 210 can determine that there is no motion since the driver is looking ahead. On the other hand, if the driver's eyes are detected to be located outside a predetermined area, the monitoring camera 210 may determine that there is motion, as the driver does not look ahead.

Another embodiment of the driver's motion sensing unit 200 may include a torque sensor that senses whether the steering wheel 220 has been operated by the driver. Hereinafter, the torque sensor will be described with reference to FIG.

3 is a view for explaining a torque sensor for detecting a motion of a driver.

The driver can operate the steering wheel 220 to control the steering apparatus. Since the steering direction of the vehicle is determined by the steering apparatus, the driver needs to operate the steering wheel 220 if the steering wheel is in operation.

The driver can operate the steering wheel 220 by rotating the steering wheel 220 as shown in FIG. At this time, the torque sensor can sense the torque applied by the driver to rotate the steering wheel 220. [

The torque sensor can detect whether or not the driver is moving based on whether a torque equal to or higher than a predetermined value is applied within a predetermined time.

If a torque equal to or greater than a predetermined value is applied within a predetermined time, the driver can determine that there is no motion of the driver since the driver is operating in a normal state. On the other hand, if the torque exceeding the predetermined value is not applied within the predetermined time, the driver can determine that the driver's motion exists because the driver is in the drowsy driving state or the driving concentration is decreased.

Another embodiment of the driver's motion sensing unit 200 may include one or more inputs to sense whether a control command has been received from the driver. And a torque sensor for sensing whether the steering wheel 220 is operated. Hereinafter, the input unit will be described with reference to FIG.

Fig. 4 is a diagram for explaining an input unit in the vehicle.

The driver can control various functions of the vehicle while driving. To this end, one or more input units may be provided in the vehicle for receiving vehicle control commands from the driver.

The input unit includes a gear input unit 230 for receiving a command for controlling the gear, an audio input unit 240 for inputting a command for controlling audio, a navigation input unit 250 for receiving a command for controlling navigation, A window input unit 270 receiving a command for controlling a window, and a steering wheel input unit 280 provided in the steering wheel 220 to receive a control command.

Since the driver inputs various commands through the input unit in the vehicle while driving, it is possible to determine whether or not the driver is moving by sensing whether a predetermined command has been input for a predetermined time.

If the predetermined command is input within a predetermined time, the driver can determine that there is no motion of the driver since the driver is operating in the normal state. On the other hand, if the predetermined command is not input within a predetermined time, the driver is determined to be in the drowsy driving state or the driving concentration degree is low, so that the input unit can determine that the driver's motion exists.

Referring to FIG. 1 again, the operation unit 300 may obtain the final alarm distance based on the relative speed sensed by the relative speed sensing unit 100 and the motion of the driver sensed by the driver's motion sensing unit 200. Here, the final alarm distance means the distance between the driver's vehicle and the preceding vehicle that needs to inform the driver of the risk of collision with the preceding vehicle.

The final alert distance may be obtained as the sum of the collision avoidance distance, the system delay distance, and the driver delay distance.

First, the collision avoidance distance means the distance by which the collision can be avoided through steering or braking. The collision avoidance distance can be expressed as a product of a relative speed and a collision time threshold value. The collision time threshold value can be predetermined.

The system delay distance is the distance traveled by the vehicle until the driver recognizes the risk of collision and then starts steering or braking. The system delay distance can be expressed as a product of a relative speed and a delay time (for example, 500 msec). The delay time can be predetermined.

Conventionally, the collision avoidance distance and the system delay distance are added together to determine the time to notify the collision risk, but this is a value that does not reflect the driver's condition. Therefore, by additionally acquiring the driver's delay distance and adding it together with the collision avoidance distance and the system delay, it is possible to determine the point at which the risk of collision will be noticed in consideration of the driver's condition.

The operation unit 300 receives the driver's movement from the driver's motion detection unit 200 and can obtain the driver's delay distance. In particular, the operation unit 300 acquires the driving concentration by quantifying the degree of motion of the sensed driver, and can acquire a larger driver delay distance as the obtained driving concentration becomes lower.

For example, if the driver is located in a predetermined area, the monitoring camera 210 determines that there is no motion of the driver. Since the monitoring camera 210 regards the driver as being in a normal state when there is no movement of the driver, the operation unit 300 can determine that the operation concentration is low if there is a movement of the driver.

Specifically, the calculation unit 300 can see the area of the area where the driver leaves from a predetermined area as the degree of movement of the driver. The driving concentration can be determined based on the numerical driver's movement. The larger the area of the area where the driver departs, the smaller the operation concentration value of the operation unit 300 can be obtained.

As another example, if the torque sensor does not receive a torque equal to or greater than a predetermined value for a predetermined period of time, the driver is considered to have no motion. At this time, unlike the monitoring camera 210, the torque sensor is considered to have a low driving concentration of the driver when there is no motion of the driver. Accordingly, the larger the time that a torque equal to or higher than the predetermined value is not received, the smaller the operation concentration value can be obtained.

As another example, if the input unit does not receive a predetermined command for a predetermined time, it is regarded that there is no movement of the driver. At this time, as in the torque sensor, the input section is regarded as having a low driving concentration of the driver when there is no motion of the driver. Therefore, the larger the time that the predetermined command is not received, the more the operation unit 300 can obtain the smaller operation concentration value.

In the above description, the driver's motion detection unit 200 determines whether or not the driver is moving and the operation unit 300 obtains the driving concentration degree accordingly. However, the driver's motion detection unit 200 may simply detect a value And may determine the movement of the driver based on the value detected by the operation unit 300. [

The operation unit 300 can acquire the driver's delay distance based on the operation concentration thus obtained. Specifically, the operation unit 300 can obtain a larger driver delay distance as the operation concentration becomes lower. If the driving concentration of the driver is low, it is necessary to further avoid the collision than the driver in the normal state.

Finally, the operation unit 300 can obtain the final alarm distance by summing the collision avoidance distance, the system delay distance, and the operator delay distance.

Referring to FIG. 1 again, if the final alert distance obtained by the calculation unit 300 is greater than the distance from the preceding vehicle, the control unit 400 controls the identification unit 500 to notify the risk of collision with the preceding vehicle.

As mentioned earlier, the final alarm distance is the distance between the vehicle and the vehicle ahead of the driver who needs to inform the driver of the risk of collision with the preceding vehicle. Accordingly, if the final alarm distance is greater than the actual distance between the preceding vehicle and the subject vehicle, the control unit 400 controls the identification unit 500 to inform the driver of the risk of collision.

On the other hand, if the final warning distance is less than the distance from the preceding vehicle, the control unit 400 does not inform the driver of the risk of collision because there is no risk of collision.

The identification unit 500 may be controlled by the control unit 400 to inform the driver that there is a risk of collision with the preceding vehicle. The identification unit 500 may notify the driver of the danger with an HMI (Human Machine Interface) or inform the driver of the risk of collision through buzzer sound mounted on the vehicle.

In addition, the control unit 400 may control the direct drive unit 600 to prevent the subject vehicle from colliding with the preceding vehicle. Specifically, if the final alarm distance is greater than the distance from the preceding vehicle, the control unit 400 can control the driving unit 600 to brak or steer the vehicle.

5 is a flowchart illustrating a vehicle control method according to an embodiment of the present invention.

First, the distance to the preceding vehicle can be detected. (700) The relative speed with the preceding vehicle can be detected on the basis of the distance from the preceding vehicle.

At the same time, the motion of the driver can be sensed (720). In order to sense the motion of the driver, a monitoring camera 210, a torque sensor, and / or one or more inputs may be used.

Next, the collision avoidance distance can be calculated using the relative speed with the preceding vehicle detected earlier. (730) The collision avoidance distance means a distance by which the collision can be avoided through steering or braking.

In addition, the system delay distance can be calculated using the relative speed with the preceding vehicle detected earlier. (740) The system delay distance is calculated by subtracting the system delay distance It means distance.

Further, the driver delay distance can be calculated on the basis of the driver's movement sensed previously. (750) At this time, the driving concentration is firstly obtained by digitizing the driver's movement. When the obtained driving concentration is larger, can do.

The obtained collision avoidance distance, system delay distance and operator delay distance are then summed to obtain the final alarm distance. The final alert distance thus obtained means the distance between the driver's vehicle and the preceding vehicle that needs to inform the driver of the risk of collision with the preceding vehicle.

(760) If the final alarm distance is greater than the actual distance to the front vehicle, a collision avoidance alarm may be issued to notify the driver of the risk of collision. 770). On the other hand, if the final warning distance is less than the actual distance to the front vehicle, the distance to the preceding vehicle and the driver's motion can be detected again.

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.

100: Relative speed sensing unit
200: driver's motion detection unit
300:
400:
500:
600:

Claims (17)

An identification unit informing the driver of the risk of collision with the preceding vehicle;
A relative speed sensing unit for sensing a relative speed based on a distance between the subject vehicle and the preceding vehicle;
A driver's motion detection unit for sensing a motion of the driver;
An operation unit for obtaining a final alarm distance based on the detected relative speed and the sensed driver's movement; And
And a controller for controlling the identification unit to inform the driver of the risk of the collision if the final alarm distance is greater than the distance from the preceding vehicle.
The method according to claim 1,
Wherein the driver's motion detection unit comprises:
And a monitoring camera that detects whether the driver is located within a predetermined area.
The method according to claim 1,
Wherein the driver's motion detection unit comprises:
And a torque sensor for detecting whether the steering wheel is operated by the driver.
The method according to claim 1,
Wherein the driver's motion detection unit comprises:
And at least one input section for receiving a control command from the driver.
5. The method of claim 4,
Wherein the at least one input unit comprises:
A navigation input unit, an audio input unit, an interior light input unit, or a gear input unit.
The method according to claim 1,
The operation unit,
The system delay distance, which is the distance traveled by the vehicle, until the driver starts recognizing the risk of collision before the start of steering or braking, a collision avoidance distance that is a distance that avoids collision due to steering or braking, And acquires the final alarm distance by summing the driver delay distance according to the driving concentration.
The method according to claim 6,
The operation unit,
And obtains the system delay distance and the collision avoiding distance using the detected relative speed.
The method according to claim 6,
The operation unit,
And acquiring the operation concentration by digitizing the degree of the detected driver's movement.
9. The method of claim 8,
The operation unit,
And acquires the driver delay distance of a larger value as the driver's concentration of the driver obtained in accordance with the driver's movement is lower.
Sensing a relative speed based on a distance between the subject vehicle and the preceding vehicle;
Sensing a movement of a driver;
Obtaining a final alarm distance based on the sensed relative speed and the sensed driver's movement; And
Informing the driver of the risk of collision if the final alert distance is greater than the distance from the preceding vehicle; The vehicle control method comprising:
11. The method of claim 10,
The step of sensing the driver's motion includes:
And detecting whether the driver is located within a predetermined area.
11. The method of claim 10,
The step of sensing the driver's motion includes:
And detecting whether the steering wheel has been operated by the driver.
11. The method of claim 10,
The step of sensing the driver's motion includes:
And detecting whether a control command is issued from the driver.
11. The method of claim 10,
Wherein obtaining the final alert distance comprises:
Acquiring a system delay distance, which is the distance traveled by the vehicle, during the time that the driver recognizes the risk of collision and applies an operation for steering or braking;
Obtaining a collision avoidance distance that is a distance that avoids collision by the steering or braking;
Obtaining a driver's delay distance according to the driving concentration of the driver; And
Obtaining the final alarm distance by summing the system delay distance, the collision avoidance distance, and the driver delay distance; The vehicle control method comprising:
15. The method of claim 14,
Wherein obtaining the system delay distance, and obtaining the collision avoidance distance,
And the detected relative speed is used.
15. The method of claim 14,
Wherein the obtaining the driver delay distance comprises:
And calculating the degree of the driver's motion by numerically calculating the degree of motion of the driver.
17. The method of claim 16,
Wherein the obtaining the driver delay distance comprises:
And acquires the driver delay distance of a larger value as the driver's concentration of the driver obtained in accordance with the driver's movement is lower.

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