KR20170016595A - Radar system and method for controlling thereof in a vehicle - Google Patents

Radar system and method for controlling thereof in a vehicle Download PDF

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Publication number
KR20170016595A
KR20170016595A KR1020150109881A KR20150109881A KR20170016595A KR 20170016595 A KR20170016595 A KR 20170016595A KR 1020150109881 A KR1020150109881 A KR 1020150109881A KR 20150109881 A KR20150109881 A KR 20150109881A KR 20170016595 A KR20170016595 A KR 20170016595A
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KR
South Korea
Prior art keywords
vehicle
driver
information
vehicle speed
distance
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Application number
KR1020150109881A
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Korean (ko)
Inventor
이지용
Original Assignee
주식회사 만도
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Priority to KR1020150109881A priority Critical patent/KR20170016595A/en
Publication of KR20170016595A publication Critical patent/KR20170016595A/en

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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
    • 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
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—Speed
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B60W2420/52—
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention provides a radar system. According to an embodiment of the present invention, there is provided a vehicular navigation system comprising: a radar module for sensing a preceding vehicle ahead of a vehicle; a communication unit for receiving vehicle speed information of the vehicle and receiving accelerator pedaling information or brake pedaling information of the driver; And a controller for learning an operation pattern of the driver on the basis of the inter-vehicle distance to the preceding vehicle, the received vehicle speed information, and the driver's pedaling information, and alerting the driver when the learned operation pattern is exceeded.

Description

[0001] DESCRIPTION [0002] RADAR SYSTEM AND METHOD FOR CONTROLLING A VEHICLE [

The present invention relates to a vehicle radar system and a control method thereof for determining the behavior of a vehicle by measuring the inter-vehicle distance between the vehicle and the preceding vehicle using a radar to cope with the dispersion of the driver's attention.

In general, the Adaptive Cruise Control system is intended to partially automate the acceleration / deceleration control for the longitudinal direction of the vehicle, thereby reducing the burden on the driver during driving and smoothing the traffic flow on the road .

In the case of a vehicle equipped with such an ACC system, it is controlled so as to follow the target speed set by the driver when there is no vehicle ahead, and to maintain an appropriate vehicle distance from the preceding vehicle when there is a vehicle ahead.

In addition, when the vehicle equipped with the ACC system is traveling, the vehicle speed is detected to calculate the headway distance between the vehicle and the preceding vehicle. The headway maintaining distance is calculated by multiplying the headway time and the vehicle speed, and the headway keeping distance is calculated.

When the inter-vehicle distance is calculated, the inter-vehicle distance between the vehicle and the preceding vehicle is measured using the radar system. When the inter-vehicle distance is greater than the inter-vehicle distance, the throttle valve is opened If the vehicle-to-vehicle distance is smaller than the vehicle-to-vehicle distance, the vehicle-to-vehicle distance is reduced by controlling the braking so that the vehicle-to-vehicle distance is widened.

In this way, the speed and the inter-vehicle distance can be automatically operated through the inter-vehicle distance control with the preceding vehicle. However, since the inter-vehicle distance according to the driving pattern of the driver is not individually set variously, There is a problem.

An embodiment of the present invention provides a radar system and a method of controlling the same in which a driving pattern of a driver is learned in real time to variably set a distance between vehicles according to a driver's tendency and surrounding environment .

Another object of the present invention is to provide an additional control method for notifying a driver of a distraction of a driver's attention by learning steering control for maintaining a lane during driving, in addition to a distance maintenance distance in learning a driving pattern of a driver.

In addition, the vehicle driving pattern is learned differently in a congestion section or an unsteady section by differently learning the driving pattern of the driver according to the surrounding environment, and the automatic inter-vehicle distance maintenance control is performed and alerted accordingly.

According to an aspect of the present invention, there is provided a vehicular navigation system comprising: a radar module for sensing a preceding vehicle ahead of a vehicle; a communication unit for receiving vehicle speed information of the vehicle and receiving accelerator pedaling information or brake pedaling information of the driver; And a control unit for learning an operation pattern of the driver based on the inter-vehicle distance to the sensed preceding vehicle, the received vehicle speed information, and the driver's pedaling information, and alerting when the learned operation pattern is exceeded .

The control unit may determine that the vehicle is in a congestible section if the average value of the received vehicle speed is equal to or less than a preset threshold value, and may determine that the vehicle is in an unstable section if the average value of the received vehicle speed exceeds a preset threshold value.

In addition, if it is determined that the vehicle is traveling in a congestion zone, the controller may learn an operation pattern of the driver based on accelerator pedaling information of the driver, brake pedaling information, and an inter-vehicle distance to the sensed preceding vehicle.

In addition, the communication unit may further include yaw rate information and acceleration information of the vehicle.

In addition, when the control unit determines that the vehicle is traveling in the non-stationary section, it can learn the driving pattern of the driver based on the received vehicle speed information, yaw rate information, and acceleration information.

In addition, the controller may warn the driver when the time to collision (TTC) with the preceding vehicle is less than a preset threshold value.

In addition, after the warning to the driver, the control unit may transmit the control signal so as to maintain the distance between the vehicles when the driving pattern of the learned driver is continuously deviated.

According to another aspect of the present invention, there is provided a method for controlling a vehicle, comprising the steps of: sensing a preceding vehicle ahead of the vehicle; detecting a vehicle speed of the vehicle; and receiving accelerator pedaling or brake pedaling information of the driver; Learning the driving pattern of the driver on the basis of the inter-vehicle distance to the detected preceding vehicle, the detected vehicle speed, and the pedaling information of the driver; And a step of alerting the driver to the outside of the learned operation pattern.

Calculating a mean value of the detected vehicle speed; And determining that the vehicle is traveling in a congestible section if the average value of the vehicle speed is equal to or less than a preset threshold value and determining that the vehicle is traveling in a non-congestion section if the average value of the vehicle speed exceeds a preset threshold value.

Further, when it is determined that the vehicle is traveling in the congestion section, it is possible to learn the driving pattern of the driver based on the accelerator pedaling information of the driver, the brake pedaling information, and the inter-vehicle distance to the detected preceding vehicle.

Detecting a yaw rate and an acceleration of the vehicle; As shown in FIG.

In addition, if it is determined that the vehicle is traveling in the non-stagnation zone, the driver's operation pattern can be learned based on the detected vehicle speed, yaw rate, and acceleration information.

The method may further include warning the driver if the time to collision (TTC) with the preceding vehicle is equal to or less than a preset threshold value.

The method may further include, after a warning to the driver, maintaining an inter-vehicle distance of the vehicle when the operation pattern of the learned driver is out of a predetermined period of time.

The embodiment of the present invention can provide a radar system and a control method thereof that learn the driving pattern of the driver in real time and variably set the distance to maintain the vehicle according to the driver's tendency and the surrounding environment to reflect the driver's tendency.

Further, in learning the driving pattern of the driver, it is possible to provide not only the distance between the vehicle and the vehicle but also the steering control for maintaining the lane at the time of driving, thereby providing additional control to determine and warn the driver.

In addition, it is possible to learn the vehicle traveling pattern in the congestion section or the unstable section differently from the driving pattern learning of the driver according to the surrounding environment, to perform the automatic inter-vehicle distance maintenance control and warn accordingly.

1 is a schematic view showing the appearance of a vehicle including a radar system according to an embodiment of the present invention.
2 is a schematic view showing the inside of a vehicle including a radar system according to an embodiment of the present invention.
3 is a block diagram showing various electronic devices included in a vehicle including a radar system according to an embodiment of the present invention.
4 is a block diagram of a radar system according to an embodiment of the present invention.
5 is a schematic view showing a vehicle running according to an embodiment of the present invention.
FIG. 6 is a schematic view showing a vehicle driving according to another embodiment of the present invention. FIG.
7 is a flowchart illustrating a method of controlling a radar system according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are provided to fully convey the spirit of the present invention to a person having ordinary skill in the art to which the present invention belongs. The present invention is not limited to the embodiments shown herein but may be embodied in other forms. For the sake of clarity, the drawings are not drawn to scale, and the size of the elements may be slightly exaggerated to facilitate understanding.

FIG. 1 is a schematic view showing the appearance of a vehicle including a radar system according to an embodiment of the present invention, FIG. 2 is a schematic view showing the inside of a vehicle including a radar system according to an embodiment of the present invention, FIG. 2 is a block diagram including various electronic devices included in a vehicle including a radar system according to an embodiment of the present invention.

1, a vehicle 1 according to an embodiment includes a body 11-16 forming an outer appearance of the vehicle 1, a chassis 11 supporting components of the vehicle 1, (Not shown), vehicle bodies 11 to 16, and wheels 21 and 22 for moving the vehicle.

The wheels 21 and 22 include a front wheel 21 provided at the front of the vehicle and a rear wheel 22 provided at the rear of the vehicle and the vehicle 1 is rotated forward or rearward by the rotation of the wheels 21 and 22. [ . ≪ / RTI >

The vehicle bodies 11 to 16 include a hood 11, a front fender 12, a roof panel 13, a door 14, a trunk lid 15, a quarter panel 16, and the like.

A front window 17 provided on the front side of the vehicle bodies 11 to 16, a side window 18 provided on the door 14, And a rear window 19 provided on the rear side of the rear windows 11 to 16.

In addition, the vehicle 1 according to the present invention includes a radar system, and the radar module 23 for sensing the front vehicle can be located below the hood 11 in front of the vehicle.

As shown in Fig. 2, the vehicle bodies 11 to 16 are provided with seats S1 and S2 on which the occupant sits, various instruments for controlling the operation of the vehicle 1 and displaying the running information of the vehicle 1 A dashboard 30, a center fascia 40 provided with a control panel for operating the accessories included in the vehicle 1, a center console (not shown) provided with a gear stick and a parking brake stick a center console 50 and a steering wheel 60 for operating the running direction of the vehicle 1. [

The seat S1 and the seat S2 allow the driver to operate the vehicle 1 in a comfortable and stable posture and are provided with a driver's seat S1 on which the driver sits, a passenger seat S2 on which the passenger sits, (Not shown).

The dashboard 30 may be provided with a speed meter for indicating information related to driving, a fuel meter, an automatic shift select lever display, a tachometer, an instrument panel such as a section distance meter, and the like. Therefore, the driver can check the current vehicle speed in real time based on the display of the speed meter or the like.

The center fascia 40 is provided between the driver's seat S1 and the front passenger's seat S2 and includes an operation unit for adjusting the audio equipment, the air conditioner and the heater, an air conditioner for adjusting the temperature inside the vehicle bodies 11 to 16, A cigar jack, and the like.

The center console 50 is provided below the center fascia 33 between the driver's seat S1 and the front passenger's seat S2 and may be provided with a gear stick for shifting and a parking brake stick for parking.

The steering wheel 60 is attached to the dashboard 30 so as to be rotatable about the steering axis and the driver rotates the steering wheel 60 clockwise or counterclockwise to change the traveling direction of the vehicle 1 . An angle of the steering wheel 60 rotated by the driver is sensed through a steering (not shown) wheel sensor to confirm the driver's intention to change the traveling direction.

(E.g., an engine or a motor) for generating power for moving the vehicle 1 by burning the fuel, a fuel supply device for supplying fuel to the power generation device, A power transmitting device for transmitting the power generated by the power generating device to the wheels 21 and 22, a power transmitting device for transmitting the power generated by the power generating device to the steering wheel 60 A braking device for stopping the rotation of the wheels 21 and 22 and a braking device for stopping the rotation of the wheels 21 and 22 to absorb the vibration of the wheels 21 and 22 by the road And the like may be provided.

Vehicle 1 may include a variety of electronic devices 100 with the mechanical devices described above.

3, the vehicle 1 includes an engine management system (EMS) 110, a brake-by-wire 120, a brake pedal 130, An audio / video / navigation (AVN) device 140, a radar system 150, a transmission management system (TMS) 160, a steering-by-wire 170, Pedal 180, input / output control system 190, and other vehicle sensors 195, and the like. The electronic device 100 shown in Fig. 3 is only a part of the electronic device included in the vehicle 1, and the vehicle 1 can be provided with more various electronic devices.

 In addition, the various electronic devices 100 included in the vehicle 1 can communicate with each other through the vehicle communication network NT. The Vehicle Communication Network (NT) may be a Media Oriented Systems Transport (MOST) having a communication speed of up to 24.5 Mbps (Mega-bits per second), a FlexRay having a communication speed of up to 10 Mbps, a CAN (Controller Area Network) having a communication speed of 1 Mbps to 1 Mbps, and a LIN (Local Interconnect Network) having a communication speed of 20 kbps. Such a vehicle communication network NT can employ not only a single communication protocol such as a mast, a player, a can, a lean, but also a plurality of communication protocols.

The engine control system 110 performs fuel injection control, fuel ratio feedback control, lean burn control, ignition timing control, idling control, and the like. The engine control system 110 may not only be a single device but may also be a plurality of devices connected through communication.

The braking control device 120 may control the braking of the vehicle 1, and may typically include an anti-lock brake system (ABS) or the like.

The shift control system 160 performs shift point control, damper clutch control, pressure control at the time of friction clutch ON / OFF, and engine torque control during shifting. The shift control system 160 may be a single device, or may be a plurality of devices connected through communication.

The steering control device 170 assists the steering operation of the driver by reducing the steering force during low-speed driving or parking and increasing the steering force during high-speed driving.

The brake pedal 130 is a pedal that is operated by a driver to perform braking, and can push the piston of the master cylinder to generate the hydraulic pressure to be decelerated. It is possible to determine the driver's braking intent by measuring the leg-power for operating the brake pedal 130 with the foot of the driver with a leg-like force sensor (not shown).

Accelerator pedal 180 is a pedal operated by the driver to accelerate the accelerator pedal. The accelerator pedal 180 accelerates and accelerates when the accelerator pedal is depressed by an engine interlocked with a carburetor (not shown) inside the vehicle. It is possible to determine the driver's acceleration will by measuring the driver's power to operate the accelerator pedal 180 with a foot sensor (not shown).

The AVN device 140 is a device for outputting music or an image according to a control command of a driver. Specifically, the AVN apparatus 140 can reproduce music or moving images according to a control command of the driver or guide the route to a destination.

Here, a display (not shown) of the AVN device may employ a touch-sensitive display (e.g., a touch screen) capable of receiving a touch input of a driver.

The input / output control system 190 receives the driver's control command via the button and displays information corresponding to the driver's control command. The input / output control system 190 may include a cluster display 191 provided on the dashboard 30 for displaying an image, and a head up display 192 for projecting the image on the wind screen 17.

The cluster display 191 is provided on the dashboard 30 to display an image. Particularly, the cluster display 191 is provided adjacent to the windscreen 17 so that the driver U can be informed of the operation information of the vehicle 1, the information of the road 1 Or a travel route. In addition, the radar system 150 according to the present invention can acquire a warning displayed to a driver.

 The cluster display 191 may include a liquid crystal display (LCD) panel or an organic light emitting diode (OLED) panel.

The head-up display 192 can project an image onto the windscreen 17. [ The image projected on the windscreen 17 by the head-up display 192 may include motion information of the vehicle 1, road information, or a driving route. In addition, the radar system 150 according to the present invention can acquire a warning displayed to a driver.

The other vehicle sensor 195 includes an acceleration sensor 196, a yaw rate sensor 197, a steering angle sensor 198, a speed sensor 199 and the like included in the vehicle 1 to detect the running information of the vehicle .

The acceleration sensor 196 measures the acceleration of the vehicle and may include a lateral acceleration sensor (not shown) and an acceleration sensor (not shown).

Assuming that the lateral acceleration sensor is the X-axis of the moving direction of the vehicle, the vertical acceleration (Y-axis) direction is referred to as the lateral direction, and the lateral acceleration is measured.

The longitudinal acceleration sensor can measure the acceleration in the direction of movement of the vehicle in the X-axis direction.

The acceleration sensor 196 detects a change in velocity per unit time and senses a dynamic force such as acceleration, vibration, shock, etc., and measures the inertia force, the electric strain, and the principle of the gyro. Thereafter, the measured acceleration value can be transmitted to the radar system 150 via the network NT.

The yaw rate sensor 197 can be installed on each wheel of the vehicle and can detect the yaw rate value in real time.

The yaw rate sensor (197) has a cesium crystal element inside the sensor. When the vehicle rotates while moving, the cesium crystal element itself generates a voltage while rotating. The yaw rate of the vehicle can be sensed based on the voltage thus generated.

 Then, the measured yaw rate value can be transmitted to the radar system 150 via the network NT.

The steering angle sensor 198 measures the steering angle. Mounted on the lower end of the steering wheel (not shown), and can detect the steering speed, the steering direction, and the steering angle of the steering wheel. Then, the measured steering angle value can be transmitted to the radar system 150 via the network NT.

The speed sensor 199 is installed inside the wheel of the vehicle to detect the rotational speed of the vehicle wheel and can transmit the measured vehicle speed value to the radar system 150 via the network NT.

The radar system 150 may include a radar module 151 to sense a vehicle ahead vehicle. The configuration and operation of the radar system 150 will be described in detail below.

The configuration of the vehicle 1 has been described above.

The configuration and operation of the radar system 150 included in the vehicle 1 will be described below.

FIG. 4 is a block diagram of a radar system according to an embodiment of the present invention, and FIGS. 5 and 6 are schematic views showing a vehicle driving according to an embodiment of the present invention.

Referring to FIG. 4, the radar system 150 may include a radar module 151, a communication unit 152, and a control unit 153.

The radar module 151 may employ a radar sensor (not shown) to detect an obstacle present in front of the vehicle 1, although not shown. Such a radar sensor radar sensor can be used with a 77 GHz radar, and can transmit the radar and measure the received time to calculate the distance to the preceding vehicle.

The communication unit 152 is connected to the vehicle communication network NT to receive the communication signals transmitted from the various electronic devices 100 in the vehicle 1, And transmits the communication signal to the electronic device 100. Here, the communication signal means a signal transmitted / received through the vehicle communication network NT. The communication signal can receive various sensor values measured by the other vehicle sensors 195, and transmits the processed control signal in the radar system 150 And can be transmitted to various electronic apparatuses 100.

The control unit 153 collectively controls the radar system 150. Specifically, the control unit 153 learns the operation pattern of the driver through the signal processing unit 154 that processes various communication signals received from the communication unit 152 and various data of the radar system 150, and generates a warning control signal A main processor 155 for generating a control signal for maintaining a distance between vehicles, and a memory 156 for storing various data.

Specifically, the signal processing unit 154 calculates the distance between the front vehicle and the vehicle 1 when the front vehicle is detected from the radar module 151. [ That is, the radar can be transmitted, and the distance to the preceding vehicle can be calculated by measuring the received time.

The signal processor 154 may receive various acceleration values, a yaw rate value, a steering angle, and a vehicle speed value included in the other vehicle sensors 195 and transmit the values to the main processor 155.

Therefore, the main processor 155 learns the driver's operation pattern based on the communication signals of various electronic devices via the radar module 151 and the communication unit 152 via the signal processing unit 154, The control signal can be calculated so as to warn the driver when the pattern is out of sight, and after the warning, if the driving pattern of the learned driver is continuously deviated, the control signal can be calculated so as to maintain the inter-vehicle distance.

First, the main processor 155 uses the vehicle speed information acquired through the speed sensor 199 to determine whether the current road condition of the vehicle 1 is a congestion zone driving situation or a non-congestion zone driving situation. Specifically, FIG. 5 is a schematic view showing that the road situation is a congestion zone driving situation, and FIG. 6 is a schematic diagram showing that a road situation is a non-congestion zone driving situation.

Specifically, when the average vehicle speed calculated within a predetermined time of the vehicle speed acquired from the speed sensor 199 is equal to or less than a preset threshold value, the main processor 155 determines that the vehicle 1 is in the stagnant section.

When it is determined that the vehicle is in the congestion zone, the driver has a driving pattern in which both the brake pedal 130 and the accelerator pedal 180 are operated. Therefore, the driver's acceleration pedaling information, brake pedaling information, And the driving pattern of the driver is learned. However, it is possible to learn the driver's operation pattern including the accelerator pedaling information of the driver, the brake pedaling information, and the communication signals obtained from various electronic devices 100 other than the distance between the detected preceding vehicle and the detected preceding vehicle.

Therefore, when the driver's stagnant region driving operation pattern is learned and it is determined that the current driving situation of the driver is different from the driving pattern, the radar system 180 transmits the warning signal through the communication unit 152. [ That is, the communication unit 152 allows the driver to check the generated warning signal through the cluster 191 or the HUD 192 in the AVN apparatus 140 or the input / output control system 190.

Next, when the average vehicle speed calculated within a predetermined time of the vehicle speed acquired from the speed sensor 199 exceeds a preset threshold value, the main processor 155 determines that the vehicle 1 travels in the unstable section.

If it is determined that the vehicle is traveling in the unstable section, the driver has a driving pattern in which the accelerator pedal 180 is mainly used, rather than the brake pedal 130. Therefore, Learn a few driving patterns.

Specifically, the driving pattern of the driver for maintaining the lane can be obtained through the yaw rate value and the steering angle obtained from the other vehicle sensors 195. [ However, it is possible to learn the driving pattern of the driver including the communication signals obtained from various electronic devices 100 other than the driver's acceleration pattern information and the driving pattern of the driver for maintaining the lane.

The radar system 180 transmits a warning signal via the communication unit 152 when it is determined that the driver's current driving situation is different from the driving pattern by learning the unstable zone driving operation pattern of the driver. That is, the communication unit 152 allows the driver to check the generated warning signal through the cluster 191 or the HUD 192 in the AVN apparatus 140 or the input / output control system 190.

Therefore, when the driver's unstable zone driving operation pattern is learned and it is determined that the current driving situation of the driver is different from the driving pattern, the radar system 180 transmits the warning signal through the communication unit 152. [ That is, the communication unit 152 allows the driver to check the generated warning signal through the cluster 191 or the HUD 192 in the AVN apparatus 140 or the input / output control system 190.

The radar system 180 detects the preceding vehicle through the radar module 151 and if the time to collision (TTC) with the preceding vehicle is equal to or less than a preset threshold value, the radar system 180 transmits the communication unit 152 And transmits a warning signal through the signal line. That is, the communication unit 152 allows the driver to check the generated warning signal through the cluster 191 or the HUD 192 in the AVN apparatus 140 or the input / output control system 190.

That is, when the time to collision (TTC) is equal to or less than a preset threshold value, the warning signal is transmitted when the vehicle 1 travels in the current congestion section or when the vehicle travels the unstable section .

Further, after transmitting the warning signal to the driver, the radar system 150 may generate the control signal so as to automatically maintain the inter-vehicle distance of the vehicle when the operation pattern of the learned driver is continuously deviated.

Specifically, maintaining the inter-vehicle distance allows the braking control device 120 to operate through the vehicle communication network NT in order to prevent collision with the preceding vehicle 2.

Next, the memory 156 stores the program and data of the radar system 150. [

Specifically, the memory (not shown) may be a volatile memory such as an S-RAM or a D-RAM, as well as a flash memory, a read only memory, an erasable programmable read only memory ), And electrically erasable programmable read only memory (EEPROM).

The nonvolatile memory may semi-permanently store a control program and control data for controlling the operation of the radar system 150, and the volatile memory may temporarily store control programs and control data from the nonvolatile memory, The distance information with respect to the preceding vehicle sensed by the module 151, various sensor information acquired from the communication unit 152, and various control signals output from the main processor.

The configuration of the radar system 150 according to the present invention has been described above.

Hereinafter, the control method of the radar system 150 according to the embodiment will be described.

First, the radar system 150 according to the present invention starts operation while the vehicle 1 including the radar system 150 travels (S100).

The radar system 150 recognizes the current road condition of the vehicle 1 (S200). Specifically, the main processor 155 included in the radar system 150 determines whether or not the vehicle is traveling in the idle zone based on the distance between the radar module 151 and the preceding vehicle 2 acquired from the communication unit 152, And judges whether or not the vehicle is traveling in the section. If the average vehicle speed calculated within a predetermined period of time of the vehicle speed acquired from the speed sensor 199 is equal to or less than a predetermined threshold value, it is determined that the vehicle is traveling in a congestion period. If the average vehicle speed calculated within a predetermined period of time If the threshold value is exceeded, the main processor 155 can determine that the vehicle 1 is traveling in the non-static section.

Next, the radar system 150 learns the driving pattern of the driver based on the information obtained from the various electronic devices 100 (S300). Specifically, when it is determined that the vehicle 1 is running in the congestion section, the driver has a driving pattern to be operated using both the brake pedal 130 and the accelerator pedal 180, so that the accelerator pedaling information, And the driving pattern of the driver by weighting the distance between the detected preceding vehicle and the preceding vehicle. However, it is possible to learn the driver's operation pattern including the accelerator pedaling information of the driver, the brake pedaling information, and the communication signals obtained from various electronic devices 100 other than the distance between the detected preceding vehicle and the detected preceding vehicle.

Further, when it is determined that the vehicle 1 is traveling in the unstable section, the driver has a driving pattern in which the accelerator pedal 180 is mainly used, rather than the brake pedal 130. Therefore, And the driving pattern is learned by weighting the driving pattern of the driver.

At this time, if the current driving state and the learned driving pattern are similar (YES in S400), the road condition is grasped as a normal driving state of the vehicle 1 (S200). However, if the current driving state and the learned driving pattern are different (NO in S400), the radar system 150 gives a warning to the driver (S500). Specifically, the communication unit 152 in the radar system 150 transmits the warning signal generated by the control unit 153 to the driver through the cluster 191 or the HUD 192 in the AVN apparatus 140 or the input / output control system 190 Be sure to check the warning signal.

When the running pattern of the vehicle 1 is stabilized (YES in S600) by displaying a warning signal, the road condition is grasped as a normal running state (S200). If the running pattern of the vehicle 1 is not stabilized No in S600), the radar system 150 generates a control signal to automatically maintain the inter-vehicle distance of the vehicle (S700).

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limited to the embodiments set forth herein; It will be understood that various modifications may be made without departing from the spirit and scope of the invention.

Claims (14)

A radar module for detecting a preceding vehicle in front of the vehicle;
A communication unit for receiving the vehicle speed information of the vehicle and receiving acceleration pedaling information or brake pedaling information of the driver; And
And a controller for learning an operation pattern of the driver on the basis of an inter-vehicle distance to the sensed preceding vehicle, received vehicle speed information, and driver's pedaling information, and warning when the learned operation pattern is exceeded. The method according to claim 1,
Wherein the control unit determines that the vehicle is in a congestible section when the average value of the received vehicle speed is equal to or less than a preset threshold value and determines that the vehicle is in a non-congestion section if the average value of the received vehicle speed exceeds a preset threshold value. 3. The method of claim 2,
Wherein the control unit learns the driving pattern of the driver on the basis of the accelerator pedaling information of the driver, the brake pedaling information, and the inter-vehicle distance to the detected preceding vehicle, when it is determined that the vehicle is traveling in the congestion zone. 3. The method of claim 2,
Wherein the communication unit further includes yaw rate information and acceleration information of the vehicle. 5. The method of claim 4,
Wherein the controller learns the driving pattern of the driver based on the received vehicle speed information, yaw rate information, and acceleration information when it is determined that the vehicle is traveling in the non-stationary section. 6. The method according to any one of claims 1 to 5,
Wherein the controller warns the driver when the time to collision (TTC) with the preceding vehicle is less than or equal to a preset threshold value. The method according to claim 6,
Wherein the control unit transmits a control signal to maintain the distance between the vehicles when the driving pattern of the learned driver is continuously deviated after a warning to the driver. Sensing a preceding vehicle in front of the vehicle;
Detecting a vehicle speed of the vehicle;
Receiving accelerator pedaling or brake pedaling information of the driver; And
Learning the driving pattern of the driver based on the sensed vehicle distance to the preceding vehicle, the detected vehicle speed, and the pedaling information of the driver; And
And warning the vehicle radar system if the learned operation pattern is exceeded. 9. The method of claim 8,
Calculating an average value of the detected vehicle speed; And
Determining that the vehicle is traveling in a stagnant zone if the average value of the vehicle speed is equal to or less than a predetermined threshold value and determining that the vehicle is in a non-stagnant zone if the average value of the vehicle speed exceeds a preset threshold value . 10. The method of claim 9,
Wherein the control unit learns the driving pattern of the driver based on the accelerator pedaling information of the driver, the brake pedaling information, and the inter-vehicle distance to the sensed preceding vehicle when it is determined that the vehicle is traveling in the congestion zone. 10. The method of claim 9,
Detecting a yaw rate and an acceleration of the vehicle; Further comprising the steps of: 12. The method of claim 11,
And if it is determined that the vehicle is traveling in the non-congestion section, learns the driving pattern of the driver based on the detected vehicle speed, yaw rate, and acceleration information. 13. The method according to any one of claims 8 to 12,
And warning the driver if the time to collision (TTC) with the preceding vehicle is less than or equal to a preset threshold value. 14. The method of claim 13,
Further comprising the step of, after a warning to the driver, maintaining an inter-vehicle distance of the vehicle if the operation pattern of the learned driver is out of a predetermined time.
KR1020150109881A 2015-08-04 2015-08-04 Radar system and method for controlling thereof in a vehicle KR20170016595A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20200005864A (en) * 2018-07-09 2020-01-17 현대모비스 주식회사 Apparatus and method for adjusting a warning time
CN114537272A (en) * 2022-02-15 2022-05-27 岚图汽车科技有限公司 Parking radar early warning method and system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20200005864A (en) * 2018-07-09 2020-01-17 현대모비스 주식회사 Apparatus and method for adjusting a warning time
CN114537272A (en) * 2022-02-15 2022-05-27 岚图汽车科技有限公司 Parking radar early warning method and system
CN114537272B (en) * 2022-02-15 2023-10-20 岚图汽车科技有限公司 Parking radar early warning method and system

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