KR20170062430A - Vehicle control apparatus and method for driving safety - Google Patents

Abstract

A vehicle control method using a smart cruise control system (SCC) is a step in which a vehicle is driven by a smart cruise control system (SCC), a determination is made as to whether a neighboring vehicle detected through a blind zone sensing device (BSD) And adjusting the speed of the vehicle according to a result of comparing the speed of the vehicle with the speed of the neighboring vehicle when the neighboring vehicle satisfies the adjustment condition.

Description

[0001] VEHICLE CONTROL APPARATUS AND METHOD FOR DRIVING SAFETY [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle control device and method for driving safety, and more particularly, to a vehicle control device and method for driving a vehicle using a Smart Cruise Control (SCC) The present invention relates to an apparatus and a method for preventing a user from feeling that he /

Automobiles have led to the development of Advanced Driver Assistance System (ADAS), which can perform front collision avoidance, lane departure warning, blind spot monitoring, and improved rearward surveillance with advanced sensing sensors and intelligent video equipment. The driver assistance device (ADAS) is a device that helps to escape danger during operation. The sensor senses the danger and warns of the risk of accident through visual, auditory and tactile factors. Is a device that helps to make decisions and cope with them. Such a device has evolved into a technology that automatically controls the vehicle in combination with the vehicle control system, rather than just warning.

One of the conveniences of the vehicle is the Smart Cruise Control (SCC), which maintains the proper distance between cars while driving. The Smart Cruise Control System (SCC) automatically controls the throttle valve, brake, and transmission of the vehicle according to the position of the preceding vehicle detected by the front sensor mounted on the front of the vehicle and the distance to the preceding vehicle. Thereby maintaining the proper distance from the preceding vehicle. The smart cruise control system (SCC) performs constant-speed cruise control when there is no preceding vehicle and car-to-car distance control to maintain a constant distance from the preceding car if there is a preceding car.

KR 10-2013-0143272 A

The present invention is applicable to a smart cruise control system (SCC) in which a vehicle running at the same speed as a neighboring vehicle traveling in a neighboring lane may travel in parallel without regard to the will of the occupant (driver) It is possible to provide an apparatus and a method capable of escaping.

In addition, the present invention can provide an apparatus and method for reducing the risk of accidents by detecting a parallel operation when traveling according to a smart cruise control system (SCC) and by allowing the speed of the vehicle to be increased or decreased to allow the vehicle to escape from parallel operation.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention, unless further departing from the spirit and scope of the invention as defined by the appended claims. It will be possible.

A vehicle control method using a smart cruise control system (SCC) according to an embodiment of the present invention includes a step of driving a vehicle by a smart cruise control system (SCC) Determining whether the vehicle satisfies the adjustment condition, and adjusting the speed of the vehicle according to a result of comparing the speed of the vehicle with the speed of the neighboring vehicle when the neighboring vehicle satisfies the adjustment condition .

In addition, the vehicle control method using the smart cruise control system (SCC) may further include checking whether the speed of the vehicle is equal to or higher than a reference speed.

Also, the reference speed may be 60 km / h.

Further, the adjustment condition may include a first condition for a distance between the vehicle and the neighboring vehicle; And a second condition for the relative speed of the vehicle and the neighboring vehicle.

Also, the first condition may be a case where the distance is less than 4 m, and the second condition may be a case where the relative speed is within ± 3 km / h.

In addition, the adjustment condition may further include a third condition in which the first condition and the second condition are maintained for one second or more.

Further, the step of adjusting the speed of the vehicle may include increasing the speed of the vehicle when the speed of the vehicle is faster than the speed of the neighboring vehicle; And reducing the speed of the vehicle if the speed of the vehicle is slower than the speed of the neighboring vehicle.

In addition, the increase and deceleration of the vehicle can be made as much as 2 km / h.

In addition, a vehicle control method using a smart cruise control system (SCC) may further include restoring the speed of the vehicle according to an end condition.

The termination condition may include a first termination condition in which the distance between the neighboring vehicle and the vehicle is less than 10 m; A second ending condition in which the neighboring vehicle falls below an inter-vehicle distance required by a smart cruise control system (SCC); And a third end condition in which the speed adjustment of the vehicle is continued for 5 seconds or more.

The vehicle control method using the smart cruise control system (SCC) may further include recognizing the vehicle type of the neighboring vehicle when the neighboring vehicle satisfies the adjustment condition.

In addition, when the vehicle height of the neighboring vehicle exceeds a predetermined range, the vehicle control method using the smart cruise control system (SCC) may further include stopping the acceleration of the vehicle.

Further, if the vehicle height exceeds the predetermined range, the neighboring vehicle may be regarded as a commercial vehicle including a large truck having a long vehicle length.

A vehicle control apparatus using a smart cruise control system (SCC) according to another embodiment of the present invention includes a controller for controlling a speed of a vehicle according to a smart cruise control system (SCC), a controller (BSD) for detecting a vehicle, and a control unit for controlling the speed of the vehicle through the control unit according to a result of comparing the speed of the vehicle with the neighboring vehicle, when the neighboring vehicle satisfies the adjustment condition And a parallel running determination unit for adjusting the running state of the vehicle.

In addition, the parallel running determination unit may determine the adjustment condition when the speed of the vehicle is equal to or greater than a reference speed.

Further, the adjustment condition may include a first condition for a distance between the vehicle and the neighboring vehicle; And a second condition for the relative speed of the vehicle and the neighboring vehicle.

Also, the first condition may be a case where the distance is less than 4 m, and the second condition may be a case where the relative speed is within ± 3 km / h.

In addition, the adjustment condition may further include a third condition in which the first condition and the second condition are maintained for one second or more.

In addition, the parallel running determination unit may increase the speed of the vehicle when the speed of the vehicle is faster than the speed of the neighboring vehicle, increase the speed of the vehicle when the speed of the vehicle is slower than the speed of the neighboring vehicle .

In addition, the increase and deceleration of the vehicle can be made as much as 2 km / h.

In addition, the parallel running determination unit may restore the speed of the vehicle according to an end condition.

The termination condition may include a first termination condition in which the distance between the neighboring vehicle and the vehicle is less than 10 m; A second ending condition in which the neighboring vehicle falls below an inter-vehicle distance required by a smart cruise control system (SCC); And a third end condition in which the speed adjustment of the vehicle is continued for 5 seconds or more.

In addition, the vehicle control apparatus using the smart cruise control system (SCC) may further include a vehicle type determination unit for recognizing the vehicle type of the neighboring vehicle when the neighboring vehicle satisfies the adjustment condition.

The control unit may stop the acceleration of the vehicle when the vehicle height of the neighboring vehicle exceeds a predetermined range.

The vehicle type determination unit may regard the neighboring vehicle as a commercial vehicle including a large truck having a long vehicle length if the vehicle height exceeds the predetermined range.

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, And can be understood and understood.

The effect of the device according to the present invention will be described as follows.

The present invention can reduce the anxiety of the occupant (driver, etc.) by increasing or decreasing the speed of the vehicle when the parallel running is detected.

In addition, the present invention allows a vehicle to escape a state in which the vehicle runs side by side with a neighboring vehicle, so that a defensive operation against a side collision accident is possible, and an emergency coping probability is increased, thereby reducing an accident risk.

The effects obtainable by 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 following description.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. It is to be understood, however, that the technical features of the present invention are not limited to the specific drawings, and the features disclosed in the drawings may be combined with each other to constitute a new embodiment.
FIG. 1 illustrates a parallel running that may occur when traveling with a Smart Cruise Control (SCC).
2 illustrates a safety driving support apparatus mounted on a vehicle.
3 illustrates a first vehicle control method using a smart cruise control system (SCC).
4 illustrates a first vehicle control system using a smart cruise control system (SCC).
5 illustrates a method of determining the relative speed of a neighboring vehicle using a camera mounted on the vehicle.
Figure 6 illustrates another example of parallel travel that may occur when driving to a Smart Cruise Control (SCC).
Fig. 7 illustrates a neighboring vehicle recognized through a camera mounted on the vehicle.
Figure 8 illustrates a second vehicle control method using a smart cruise control system (SCC).
Figure 9 illustrates a second vehicle control system using a smart cruise control system (SCC).

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an apparatus and various methods to which embodiments of the present invention are applied will be described in detail with reference to the drawings. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

In the description of the embodiments, when it is described as being formed on the "upper" or "lower" of each element, the upper or lower (lower) And that at least one further component is formed and arranged between the two components. Also, the expression "upward" or "downward" may include not only an upward direction but also a downward direction on the basis of one component.

FIG. 1 illustrates a parallel running that may occur when traveling with a Smart Cruise Control (SCC). Specifically, FIG. 1 (a) illustrates a general driving situation, and FIG. 1 (b) illustrates a parallel driving that occurs in the course of traveling along a smart cruise control system (SCC).

(a), the vehicle 2 can travel along the lane, and the vehicles 4 neighboring to the surrounding position can be operated while keeping their own lanes. The driver of the vehicle 4 adjacent to the vehicle 2 desires to run away from each other over a predetermined interval to prevent an accident and the vehicle 4 adjacent to the vehicle 2 according to the speed and the lane selected by the drivers .

(b), when a smart cruise control system (SCC) is used, the neighboring vehicle 4 and the vehicle 2 traveling in the same lane can be operated at predetermined intervals to prevent collision . However, although the smart cruise control system (SCC) assists the vehicle operation so as to maintain a certain distance from the vehicle 4 positioned at the front, the vehicle 6 running side by side in the neighboring lane, . This may cause the vehicle 6 adjacent to the vehicle 2 to run in parallel without regard to the intention of the occupant (driver or the like). Further, after the vehicle 6 and the neighboring vehicle 6 start running in parallel, unless the element that obstructs the traveling flow ahead (for example, a vehicle traveling in a certain distance ahead) is not generated, Parallel running can be continued by the control system (SCC).

When the vehicle 2 travels in parallel, the occupant (driver or the like) may have anxiety about safe driving. Further, if the parallel running continues, the possibility of a side collision accident may increase, and emergency measures such as defensive driving may become difficult. In addition, for safety on the road, the parallel driving or the operation of maintaining the driving distance within a certain distance may be performed according to the laws or regulations (for example, Article 46 The prohibition of dangerous acts, the California Vehicle Code Section 21704 Distance Between Vehicles & Section 21750 Overtake and Pass to Left, etc.).

2 illustrates a safety driving support apparatus mounted on a vehicle.

As shown, the vehicle may include a plurality of sensors 82, 84, 92, 94, 96, 98. The plurality of sensors 82, 84, 92, 94, 96, and 98 may include a forward collision warning system (FCW), a rear collision warning system (RCW), and a blind spot detection system , BSD), and the like. A plurality of sensors 82, 84, 92, 94, 96, 98 used in a front collision warning system FCW, a rear collision warning system RCW, and a blind zone sensor BSD may optionally be mounted on a vehicle .

For example, to prevent collision and maintain proper distance from the surrounding vehicle, the Smart Cruise Control System (SCC) may use a front collision warning system (FCW) using the front sensor 82. The front collision warning system (FCW) is a device for giving visual, auditory and tactile warning to the driver for the purpose of avoiding collision with the forward vehicle by detecting the vehicle in the same direction in front of the driving lane.

In addition to the front collision warning system (FCW), the vehicle may include a rear collision warning system (RCW) using a rear sensor 84. The rear-end collision warning system (RCW) is a device for sensing the vehicle in the same direction from the rear of the driving lane and for giving visual, auditory and tactile warning to the driver for the purpose of avoiding collision with the rear vehicle .

In addition, the vehicle may include blind spot detection (BSD) using side sensors 92, 94, 96, 98. The Blind Zone Detector (BSD) is a device that provides the driver with information about the car that is approaching and the blind spot. It does not recognize the car in the blind spot, It is a safety device to prevent accidents in case of accident. Using a dead-zone detection system (BSD) included in the vehicle, it is possible to detect whether parallel travel occurs during travel according to the Smart Cruise Control System (SCC), and when a parallel travel occurs, I can get out of the situation.

3 illustrates a first vehicle control method using a smart cruise control system (SCC).

As shown, a first vehicle control method using a smart cruise control system (SCC) includes a step 10 in which a vehicle is driven by a smart cruise control system (SCC), a step 10 in which a vehicle is sensed via a blind zone sensing device A step (14) of confirming whether a neighboring vehicle meets an adjustment condition, and a step of adjusting the speed of the vehicle according to a result of comparing a speed of the vehicle with the neighboring vehicle when the neighboring vehicle satisfies the adjustment condition Step 16 may be included.

First, the vehicle can be driven by the Smart Cruise Control System (SCC) (10). If the vehicle is not driven by the Smart Cruise Control System (SCC), the driver can adjust the speed of the vehicle and prevent parallel travel, have.

When driving using the smart cruise control system (SCC), the vehicle control method may further include a step (12) of confirming whether the speed of the vehicle is equal to or higher than the reference speed. At this time, the reference speed may be 60 km / h. For example, when the vehicle is driven using a smart cruise control system (SCC), if the reference speed of the vehicle is less than 60 km / h, it is very likely that the vehicle is traveling on a complex road with many vehicles. In such a case, even if the speed of the vehicle is increased or decreased due to the occurrence of the parallel running, the parallel running may occur immediately by another vehicle. In other words, it is very difficult to avoid parallel running on a complex road with many vehicles, which may increase the risk of accidents. However, parallel running on a motorway or a highway with a vehicle speed of 60 km / h or more may cause anxiety to the passengers and increase the risk of accidents. Therefore, the vehicle control method for avoiding parallel running (adjacent running) can be performed only when the current running speed of the vehicle is 60 km / h.

If the speed of the vehicle traveling using the Smart Cruise Control System (SCC) is above the reference speed, the vehicle senses the neighboring vehicle via the dead zone sensor (BSD) and determines whether the detected neighboring vehicle satisfies the adjustment conditions Can be confirmed (14). It is possible to confirm whether there is a vehicle running at a neighboring position (for example, the side of a vehicle) by using a radar sensor used in a dead zone sensor (BSD) mounted on the vehicle, The relative speed with the sensed vehicle can be measured.

At this time, the adjustment condition may include a first condition for the distance between the vehicle and the neighboring vehicle, and a second condition for the relative speed of the vehicle adjacent to the vehicle. For example, the first condition is that the distance between the vehicle and the neighboring vehicle is less than 4 m, and the second condition is the case where the relative speed of the vehicle with the neighboring vehicle is within ± 3 km / h. The combination of the first and second conditions can be a reference for sensing neighboring vehicles running at similar speeds in the immediate lane while the vehicle is running.

Further, the adjustment condition may further include a third condition related to whether the first condition and the second condition are maintained for 1 second or more. If a relative speed similar to a short interval with a neighboring vehicle is maintained for a certain period of time through a blind spot detection device (BSD) of the vehicle, the vehicle and the neighboring vehicle may be judged to be in parallel running. Conversely, if a relative speed similar to a short distance to a neighboring vehicle is detected for a relatively short time (e.g., 0.1 second, 0.5 second, etc.), there is a possibility that the neighboring vehicle will shift. Further, it may not be necessary to increase or decrease the speed of the vehicle when the vehicle is temporarily generated for a short period of time depending on road conditions or driving conditions.

The step 16 of adjusting the speed of the vehicle may include increasing the speed of the vehicle if the speed of the vehicle is faster than the speed of the neighboring vehicle. In addition, adjusting the speed of the vehicle (step 16) may include decreasing the speed of the vehicle if the speed of the vehicle is slower than the speed of the neighboring vehicle. For example, the increase and deceleration of the vehicle can be as much as 2 km / h.

The vehicle control method using the Smart Cruise Control System (SCC) may further include recovering the speed of the vehicle (18) according to the termination condition. Here, the termination condition is a first termination condition in which the distance between the neighboring vehicle and the vehicle is less than 10 m, a second termination condition in which the neighboring vehicle is less than the inter-vehicle distance required by the smart cruise control system (SCC); And a third end condition in which the speed adjustment of the vehicle is continued for 5 seconds or more.

For example, when it is judged that an adjacent vehicle and a vehicle are parallel running (adjacent running), the vehicle speed can be lowered by 2 km / h for 5 seconds. After 5 seconds, the vehicle's speed can be restored to its original speed (ie, increased again by 2 km / h). Since the speed of the vehicle has been reduced for 5 seconds, the distance between the vehicle and the neighboring vehicle traveling at the original speed may be distant. After 5 seconds, the distance between the vehicle and the neighboring vehicle has been increased. Therefore, even if the speed of the vehicle is restored, the vehicle can be released from the parallel traveling (adjacent traveling) state.

4 illustrates a first vehicle control system using a smart cruise control system (SCC).

As shown, a first vehicle control system using a smart cruise control system (SCC) includes a control unit 40 for controlling the speed of the vehicle in accordance with a smart cruise control system (SCC) (BSD) 36 for detecting a vehicle and a neighboring vehicle satisfy the condition, the control unit 40 controls the speed of the vehicle according to a result of comparing the speed of the vehicle with the speed of the neighboring vehicle And a parallel travel determiner 38 for adjusting the travel of the vehicle.

The vehicle may include a driving unit 50 for driving. The drive unit 50 which can be controlled by the control unit 40 may include devices that can affect the running speed of the vehicle such as the engine 52, the throttle valve 54, the transmission 56, and the brake 58 have. In addition, the electric vehicle system 30 included in the vehicle may include a smart cruise control system (SCC) device 32 and a front collision warning system (FCW) device 34 and the like. Although not shown, a rear collision warning system (RCW) device (not shown) and the like may be included in the vehicle.

The parallel running determination unit 38 can determine the adjustment condition when the vehicle speed is equal to or greater than the reference speed. The adjustment condition may include a first condition for the distance between the vehicle and the neighboring vehicle and a second condition for the relative speed of the vehicle adjacent to the vehicle. For example, the first condition is a case where the inter-vehicle distance is within 4 m, and the second condition may be when the relative speed is within ± 3 km / h. Further, the adjustment condition may further include a third condition in which the first condition and the second condition are maintained for 1 second or more.

The parallel running determination unit 38 increases the speed of the vehicle when the vehicle speed is higher than the speed of the neighboring vehicle and decreases the speed of the vehicle when the speed of the vehicle is slower than the speed of the neighboring vehicle have. For example, the increase and deceleration of the vehicle can be as much as 2 km / h.

The parallel running determination unit 38 can restore the speed of the vehicle according to the termination condition. Here, the termination condition includes a first termination condition in which the distance between the neighboring vehicle and the vehicle is less than 10 m, a second termination condition in which the neighboring vehicle is less than the inter-vehicle distance required by the smart cruise control system (SCC) And a third termination condition that lasts more than 5 seconds.

5 illustrates a method of determining the relative speed of a neighboring vehicle using a camera mounted on the vehicle.

As shown in the figure, the vehicle 2 is a device for confirming a side lane vehicle using a camera mounted on the vehicle, for example, a camera mounted on the left and right mirrors or side sensors 92 and 94 (see Fig. 2) Show. When the vehicle 6 adjacent to the side lane emerges, the position of the neighboring vehicle 6 can be detected in real time through the camera and can be divided into virtual lattices of predetermined intervals (for example, 1 m) The relative speed can be measured according to how far the neighboring vehicle 6 is moving. The relative speed of a neighboring vehicle moving by one meter (m) can be determined by Equation 1 below.

Relative speed (m / s) = 1 m / movement time (sec) [Equation 1]

Figure 6 illustrates another example of parallel travel that may occur when driving to a Smart Cruise Control (SCC). Specifically, FIG. 6A illustrates a case where a neighboring vehicle is a vehicle of a general length in a parallel running that occurs in the course of running along a smart cruise control system (SCC), and FIG. 6B illustrates a case where a neighboring vehicle A case of a large truck having a long vehicle length will be described.

(a), when the smart cruise control system (SCC) is used, the vehicle 22A can travel along the lane and the vehicles 24 and 26A neighboring to the surrounding location can be operated with their own lanes . Increasing the speed of the vehicle 22A in a state in which the vehicle 22A is traveling in parallel with the neighboring vehicle 26A increases the relative distance with the neighboring vehicle 26A in which the vehicle 22B travels in parallel, They can travel apart from each other by an interval or more.

(b), when a smart cruise control system (SCC) is used, the vehicle 22A can run in parallel with commercial vehicles such as a heavy truck 26B having a long vehicle length. At this time, even if the vehicle 22A increases the speed, the vehicle 22B may still be running in parallel with the heavy truck 26B. This phenomenon may occur because commercial vehicles such as the heavy truck 26B have a relatively long length as compared with the general vehicle 22B. Therefore, even if the parallel running is detected, when the neighboring vehicle is a commercial vehicle such as the heavy truck 26B, the vehicle 22A does not need to perform unnecessary acceleration.

Fig. 7 illustrates a neighboring vehicle recognized through a camera mounted on the vehicle.

As shown in (a) of FIG. 1, a neighboring vehicle is recognized as a general vehicle through a camera, and (b) a neighboring vehicle is recognized as a long truck having a long length.

In order to distinguish between a general vehicle having a long vehicle length and a long heavy truck, the height of a neighboring vehicle photographed by the camera can be used. If the vehicle height of the neighboring vehicle recognized by the camera exceeds the predetermined range, the neighboring vehicle can be regarded as a large truck having a long vehicle length. For example, when comparing (a) and (b), it is easy to find the vehicle type of the neighboring vehicle based on the difference between the height of the vehicle such as the sedan and the height of the heavy truck.

Figure 8 illustrates a second vehicle control method using a smart cruise control system (SCC).

As shown, a second vehicle control method using a smart cruise control system (SCC) includes a step 70 in which the vehicle is driven by a smart cruise control system (SCC), a step 70 in which the vehicle is sensed via a blind zone sensing device A step (74) of confirming whether the neighboring vehicle meets the adjustment condition, a step (76) of recognizing the vehicle type of the neighboring vehicle when the neighboring vehicle satisfies the adjustment condition, And adjusting (78) the speed of the vehicle according to the speed comparison result.

In addition, when traveling using the smart cruise control system (SCC), the vehicle control method may further include a step (72) of checking whether the speed of the vehicle is equal to or higher than the reference speed. In addition, the vehicle control method using the Smart Cruise Control System (SCC) may further include a step 80 of restoring the speed of the vehicle according to the termination condition.

The second vehicle control method is similar to the first vehicle control method described with reference to Fig. 3, but further includes a step of confirming the type of the neighboring vehicle. Although not shown, if the vehicle height of the neighboring vehicle exceeds a predetermined range, the second vehicle control method may further include stopping the acceleration of the vehicle.

Figure 9 illustrates a second vehicle control system using a smart cruise control system (SCC).

As shown, a second vehicle control system using a smart cruise control system (SCC) includes a control unit 40 for controlling the speed of the vehicle in accordance with a smart cruise control system (SCC) (BSD) 66 for detecting a vehicle and a neighboring vehicle satisfy the condition, the control unit 40 controls the speed of the vehicle according to the result of comparing the speed of the vehicle with the speed of the neighboring vehicle And a parallel running determination unit 68 for adjusting the running state of the vehicle. In addition, the electric vehicle system 60 included in the vehicle may include a smart cruise control system (SCC) device 62 and a front collision warning system (FCW) device 64 and the like. Although not shown, a rear collision warning system (RCW) device (not shown) and the like may be included in the vehicle.

Unlike the first vehicle control device, the second vehicle control device may further include a vehicle type determination section (48) that recognizes the vehicle type of the neighboring vehicle when the neighboring vehicle satisfies the adjustment condition. If it is determined by the vehicle type determination unit 48 that the vehicle height of the neighboring vehicle exceeds the predetermined range, the control unit 40 can stop the acceleration of the vehicle.

When the vehicle height exceeds the preset range, the vehicle type determination unit 48 can regard the neighboring vehicle as a commercial vehicle having a long vehicle length, such as a large truck with a long vehicle length.

The method according to the above-described embodiments may be implemented as a program to be executed by a computer and stored in a computer-readable recording medium. Examples of the computer-readable recording medium include a ROM, a RAM, a CD- , A floppy disk, an optical data storage device, and the like, and may also be implemented in the form of a carrier wave (for example, transmission over the Internet).

The computer readable recording medium may be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner. And, functional program, code, and code segments for implementing the above-described method can be easily inferred by programmers in the technical field to which the embodiment belongs.

It will be apparent to 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.

Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

30, 60: Electric field system
32, 62: Smart Cruise Control System Device
34, 64: Front collision warning system device 36, 66: Dead zone detection device
38, 68: parallel running judging unit 48: vehicle type judging unit
40: control unit 50:
52: engine 56: transmission
58: Break
82, 84, 92, 94, 96, 98: a plurality of sensors

Claims (22)

A step in which the vehicle is driven by a smart cruise control system (SCC);
Recognizing an image collected through a camera and a distance and a relative speed with neighboring vehicles sensed through a blind spot sensing device (BSD);
Confirming that the distance and the relative speed satisfy an adjustment condition;
Adjusting the speed of the vehicle according to the result of comparing the speed of the vehicle with the speed of the neighboring vehicle when the neighboring vehicle meets the adjustment condition;
Recognizing the vehicle type of the neighboring vehicle when the neighboring vehicle satisfies the adjustment condition; And
Stopping the acceleration of the vehicle when the vehicle height of the neighboring vehicle exceeds a predetermined range
(SCC), wherein the smart cruise control system (SCC) is used. The method according to claim 1,
Confirming whether the speed of the vehicle is equal to or greater than a reference speed;
Further comprising a Smart Cruise Control System (SCC). 3. The method of claim 2,
Wherein the reference speed is 60 km / h, using a smart cruise control system (SCC). The method according to claim 1,
The adjustment condition is
A first condition for the distance between the vehicle and the neighboring vehicle; And
A second condition for the relative speed of the vehicle and the neighboring vehicle
(SCC), wherein the smart cruise control system (SCC) is used. 5. The method of claim 4,
Wherein the first condition is when the distance is within 4 m and the second condition is when the relative speed is within 3 km / h. 5. The method of claim 4,
The adjustment condition is
Further comprising a third condition that the first condition and the second condition are maintained for one second or more. The method according to claim 1,
The step of adjusting the speed of the vehicle
Increasing the speed of the vehicle when the speed of the vehicle is faster than the speed of the neighboring vehicle; And
If the speed of the vehicle is slower than the speed of the neighboring vehicle, reducing the speed of the vehicle
(SCC), wherein the smart cruise control system (SCC) is used. 8. The method of claim 7,
Wherein the increase and deceleration of the vehicle is made by 2 km / h. The method according to claim 1,
Restoring the speed of the vehicle in accordance with the termination condition
Further comprising a Smart Cruise Control System (SCC). 10. The method of claim 9,
The termination condition
A first end condition in which the distance between the neighboring vehicle and the vehicle is less than 10 m;
A second ending condition in which the neighboring vehicle falls below an inter-vehicle distance required by a smart cruise control system (SCC); And
A third end condition in which the speed adjustment of the vehicle is continued for 5 seconds or more
(SCC), comprising at least one of: < RTI ID = 0.0 > a < / RTI > The method according to claim 1,
Wherein the neighboring vehicle is regarded as a commercial vehicle including a large truck having a long vehicle length when the vehicle height exceeds the preset range. Readable medium containing an application program for implementing a vehicle control method using the smart cruise control system (SCC) according to any one of claims 1 to 11 through being executed by a processor Recording medium. A control unit for controlling the speed of the vehicle according to a smart cruise control system (SCC);
Sensing means for sensing an image collected through a camera device and a distance between the vehicle and a neighboring vehicle traveling at a neighboring position with respect to the vehicle through a blind zone sensing device and a relative speed;
A parallel travel determiner for adjusting the speed of the vehicle through the controller according to a result of comparing the speed of the vehicle with the speed of the neighboring vehicle when the neighboring vehicle satisfies the adjustment condition; And
And a vehicle type determination unit for recognizing the vehicle type of the neighboring vehicle when the neighboring vehicle satisfies the adjustment condition,
Wherein the control unit stops the acceleration of the vehicle when the vehicle height of the neighboring vehicle exceeds a predetermined range using the smart cruise control system. 14. The method of claim 13,
Wherein the parallel travel determiner uses the smart cruise control system (SCC) to determine the adjustment condition when the speed of the vehicle is equal to or greater than a reference speed. 14. The method of claim 13,
The adjustment condition is
A first condition for the distance between the vehicle and the neighboring vehicle; And
A second condition for the relative speed of the vehicle and the neighboring vehicle
(SCC), wherein the smart cruise control system (SCC) is used. 16. The method of claim 15,
Wherein the first condition is when the distance is within 4 m, and the second condition is when the relative speed is within ± 3 km / h. 16. The method of claim 15,
The adjustment condition is
Further comprising a third condition that the first condition and the second condition are maintained for one second or more. 14. The method of claim 13,
The parallel running determination unit
When the speed of the vehicle is faster than the speed of the neighboring vehicle,
(SCC) that reduces the speed of the vehicle when the speed of the vehicle is slower than the speed of the neighboring vehicle. 19. The method of claim 18,
Wherein the increase and deceleration of the vehicle is made by 2 km / h. 14. The method of claim 13,
Wherein the parallel travel determiner uses a smart cruise control system (SCC) that restores the speed of the vehicle in accordance with an end condition. 21. The method of claim 20,
The termination condition
A first end condition in which the distance between the neighboring vehicle and the vehicle is less than 10 m;
A second ending condition in which the neighboring vehicle falls below an inter-vehicle distance required by a smart cruise control system (SCC); And
A third end condition in which the speed adjustment of the vehicle is continued for 5 seconds or more
(SCC), comprising at least one of the following: < RTI ID = 0.0 > a < / RTI > 14. The method of claim 13,
Wherein the vehicle type determination unit determines that the vehicle is a commercial vehicle including a smart cruise control system (SCC) in which the neighboring vehicle is regarded as a commercial vehicle including a large truck having a long vehicle length when the vehicle height exceeds the predetermined range. controller.

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