KR20170119110A - Active u-turn assistance system - Google Patents

Abstract

The present invention relates to a system for assisting a U-turn of a vehicle, and more particularly to a system for assisting a U-turn of a vehicle by calculating / controlling the steering angle of the vehicle so as to more easily perform a U- So that the U-turn can be performed more easily and stably.
More particularly, the present invention relates to a vehicle control system for a vehicle, comprising: a position measuring unit for recognizing a current position and a surrounding environment of a vehicle; a U-turn determining unit for determining whether or not the vehicle is turned on; A U-turn steering unit for calculating / controlling a U-turn steering angle using a current position and a surrounding environment that the position measuring unit grasps, and an U-turn ending unit for determining a yaw angle of the vehicle and a yaw angle, Provide an auxiliary system.

Description

{ACTIVE U-TURN ASSISTANCE SYSTEM}

The present invention relates to a system for assisting a U-turn of a vehicle, and more particularly to a system for assisting a U-turn of a vehicle by calculating / controlling the steering angle of the vehicle so as to more easily perform a U- So that the U-turn can be performed more easily and stably.

In recent years, a number of driving support systems, such as an automatic parking system and a lane-keeping system, are installed for a driver who is inexperienced in driving.

Especially, following the parallel parking, a system that automatically controls the steering angle so as to enter the parking space by using an ultrasonic sensor is also supported. Also, by using the front camera, it is possible to warn or actively control the steering according to whether the vehicle leaves the lane, Is becoming a universal trend.

However, as described above, a number of auxiliary systems for parking or lane maintenance have been developed and widely used, but there are few auxiliary systems that support U-turns.

In fact, from 2008 to 2012, the police investigated 41,326 U-turn accidents, resulting in 368 deaths and 64,023 injuries. These statistics show that a number of accidents occur when the vehicle is turned on.

However, if the auxiliary system automatically controls the steering angle in the U-turn situation and the driver concentrates more on the surrounding traffic situation, the accident caused by the U-turn will be significantly reduced.

In the past, only a system for judging whether or not the driver has turned on the U-turn and displaying the progress of the U-turn has existed. However, this results in a problem that the driver views the monitor during the U-turn and reduces the driving concentration.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a U-turn auxiliary system which enables a driver to perform a vehicle U-turn more safely and conveniently.

Another object of the present invention is to provide a convenient and stable vehicle driving environment by actively calculating and controlling the steering angle required for U-turn operation by the U-turn assist system.

The technical objects to be achieved by the present invention are not limited to the above-mentioned technical problems, and other technical subjects which are not mentioned can be clearly understood by those skilled in the art from the description of the present invention .

According to an aspect of the present invention, there is provided a vehicular navigation system including a position measurement unit for recognizing a current position and a surrounding environment of a vehicle, a U-turn determining unit for determining whether or not the vehicle is turned on, A U-turn steering unit for calculating / controlling a U-turn steering angle by using the current position and the surrounding environment that the position measuring unit grasps, and a U-turn ending unit for determining a yaw angle and a movement amount of the vehicle, And provides an active U-turn auxiliary system.

In the present invention, the U-turn determining unit determines whether or not the vehicle is turned on by using at least one of information of whether the vehicle is stationary, whether the vehicle is stationary, whether the vehicle is stationary or not,

In the present invention, it is preferable that the information is derived from at least one of a wheel speed sensor, an ultrasonic sensor, a gear, or a steering angle sensor.

In the present invention, the steer angle manipulation information may be determined to have been manipulated only when the steer angle is manipulated above a threshold value.

In the present invention, the U-turn determining unit receives and uses the information through CAN (Controller Area Network) communication.

In the present invention, the position measuring unit may be a camera of a Lane Departure Warning System (LDWS) or a Lane Keeping Assist System (LKAS).

According to the present invention, when the current steering angle is close to the calculated U-turn steering angle, the U-turn steering unit may weight the steering motor to inform the driver of the U-turn steering angle.

The present invention may further include a display unit for displaying at least one of a current position of the vehicle, a steering angle, a U-turn progress ratio, or a minimum turning radius.

According to another aspect of the present invention, there is provided a method for controlling a U-turn steering system, the method comprising the steps of: determining whether a U-turn determining unit is in a U-turn state; Calculating and controlling the steering angle, and determining whether or not the U-turn end has completed the U-turn.

The present invention may further comprise the step of displaying at least one of the current position of the vehicle, the steering angle, the U-turn progress, or the minimum turning radius of the vehicle.

The step of calculating / controlling the U-turn steering angle by the U-turn steering unit may include calculating a U-turn steering angle using the current position and the surrounding environment that the position measuring unit has grasped, and when the current steering angle is close to the calculated U-turn steering angle, A step of notifying the driver of the U-turn steering angle, and a step of controlling the steering angle to be fixed at the time of vehicle U-turn.

The present invention provides a U-turn assist system that actively calculates and controls a steering angle required for U-turn operation, thereby enabling a driver to concentrate on surrounding traffic conditions, thereby preventing an accident from occurring.

In addition, the present invention utilizes a camera of the position measuring unit to provide a U-turn assist system considering the surrounding environment, thereby reducing the burden on the driver of the U-turn and enhancing the merchantability of the vehicle by installing such a system.

1 is a block diagram of an active U-turn auxiliary system according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating an example in which the vehicle is stopped at the center of a lane during a U-turn according to an exemplary embodiment of the present invention; FIG.
3 is a view illustrating a case where the vehicle stops in a state in which the vehicle is inclined at the center of the lane during a U-turn according to an embodiment of the present invention.
4 is a diagram illustrating an example of a U-turn steering angle calculation according to an embodiment of the present invention.
FIG. 5 is an exemplary diagram illustrating an Ackerman-only geometry sweep according to an embodiment of the present invention; FIG.
6 is a flowchart of an active U-turn assist 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. Prior to this, terms and words used in the present description and claims should not be construed as limited to ordinary or dictionary meanings, and the inventor should properly interpret the concepts of the terms in order to describe their invention in the best way. It should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention based on the principle that it can be defined. Therefore, the embodiments described in this specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention, and not all of the technical ideas of the present invention are described. Therefore, It is to be understood that equivalents and modifications are possible.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise.

In order to more safely and easily perform a U-turn by providing a driver with a calculated / controlled steering angle, the present invention includes a position measuring unit (100) for determining a current position and a surrounding environment of the vehicle, The U-turn steering unit 300 calculates and controls the U-turn steering angle using the current position and the surrounding environment of the position measuring unit when the U-turn determining unit determines the U-turn state. And a U-turn ending unit 400 for determining the movement amount and the yaw angle of the vehicle and determining whether or not the U-turn has been completed.

1 is a block diagram illustrating an active U-turn assist system according to an embodiment of the present invention.

First, the position measuring unit 100 of the present invention is configured to grasp the current position of the vehicle and the surrounding environment of the vehicle through a camera mounted on the vehicle, and a separate camera may be used for the present invention. However, It is preferable to use a camera of a Lane Departure Warning System (LDWS) or a Lane Keeping Assist System (LKAS).

The LDWS is a system for warning that a lane departs due to a drowsy operation or the like as a lane departure warning system and essentially includes a camera for confirming whether or not a lane departure has occurred. The LKAS is a lane departure automatic return system, The system automatically returns the steering wheel to the home position when the vehicle leaves the lane, and likewise has a camera in order to check whether or not the vehicle is departing from the lane.

The U-turn determining unit 200 of the present invention determines whether the vehicle is stopped or not, whether the vehicle is stationary or not based on CAN (Controller Area Network) communication from at least one of the interlocked wheel speed sensor, ultrasonic sensor, gear, Whether or not the vehicle is at the U-turn by receiving at least one of information indicating whether the indicator is turned on or steering angle manipulation information.

For example, when the vehicle speed is 0, the current vehicle position is above the U-turn lane, the left turn indicator is turned on, and the steering angle is larger than a threshold value (for example, 90 degrees) .

In addition to the above information, information necessary for determining whether or not another U-turn can be additionally included. In addition, it is needless to say that an optimized algorithm can be implemented so as to determine whether or not the U-

When the U-turn determining unit 200 determines that the current vehicle running state is the U-turn state, the U-turn steering unit 300 of the present invention calculates the U-turn steering angle using the current position and the surrounding environment, Lt; / RTI >

As shown in FIGS. 2 and 3, the U-turn steering angle to be calculated when the vehicle leaves the center of the lane and stops in a tilted state is changed. In addition, the U-turn steering angle is determined by the turning radius of the vehicle, Lane width, center lane deviation, lane departure angle, and so on.

More specifically, FIG. 3 illustrates an example of U-turn steering angle calculation according to an embodiment of the present invention.

"Departure distance according to departure angle + lane departure distance + 2 * car width = 2 * rotation radius", and expressing it formally,

And _{"Rsinδ 1 sinδ 1 + s 1} + 2LW = 2R", unscrewing it,

"Rsin ² ? ₁ + s ₁ + 2LW = 2R"

"(2-sin ² δ ₁ ) R = s ₁ + 2LW"

Is equal to "R = (s ₁ + 2LW) / (2-sin ² δ ₁ )".

If the two equations are calculated by using the Ackerman only geometry tilt (? = Tan ^-1 (L / R)) shown in FIG. 5,

Finally, the U-turn steering angle = tan ^-1 (L (2 - sin ²隆₁ ) / (s ₁ + 2LW)) is derived.

When the U-turn steering angle is calculated and the current steering angle of the vehicle approaches the calculated U-turn steering angle by the operation of the vehicle driver, the U-turn steering unit 300 heavily increases the steering motor 310 to inform the driver of the U- .

The U-turn termination unit 400 of the present invention determines whether or not the U-turn has been completed by determining the amount of movement and the yaw angle of the vehicle. In particular, ), It is desirable to decide to complete the U-turn.

In addition, the present invention may further include a display unit 500 that displays at least one of a current position of the vehicle, a steering angle, a U-turn progress rate, or a minimum turning radius, and the display unit is most efficiently included in the navigation mounted on the vehicle to be.

FIG. 6 is a flowchart illustrating an active U-turn assist method according to an embodiment of the present invention. FIG. 6 is a flowchart illustrating an active U-turn assist method according to an embodiment of the present invention.

The U-turn determining unit 200 determines whether or not the vehicle is turned on (S10), and the position measuring unit 100 detects the current position and the surrounding environment of the vehicle (S20). Then, The U-turn steering unit 300 calculates / controls the U-turn steering angle (S30), and the U-turn end unit 400 determines whether the U-turn has been completed (S40).

It goes without saying that the order of the above steps may be changed when the U-turn determining unit 200 determines the current position and the surrounding environment of the vehicle in order to determine whether the vehicle is turned on.

In addition, the present invention may further comprise the step of the display unit 500 displaying at least one of the current position of the vehicle, the steering angle, the U-turn progression rate, or the minimum turn radius, Is preferably performed continuously.

More specifically, the U-turn steering angle calculation / control step (S30) of the U-turn steering unit 300 includes calculating a U-turn steering angle using the current position and the surrounding environment obtained by the position measuring unit 100, When the calculated steering angle is close to the calculated U-turn steering angle, weighting the steering motor 310 to inform the driver of the U-turn steering angle, and controlling the steering angle to be fixed when the vehicle is turned on.

As a result, the present invention provides an advantage of the U-turn assist system that actively calculates and controls the U-turn steering angle required for U-turn operation in the vehicle, thereby allowing the driver to focus more on the surrounding traffic situation during U-turn, thereby preventing accidents.

Thus, it is possible to reduce the burden on the driver by the U-turn and contribute to the improvement of the vehicle merchandise due to the present system.

While the present invention has been described with reference to the specific embodiments, it is to be understood that the invention is not limited thereto. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents. Various modifications and variations are possible.

100:
200: U-
300: U-turn steering section
310: Steering motor
400: U-
500:

Claims (11)

A position measuring unit for determining a current position and a surrounding environment of the vehicle;
A U-turn determining unit for determining whether or not the vehicle is turned on;
A U-turn steering unit for calculating / controlling the U-turn steering angle using the current position and the surrounding environment that the position measuring unit grasps when the U-turn determining unit determines the U-turn condition; And
A U-turn end unit for determining whether the U-turn has been completed by determining a movement amount and a yaw angle of the vehicle; And an auxiliary U-turn auxiliary system.
The method according to claim 1,
Wherein the U-turn determining unit determines whether or not the vehicle is turned on by using at least one of information on whether the vehicle is stopped, information on whether the vehicle is turned on, information on whether the vehicle is turned on, information on whether or not the turn indicator is turned on,
3. The method of claim 2,
Wherein the information is derived from at least one of a wheel speed sensor, an ultrasonic sensor, a gear, or a steering angle sensor.
3. The method of claim 2,
Wherein the steering angle manipulation information is determined to have been manipulated only when the steering angle is manipulated above a threshold value.
3. The method of claim 2,
And the U-turn determining unit receives and uses the information through a CAN (Controller Area Network) communication.
The method according to claim 1,
Wherein the position measuring unit uses a camera of a Lane Departure Warning System (LDWS) or a Lane Keeping Assist System (LKAS).
The method according to claim 1,
Wherein the U-turn steering unit heats the steering motor when the current steering angle is close to the calculated U-turn steering angle, thereby informing the driver of the U-turn steering angle.
The method according to claim 1,
Further comprising a display unit for displaying at least one of a current position of the vehicle, a steering angle, a U-turn progress rate, or a minimum turning radius.
9. A method of assisting a U-turn of a vehicle using the system of any one of claims 1 to 8,
Determining whether or not the U-turn determining unit determines the U-turn of the vehicle;
The position measuring unit recognizing the current position and the surrounding environment of the vehicle;
The U-turn steering unit calculating / controlling the U-turn steering angle; And
Determining whether or not the U-turn end has completed a U-turn; The active U-turn assist method comprising:
10. The method of claim 9,
Further comprising the step of displaying at least one of a current position of the vehicle, a steering angle, a U-turn progress rate, or a minimum turn radius of the vehicle.
The method as claimed in claim 9, wherein the step of calculating / controlling the U-
Calculating a U-turn steering angle using the current position and the surrounding environment that the position measuring unit grasps;
If the current steering angle is close to the calculated U-turn steering angle, weighting the steering motor to inform the driver of the U-turn steering angle; And
Controlling the steering angle to be fixed when the vehicle is turned on; Wherein the active U-turn assist method comprises:

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