KR20180006635A - System for avoiding collision in crossroad and method for control thereof - Google Patents

Abstract

The present embodiments relate to a system for controlling a vehicle to avoid collision between vehicles at an intersection and to a control method thereof, configured to measure a relative distance and relative speed for each direction of surrounding vehicles running at an intersection, and then apply a predetermined error range to the measured value, thereby analyzing a risk of collision between a vehicle and surrounding vehicles and generating a collision probability map. The present invention is configured to determine a direction and a position in which the risk of collision of the vehicle is high based on the generated collision probability map, and control the vehicle in accordance with the determination result, thereby accurately and effectively avoiding the collision between the vehicles based on movement of the surrounding vehicles sensed at an intersection and on a sensing error.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an intersection collision avoidance system,

The present embodiments relate to a system for controlling a vehicle so as to avoid collision between vehicles at an intersection and a control method thereof.

As the demand for the performance of the vehicle and the demand for convenience and safety of the driver increase, it is possible to acquire information about the vehicle and the surroundings of the vehicle through the sensors mounted on the vehicle and to control the vehicle based on the obtained information (DAS: Driver Assist System) is continuously being developed and developed.

One such driver assistance system (DAS) is a collision avoidance system that detects vehicles or obstacles traveling in the vicinity of the vehicle while driving, and helps avoid collision with the detected nearby vehicles or obstacles.

Such a collision avoidance system senses a vehicle running in the vicinity of the vehicle and determines a possibility of collision with the sensed vehicle, and provides a crash warning alert to the driver.

On the other hand, such a collision avoidance system can be applied even when the vehicle is traveling at an intersection.

However, in the case of an intersection, a collision may occur in a state in which the vehicle and the nearby vehicle are opposed to each other at right angles, and the deceleration control and the steering control of the vehicle can be simultaneously performed at the intersection, making it difficult to accurately determine the possibility of collision with the nearby vehicle Lt; / RTI >

Therefore, there is a need for a system and method for accurately determining collision situations at such intersections and controlling the vehicle so as to substantially avoid collision between the vehicle and the surrounding vehicle in anticipation of a collision.

It is an object of the present embodiments to provide an intersection collision avoidance system and a control method thereof for controlling a vehicle so as to avoid a collision between a vehicle and a nearby vehicle at an intersection.

It is an object of the embodiments of the present invention to provide an intersection collision avoidance system and a control method thereof that accurately determine the possibility of collision with a nearby vehicle at an intersection and control the vehicle based on collision probability with improved accuracy.

It is an object of the present embodiments to provide an intersection collision avoidance system and a control method thereof that perform control suitable for a vehicle according to a collision risk in a situation where a plurality of collision risks such as an intersection can occur.

In one aspect, the embodiments of the present invention include a sensing unit for sensing a peripheral vehicle and measuring a relative distance and a relative speed with respect to the sensed peripheral vehicle, and a control unit for applying a predetermined distance error range to the measured relative distance, A collision probability map generator for generating a collision probability map based on a relative distance to which a predetermined distance error range is applied and a relative speed to which a predetermined speed error range is applied, And a collision avoidance control unit that performs control for avoiding collision with a nearby vehicle.

In such an intersection collision avoidance system, the sensing unit may measure a first direction relative distance, a first direction relative speed, a second direction relative distance, and a second direction relative speed with a nearby vehicle.

At this time, the collision probability map generator applies the first directional distance error range previously set to the measured first directional relative distance and applies the first directional speed error range previously set to the measured first directional relative speed, Calculating a first time at which the first direction relative distance is 0, calculating a second direction relative distance with the surrounding vehicle at a time point of the first time, calculating a second direction distance error range And calculates a second time when the second direction relative distance with the surrounding vehicle becomes 0 by applying the second directional speed error range set to the measured second direction relative speed, The first direction relative distance can be calculated.

Also, the collision probability map generator may apply the second directional distance error range previously set to the measured second directional relative distance, and apply the second directional velocity error range preset to the measured second directional relative velocity, Calculating a second direction relative distance with the surrounding vehicle at a time point, applying a predetermined first direction distance error range to the measured first direction relative distance and determining a first directional speed error range preset to the measured first direction relative speed The first direction relative distance to the surrounding vehicle can be calculated at the time point of the second time.

Here, the collision probability map generator generates a collision probability map with the surrounding vehicle based on the first direction relative distance with the surrounding vehicle at the second direction relative distance to the surrounding vehicle at the first time point and the second time point And the collision avoidance control unit can control the vehicle based on the direction and the time at which the possibility of collision with the nearby vehicle confirmed from the generated collision probability map is high.

On the other hand, the collision probability map generator may use the relative velocity for generating the collision probability map including the motion measured according to the steering control at the relative speed to which the predetermined speed error range is applied.

In another aspect, the present embodiments provide a method of measuring a relative speed including a relative distance including a first direction relative distance and a second direction relative distance to a nearby vehicle, and a relative speed including a first direction relative speed and a second direction relative speed Applying a predetermined distance error range to the measured relative distance and applying a predetermined speed error range to the measured relative speed, calculating a relative distance to which the predetermined distance error range is applied and a relative speed Generating a collision probability map using the collision probability map, and performing control to avoid a collision with a nearby vehicle based on the generated collision probability map.

According to the embodiments, the risk of lateral collision between the vehicle and the surrounding vehicle and the risk of longitudinal collision are analyzed and the vehicle is controlled to prevent collision between the vehicle and the surrounding vehicle at the intersection.

According to the present embodiments, it is possible to prevent collision between vehicles due to sensing errors by determining the risk of collision in consideration of the error range of the sensing data about the nearby vehicles sensed at the intersection.

According to the embodiments, the collision avoidance control of the vehicle is performed based on the collision probability map generated according to the collision risk in consideration of the sensing error, so that the vehicle can avoid the situation where the collision risk is highest in the intersection, So that appropriate vehicle control can be performed.

FIGS. 1A and 1B are views showing an example of a situation where a collision between a vehicle and a nearby vehicle may occur at an intersection.
2 is a diagram illustrating an example of data to be sensed for collision risk determination in an intersection collision avoidance system according to the present embodiments.
3 is a diagram showing the configuration of an intersection collision avoidance system according to the present embodiments.
4 is a diagram illustrating an example of a collision probability map generated by an intersection collision avoidance system according to the present embodiments.
5 is a flowchart illustrating a method of controlling an intersection collision avoidance system according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In the drawings, like reference numerals are used to denote like elements throughout the drawings, even if they are shown on different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the components from other components, and the terms do not limit the nature, order, order, or number of the components. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; intervening "or that each component may be" connected, "" coupled, "or " connected" through other components.

The present embodiments are intended to be illustrative only and not to be construed as limiting the scope of the present invention in any way, ≪ / RTI >

Hereinafter, the vehicle controlled by the intersection collision avoiding system according to the present embodiment will be described as the child vehicle 10, and the other vehicles that are traveling around the child vehicle 10 and are likely to collide with the child vehicle 10 As the peripheral vehicle 20.

Figs. 1A and 1B show examples of situations in which a collision between the subject vehicle 10 traveling at the intersection and the surrounding vehicle 20 running around the subject vehicle 10 may occur.

1A shows a situation in which a collision may occur with a nearby vehicle 20 traveling in a direction perpendicular to the running direction of the vehicle 10 when the vehicle 10 travels straight at an intersection.

1A, the vehicle 10 travels straight ahead at an intersection, and the nearby vehicle 20 travels in a direction perpendicular to the traveling direction of the vehicle 10 from the right side of the vehicle 10 .

In this case, the subject vehicle 10 and the nearby vehicle 20 may collide at the intersection of the intersection according to the current position and speed of the subject vehicle 10, and the current position and speed of the nearby vehicle 20.

Therefore, it is possible to judge the possibility of collision according to the driving state of the subject vehicle 10 and the surrounding vehicle 20, and to control the collision between the subject vehicle 10 and the adjacent vehicle 20 when the risk of collision is expected .

At this time, since the running direction of the subject vehicle 10 and the running direction of the nearby vehicle 20 are perpendicular to each other, the risk of collision must be determined in consideration of the running direction of each vehicle.

1B shows a situation in which a collision may occur with the nearby vehicle 20 running in the oblique direction with respect to the running direction of the subject vehicle 10 when the subject vehicle 10 runs straight on the intersection.

1B, the vehicle 10 travels straight ahead in the intersection, and the nearby vehicle 20 travels from the right side of the vehicle 10 to the direction in which the vehicle 10 is located .

In this case, in order to determine the risk of collision between the present vehicle 10 and the adjacent vehicle 20, sensing and analysis of the lateral and longitudinal velocities of the nearby vehicle 10 are required.

In addition, since the peripheral vehicle 10 is subjected to steering control, the risk of collision must be determined in consideration of the movement of the steering wheel.

Accordingly, in order to prevent the collision between the vehicle 10 and the adjacent vehicle 20 running in the oblique direction at the intersection, it is possible to determine the risk of collision by taking into consideration the movement of the surrounding vehicle 20 in accordance with the speed and steering .

That is, at the intersection, there may occur a situation in which the running direction of the subject vehicle 10 and the adjacent vehicle 20 is not parallel to each other, and a collision with the adjacent vehicle 20 running in a direction not parallel to the subject vehicle 10 Sensing and collision risk analysis should be done to prevent the risk.

2 shows an example of data that the intersection collision avoidance system according to the present embodiments senses in order to determine the risk of collision between the subject vehicle 10 and the surrounding vehicle 20. [

2, the sub-vehicle 10 measures a relative distance and a relative speed with respect to the nearby vehicle 20 through a sensor mounted on the sub-vehicle 10.

The host vehicle 10 calculates the lateral collision risk and the longitudinal collision risk based on the lateral direction (or first direction) and the longitudinal direction (second direction) with respect to the peripheral vehicle 20, Or the second direction), and the relative speed.

At this time, the lateral relative distance between the vehicle 10 and the adjacent vehicle 20 is _denoted by dx and _{relative distance} , and the longitudinal _{relative distance} is denoted by _{dy, relative distance} . The transverse _{relative speed} is represented by V _{x, relative speed} , and the longitudinal _{relative speed} is represented by V _{y, relative speed} .

The subject vehicle 10 may use the relative speed for determining the risk of collision including the motion based on the steering control at the measured relative speed so as to determine the risk of collision in consideration of the movement of the vehicle in accordance with the steering control.

The lateral movement according to the steering control is represented by V _{x, the steering} , the longitudinal movement by V _{y, the steering} , and the movement according to the steering control can be calculated by the following equations (1) and (2).

Here, R denotes a straight line distance between the vehicle 10 and the adjacent vehicle 20, and? Denotes an angle formed along the running direction of the vehicle 10 and the surrounding vehicle 20.

2 shows an example in which the steering motion of the peripheral vehicle 20 is used. However, in the case where there is a steering motion in the child vehicle 10, the motion based on the steering control of the child vehicle 10 is reflected in the relative velocity It is possible.

The relative distance between the present vehicle 10 and the adjacent vehicle 20 can be calculated after the time T has elapsed based on the relative distance and the relative speed with the nearby vehicle 20 measured by the present vehicle 10.

The transverse relative distance of the subject vehicle 10 and the surrounding vehicle 20 after time T can be expressed by the following Equation 3 and the longitudinal relative distance after T time can be expressed by Equation 4 below.

On the other hand, since the relative distance and the relative speed with respect to the peripheral vehicle 20 measured by the vehicle 10 are physical measurement values, a sensing error may be included.

When such a sensing error is included, the transverse relative distance of the subject vehicle 10 and the adjacent vehicle 20 after time T can be expressed by Equation (5) below, and the longitudinal relative distance after time T can be expressed by Equation .

In the present embodiment, the possibility of collision is determined in consideration of the movement of the subject vehicle 10 and the surrounding vehicle 20 running at the intersection in accordance with the traveling direction and the steering, and a collision probability map So that the collision situation at the intersection can be accurately and effectively avoided.

Hereinafter, the configuration of the intersection collision avoidance system and the collision avoidance method according to the present embodiments will be described in detail with reference to FIG.

FIG. 3 shows a configuration of an intersection collision avoidance system 300 according to the present embodiments.

3, the intersection collision avoidance system 300 according to the present embodiment includes a sensing unit 310 for measuring a relative distance and a relative speed between the vehicle 10 and the surrounding vehicle 20, An error range setting unit 330 for setting a sensing error range to be applied at the time of generating the collision probability map, And a collision avoidance control unit 340 that performs control to avoid a collision based on the collision avoidance control unit 340.

The sensing unit 310 measures a relative distance including a relative lateral distance and a longitudinal relative distance between the vehicle 10 and the adjacent vehicle 20.

It is also possible to measure the relative speed including the lateral relative speed and the longitudinal relative speed between the subject vehicle 10 and the surrounding vehicle 20, and to measure the motion in accordance with the steering control.

The collision probability map generator 320 analyzes the collision risk between the vehicle 10 and the nearby vehicle 20 using the value measured by the sensing unit 310 and generates a collision probability map.

The collision probability map generation unit 320 includes a lateral risk determination unit 321 for determining the risk of lateral collision between the vehicle 10 and the adjacent vehicle 20, And a longitudinal risk judging unit 322 for judging the risk of longitudinal collision of the vehicle.

The collision probability map generator 320 may generate the collision probability map by applying a predetermined error range to the measurement value received from the sensing unit 310. [

The error range setting unit 330 sets an error range applied to the measurement value used by the collision probability map generator 320 to generate the collision probability map and provides the error range to the collision probability map generator 320. [

The error range to be set may be a fixed range stored in advance in the error range setting unit 330 or may be a range set differently according to the value measured by the sensing unit 310. [

The error of the value measured by the sensing unit 310 according to the error range set in the error range setting unit 330 can be expressed as follows.

Error _{x, relative distance} → (- lateral distance error, + lateral distance error)

Error _{x, relative speed} → (- lateral speed error, + lateral speed error)

Error _{y, relative distance} → (- longitudinal distance error, + longitudinal distance error)

Error _{y, relative speed} → (- longitudinal speed error, + longitudinal speed error)

The collision probability map generator 320 generates a collision probability map by applying an error range set by the error range setting unit 330 to the value measured by the sensing unit 310. For example, And the risk of longitudinal collision can be analyzed and a collision probability map can be generated based on the analysis result.

The lateral risk assessment unit 321 determines that the lateral relative distance between the subject vehicle 10 and the surrounding vehicle 20 becomes zero with respect to errors included in the set lateral distance error range and the lateral speed error range The time T ₁ is calculated. The time T ₁ can be calculated as shown in Equation (7) below.

The lateral risk assessment unit 321 calculates the longitudinal relative distance between the vehicle 10 and the adjacent vehicle 20 at the instant T ₁ using the calculated T ₁ . The longitudinal relative distance between the present vehicle 10 and the nearby vehicle 20 at the instant T ₁ can be calculated by Equation (8) below.

Here, the longitudinal relative distance between the subject vehicle 10 and the adjacent vehicle 20 at the instant of T ₁ can be calculated with respect to the errors included in the set vertical distance error range and the longitudinal speed error range.

The above-mentioned equation (7) and the chair by the equation (8) the vehicle 10 to the lateral direction relative time distance becomes zero around the vehicle (20), T ₁ and a character at the point of T ₁ the vehicle 10 and the nearby vehicles ( 20 can be calculated.

Therefore, by estimating the longitudinal relative distance between the subject vehicle 10 and the adjacent vehicle 20 at a moment when the lateral relative distance between the subject vehicle 10 and the adjacent vehicle 20 becomes zero, The risk of lateral collision can be judged.

The longitudinal risk assessment unit 322 determines whether or not the longitudinal relative distance between the subject vehicle 10 and the surrounding vehicle 20 is zero with respect to errors included in the set longitudinal distance error range and the longitudinal speed error range Calculate the time T ₂ . The time T ₂ can be calculated as shown in Equation 9 below.

The longitudinal risk judgment unit 322 calculates the lateral relative distance between the subject vehicle 10 and the surrounding vehicle 20 at the instant T ₂ using the calculated T ₂ . The lateral relative distance between the vehicle 10 and the surrounding vehicle 20 at the instant T ₂ can be calculated by Equation 10 below.

Here, the lateral relative distance between the subject vehicle 10 and the surrounding vehicle 20 at the instant of T ₂ can be calculated with respect to the errors included in the set lateral distance error range and the lateral velocity error range.

Now by the above Equation 9 and Equation 10, the vehicle 10 and the time T ₂ longitudinally relative distance around the vehicle 20 is a 0, the character at the point of T ₂ a vehicle 10 and a nearby vehicles ( 20 can be calculated.

Therefore, by estimating the lateral relative distance between the subject vehicle 10 and the adjacent vehicle 20 at a moment when the longitudinal relative distance between the subject vehicle 10 and the adjacent vehicle 20 becomes zero, The risk of longitudinal collision can be judged.

The collision probability map generator 320 generates a collision probability map by calculating the longitudinal relative distance at the instant of the times T ₁ and T ₁ calculated by the lateral risk determination unit 321 and the time calculated by the longitudinal risk determination unit 322 A collision probability map can be generated using the transverse relative distance at the instant of T ₂ and T ₂ .

At this time, the collision probability map may be generated using a function such as Gaussian kernel, but is not limited thereto.

When the collision probability map generator 320 generates the collision probability map, the collision avoidance control unit 340 performs control to avoid the collision.

The collision avoidance control unit 340 determines a position where the collision risk of the vehicle 10 is high based on the collision probability map generated by the collision probability map generation unit 320. [

FIG. 5 shows an example of a collision probability map generated by the collision probability map generator 320 of the intersection collision avoidance system 300 according to the present embodiments. The collision avoidance control unit 340 generates a collision probability map The risk of collision can be used to determine the location of high risk of collision.

For example, referring to FIG. 5, it is assumed that the collision probability on the right front side of the child vehicle 10 is high in the collision probability map generated considering the running state and the sensing error of the child vehicle 10 and the peripheral vehicle 20 Can be seen.

Therefore, the collision avoidance control unit 340 performs control for avoiding collision when the risk of collision right ahead of the vehicle 10 is high, for example, by performing deceleration control of the vehicle 10, The steering control may be performed together with the control.

In addition, when the risk of collision is high in the rear of the vehicle 10 in the collision probability map, collision of the vehicle 10 can be avoided by performing acceleration control of the vehicle 10.

FIG. 5 illustrates a process of a control method of the intersection collision avoidance system 300 according to the present embodiments.

5, the intersection collision avoidance system 300 according to the present embodiment measures a relative distance and a relative speed with the surrounding vehicle 20 through a sensor mounted on the vehicle 10 (S500) .

At this time, it is possible to measure the relative distance including the lateral relative distance and the longitudinal relative distance to the peripheral vehicle 20, and the relative speed including the lateral relative speed and the longitudinal relative speed.

It may also be used at a relative speed for generating a collision probability map, including motion based on steering control.

The intersection collision avoidance system 300 applies a predetermined error range to the measured relative distance and relative speed (S510).

The risk of lateral collision with the adjacent vehicle 20 and the longitudinal collision risk are analyzed based on the relative distance and the relative speed with the peripheral vehicle 20 to which the error range is applied to the measured value, (S520).

The intersection collision avoidance system 300 determines whether the collision risk of the subject vehicle 10 is equal to or greater than a threshold value based on the generated collision probability map (S530).

If the collision risk of the subject vehicle 10 is equal to or greater than the threshold value, the collision possibility area of the subject vehicle 10, that is, the collision risk level is determined from the generated collision probability map (S540).

The intersection collision avoidance system 300 performs the deceleration control or the steering control for avoiding the collision between the present vehicle 10 and the adjacent vehicle 20 according to the position where the collision risk is high at step S550.

Therefore, according to the present embodiments, by sensing the relative distance and the relative speed of the vehicle 10 and the surrounding vehicle 20 traveling in the intersection, and by analyzing the risk of collision based on the sensed value, Thereby preventing collision between the vehicle 10 and the adjacent vehicle 20.

In addition, when the risk of collision is analyzed, the risk of collision is analyzed in consideration of the sensing error, and the collision probability map is generated to prevent the collision due to the sensing error.

Based on the generated collision probability map, a collision risk between the subject vehicle 10 and the nearby vehicle 20 at the intersection is determined by determining the position where the collision risk is high and controlling the subject vehicle 10 according to the determination result. And to avoid them effectively.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. In addition, the embodiments disclosed in the present invention are not intended to limit the scope of the present invention but to limit the scope of the technical idea of the present invention. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

10: vehicle 20: surrounding vehicle
300: Intersection collision avoidance system
310: sensing unit 320: collision probability map generating unit
321: transverse risk judging unit 322: longitudinal risk judging unit
330: error range setting unit 340: collision avoidance control unit

Claims (12)

A sensing unit for sensing a nearby vehicle and measuring a relative distance and a relative speed with respect to the sensed neighboring vehicle;
A predetermined distance error range is applied to the measured relative distance and a predetermined speed error range is applied to the measured relative speed, and a relative distance to which the predetermined distance error range is applied and a relative speed A collision probability map generator for generating a collision probability map based on the collision probability map; And
And a collision avoidance control unit for performing control to avoid collision with the nearby vehicle based on the generated collision probability map,
And the intersection collision avoidance system.
The method according to claim 1,
The sensing unit includes:
And measures a first direction relative distance, a first direction relative speed, a second direction relative distance, and a second direction relative speed with the peripheral vehicle.
3. The method of claim 2,
Wherein the collision probability map generator comprises:
A first directional distance error range predefined to the measured first directional relative distance and applying a first directional speed error range preset to the measured first directional relative speed, Calculates a first time at which the vehicle is at zero, calculates a second direction relative distance with the nearby vehicle at a time point of the first time,
And a second directional distance error range that is preset to the measured second directional relative distance and applies a second directional speed error range previously set to the measured second directional relative speed, Is 0, and calculates a first direction relative distance to the nearby vehicle at the time point of the second time.
The method of claim 3,
Wherein the collision probability map generator comprises:
Applying the predetermined second directional distance error range to the measured second directional relative distance and applying the predetermined second directional speed error range to the measured second directional relative speed, Calculates a second direction relative distance with the surrounding vehicle,
Applying the predetermined first directional distance error range to the measured first directional relative distance and applying the predetermined first directional velocity error range to the measured first directional relative velocity, And calculates a first direction relative distance to the nearby vehicle.
5. The method of claim 4,
Wherein the collision probability map generator comprises:
An intersection that generates a collision probability map with the nearby vehicle based on a second direction relative distance to the nearby vehicle at the first time point and a first direction relative distance with the nearby vehicle at the time point of the second time, Collision avoidance system.
6. The method of claim 5,
The collision avoidance control unit includes:
And controls the vehicle on the basis of a direction and a time that are highly likely to collide with the nearby vehicle identified from the generated collision probability map.
The method according to claim 1,
Wherein the collision probability map generator comprises:
And a relative velocity for generating the collision probability map including a motion that is measured in accordance with the steering control at the relative velocity to which the predetermined velocity error range is applied.
The method according to claim 1,
The sensing unit includes:
An intersection collision avoidance system that senses one or more nearby vehicles traveling in a direction not parallel to the vehicle and measures the relative distance and relative speed with the detected one or more nearby vehicles.
Measuring a relative speed including a relative distance including a first direction relative distance and a second direction relative distance to a nearby vehicle, a first direction relative speed and a second direction relative speed;
Applying a predetermined distance error range to the measured relative distance and applying a predetermined speed error range to the measured relative speed;
Generating a collision probability map using a relative distance to which the predetermined distance error range is applied and a relative speed to which the predetermined speed error range is applied; And
Performing a control for avoiding a collision with the nearby vehicle based on the generated collision probability map
Wherein the intersection collision avoidance system comprises:
10. The method of claim 9,
Wherein the step of generating the collision probability map comprises:
A first directional distance error range predefined to the measured first directional relative distance and applying a first directional speed error range preset to the measured first directional relative speed, Calculating a second time relative distance to the neighboring vehicle at a time point of the first time; And
And a second directional distance error range that is preset to the measured second directional relative distance and applies a second directional speed error range previously set to the measured second directional relative speed, And calculating a first direction relative distance to the neighboring vehicle at the time point of the second time.
11. The method of claim 10,
Wherein the step of calculating the second direction relative distance with the neighboring vehicle at the time point of the first time includes:
Applying the predetermined second directional distance error range to the measured second directional relative distance and applying the predetermined second directional speed error range to the measured second directional relative speed, Calculates a second direction relative distance to the surrounding vehicle,
The step of calculating the first direction relative distance with the neighboring vehicle at the time point of the second time,
Applying the predetermined first directional distance error range to the measured first directional relative distance and applying the predetermined first directional velocity error range to the measured first directional relative velocity, And calculating a first direction relative distance to the nearby vehicle.
12. The method of claim 11,
Wherein the step of generating the collision probability map comprises:
An intersection that generates a collision probability map with the nearby vehicle based on a second direction relative distance to the nearby vehicle at the first time point and a first direction relative distance with the nearby vehicle at the time point of the second time, Control method of collision avoidance system.

Images