KR20180032389A - Method for setting alerting area of vehicle and bind spot detection system for making the same - Google Patents

Abstract

Embodiments of the present invention determine group driving, estimate a rear alerting area of a vehicle by reflecting the length of a variable vehicle, and provide a mechanism for issuing entrance prohibition alert when a vehicle around an adjacent lane or a rear side vehicle enters the estimated rear alerting area. To this end, embodiments of the present invention reflect the variable length of a vehicle to precisely set the rear alerting area such that safety of the vehicle and a driver can be secured by avoiding rear collision in the case of various types of vehicles.

Description

Technical Field [0001] The present invention relates to a method of setting an alarm area of a vehicle, and a BSD system for the same. [0002]

The present invention relates to a method of setting an alarm area of a vehicle and a BSD system therefor, and more particularly, to a method of setting an alarm area of a vehicle for protecting a vehicle approaching an alarm area in the rear and a BSD system therefor.

Generally, the BSD system (BSD) is a system (BSD) that, when a vehicle enters a range of pre-specified rear warning zones for possible collision with a surrounding vehicle or a rearward vehicle entering the rear due to overturn or lane change, Lt; / RTI >

However, the peripheral vehicle or the rearward vehicle may be various types of vehicles, for example, vehicles having different lengths, such as a large truck, a tractor, a general passenger car, and a bus.

In general, passenger cars and buses have a roughly standardized length. However, in the case of a heavy truck or tractor, the length of the vehicle may be different depending on the shape of the trailer, and may have a different length.

Accordingly, when the length of the vehicle is large, such as a trailer of a heavy truck or a tractor, the range of the rear warning zone for protecting the rear vehicle must be changed from time to time.

For example, if you have a different length of trailer, you can measure the length of the trailer by changing the range of the alarm range by measuring the length of the trailer, So that it has to be reflected in the alarm area.

However, this is unlikely to be feasible because it is not easy for the driver to change the alarm area of the BSD system (BSD). Therefore, the accuracy of the alarm area is inevitably lowered for a vehicle in which the length of the trailer (hereinafter also referred to as "variable vehicle length") is not defined.

It is an object of the present embodiments to provide a method and a BSD system for setting a rear warning zone reflecting the length of a variable vehicle.

According to one embodiment, there is provided a method for setting an alarm area in the rear of a vehicle through a vehicle controller that controls a plurality of vehicle sensors, the method comprising the steps of: determining a vehicle distance between a running vehicle and neighboring nearby vehicles obtained through the plurality of vehicle sensors Determining whether the vehicle is traveling in a cluster using information or the number of nearby vehicles; Estimating a rear warning area of the vehicle reflecting the vehicle length of the variable vehicle when the determination is a cluster traveling; And issuing an entry prohibition alarm when the neighboring vehicle or the rearward vehicle of the neighboring lane enters the estimated rearward alarm area.

Alternatively, the step of determining whether or not the community travel may include performing the community travel when the vehicle distance information is included in a predetermined radius range from the vehicle being driven.

Alternatively, the step of estimating the rear warning area of the vehicle may determine the vehicle length of the variable vehicle by using the inter-vehicle distance and the azimuth viewed from the vehicle in the community driving and the vehicle behind, respectively.

Alternatively, the step of estimating the rear warning area of the vehicle may include calculating a first vehicle distance b (m), which is the vehicle-to-vehicle distance, and a first azimuth angle? And acquiring from the rear vehicle in the vehicle.

Alternatively, the step of estimating the rear warning area of the vehicle may include estimating a rear warning area of the vehicle by using a second sensor of the plurality of vehicle sensors, wherein the second azimuth angle? And obtaining the vehicle distance a (m).

Optionally, the step of estimating the rear warning zone of the vehicle comprises the steps of: obtaining the first azimuth angle?, The first vehicle distance b (m), the second azimuth angle? (m)) of the lane of curvature R of the lane.

Optionally, the step of estimating the rear warning area of the vehicle comprises: determining a variable length of the vehicle based on the estimated radius of curvature; And determining a range of the rear warning area of the vehicle based on the determined variable length of the vehicle.

Optionally, the step of estimating the rear warning area of the vehicle may determine the rear warning area of the vehicle based on the variable length of the vehicle obtained using the following equations (1) and (2).

?: b = R?

L = a x cos? - b x cos? -?

Wherein a is a second vehicle distance which is a distance between rear vehicles measured by the vehicle, b is a first vehicle distance m, which is the inter-vehicle distance measured by the rear vehicle, Is a second azimuth angle from a reference point of the rear vehicle to a, and is a first azimuth from the reference point of the traveling direction of the rear vehicle to the b, , Where R is the radius of curvature of the lane and L is the variable length of the vehicle.

Alternatively, the plurality of sensors described above may be a lateral rearward sensing sensor.

According to one embodiment, there is provided a method for setting an alarm area in the rear of a vehicle through a vehicle controller that controls a plurality of vehicle sensors, the method comprising the steps of: determining a vehicle distance between a running vehicle and neighboring nearby vehicles obtained through the plurality of vehicle sensors Determining whether the vehicle is traveling in a cluster using information; Determining whether the radius of curvature between the vehicle and the road on which the vehicle is traveling is greater than a preset radius of curvature when the determination is a cluster run; Calculating a variable length of the vehicle when the radius of curvature is smaller than the preset radius of curvature; Determining a range of the rear warning area of the vehicle based on the calculated variable length of the vehicle; And issuing an entry prohibition alarm to the neighboring vehicle when the neighboring vehicle in the neighboring lane enters the determined rearward alarm area.

Alternatively, the step of calculating the variable length of the vehicle may calculate the vehicle length of the variable vehicle by using the distance between the vehicle and the vehicle viewed in the rearward vehicle and the azimuth angle, respectively.

According to one embodiment, there is provided a BSD system for setting an alarm area in the rear of a vehicle through a vehicle controller that controls a plurality of vehicle sensors, the system comprising: A community run determination unit for determining whether or not the community is running using the distance information; An alarm region estimating portion for estimating a rearward alarm region of the vehicle that reflects the vehicle length of the variable vehicle when the determination is a cluster traveling; And a route commander for issuing an entry prohibition alarm when the neighboring vehicle in the neighboring lane enters the estimated rearward alarm area.

Alternatively, the alarm region estimating unit may determine the vehicle length of the variable vehicle by using the distance between the vehicle and the vehicle viewed in the rearward vehicle and the azimuth angle, respectively.

As described above, the embodiments of the present invention are expected to have an effect of ensuring the safety of the vehicle and the driver by avoiding the rear collision even for various types of vehicles by accurately setting the rear warning area reflecting the variable length of the vehicle.

For this purpose, the embodiments of the present invention can more accurately determine the rearward alarm area by obtaining the curvature radius of the lane in cooperation with the rearward vehicle, and determining the variable length of the vehicle based on the curvature radius.

It is to be understood that other advantages, which are not mentioned above, may be apparent to those skilled in the art from the following description.

1 is a flowchart illustrating an example of an alarm area setting method according to an embodiment.
FIG. 2 is a block diagram showing an example of a BSD system for implementing the alarm area setting method of FIG. 1 according to an embodiment.
3 is a diagram illustrating an example of step 130 for estimating a backward alarm region by the vehicle controller according to an embodiment.
Fig. 4 is a diagram showing a relationship between a vehicle in a running state and a vehicle in a rear direction necessary for estimating a rear warning area.
5 is a flowchart exemplarily showing another example of the alarm area setting method according to the embodiment.
6 is a block diagram illustrating another example of a BSD system according to an embodiment.

The method and system disclosed in the following embodiments will be described in more detail with reference to the drawings. The terms used in the following examples are used only to illustrate a specific example and are not limited thereto.

It is to be understood that the terms " comprises, " or " comprising ", as used in the following examples, But should be understood to include further elements.

It is also to be understood that the singular < RTI ID = 0.0 > term " above " used in the description of the embodiments disclosed in the examples below and in the claims is intended to include plural representations, unless the context clearly dictates otherwise, And ' are to be understood to include any and all possible combinations of one or more of the listed items of relevance.

Based on this, a method for setting an alarm area in the rear of the vehicle and a BSD system will be described in more detail in the following embodiments.

≪ Example of setting of alarm area >

FIG. 1 is a flowchart illustrating an example of an alarm area setting method according to an exemplary embodiment. FIG. 2 is a block diagram illustrating an example of a BSD system for implementing the alarm area setting method of FIG. 1 according to an exemplary embodiment .

The BSD system 200 shown in FIG. 2 may include a vehicle controller 210 and a vehicle sensor 220.

In one embodiment, the vehicle controller 210 can control mechanical accessories or electronic accessories (electrical components) of the vehicle 210A, as well as a plurality of vehicle sensors 220, described below.

The vehicle controller 210 may be an electronic control unit (ECU), or may be composed of at least one high performance processor or a combination thereof. The vehicle controller 210 may include a plurality of memories 211.

The memory may be a random access memory (DRAM), a synchronous DRAM (SDRAM), a double data rate (DDR) SDRAM, a DDR2 SDRAM, a RDRAM volatile memory such as a high-speed random access memory such as a solid state memory device or one or more magnetic disk storage devices, optical disk storage devices, flash memory devices, or other non-volatile solid state storage devices.

In one embodiment, the vehicle sensor 220 comprises a plurality of vehicle sensors, e.g., a first sensor and a second sensor, and in another aspect may be any of the rear and side rear sensors.

For example, the vehicle sensor 220 may be a BSD sensor (BSD radar sensor) if it is a side rear sensor. The side rear sensors are sensors disposed between the rear side and the side (SIDE) of the vehicle. The sensors are disposed between the rear vehicle 230 and the sensors of neighboring nearby vehicles 230 on both sides of the vehicle through the vehicle V2V. 230 and the neighboring vehicle 230 or may acquire various information (distance, azimuth, etc.) to be described below.

The process of implementing the method of FIG. 1 from the point of view of the vehicle controller 210 controlling these plurality of vehicle sensors 220 is as follows.

Referring to FIG. 1, an alarm region setting method 100 according to an exemplary embodiment includes steps 110 through 130 for setting an alarm region behind a vehicle through a vehicle controller 210 that controls a plurality of vehicle sensors 220 . ≪ / RTI >

In a step 110 of an embodiment, the vehicle controller 210 generates a traffic signal for a vehicle 210A that is traveling through the plurality of vehicle sensors 220 and a neighboring vehicle 230 (neighboring vehicles in the same lane or other lane) (Number information) of the nearby vehicles 230 sensed from the neighboring vehicles 230 through the plurality of vehicle sensors 220. [0050]

Of course, this acquisition is possible via inter-vehicle communication (V2V) via the sensor.

Accordingly, the vehicle controller 210 in step 110 may determine whether or not the vehicle is traveling by using the obtained vehicle distance information of the nearby vehicle 230 and / or the number of the nearby vehicles 230.

For example, when the vehicle distance information of the obtained peripheral vehicle 230 is within a predetermined distance range, it can be regarded as a case where a cluster travel is required, or the vehicle distance information is within a predetermined distance range, When the number of the nearby vehicles 230 is within the range of the preset number of vehicles, it can be regarded as a case in which cluster travel is necessary.

Alternatively, if the vehicle controller 210 in step 110 determines that the acquired vehicle distance information is densely packed within a predetermined radius range from the running vehicle 210A, the vehicle controller 210 may regard the cluster travel as necessary.

In step 120 of the embodiment, the vehicle controller 210 may estimate a rear warning area of the vehicle that reflects the vehicle length of the variable vehicle when it is determined that the determination result of step 110 is a community driving. The vehicle length of the variable vehicle may mean the vehicle 210A being driven.

Here, in order to know the vehicle length of the variable vehicle, the vehicle controller 210 calculates the distance between the vehicle 210A and the rear vehicle 230 on the actual road, the azimuth angle and the radius of curvature of the road, The state between the vehicle 210A and the rear vehicle 230 can be known and the variable length of the running vehicle 210A can be known. A concrete example of this will be described later in Fig.

Therefore, the vehicle controller 210 can reset the rear alarm area by resetting the calculated variable length of the vehicle 210A to the already set rear alarm area, thereby resetting the rear alarm area. The setting of the new rear alarm area is very likely to be an actual road environment such as a curved road.

In step 130 of the embodiment, the vehicle controller 210 may issue an entry prohibition alarm when the neighboring vehicle of the neighboring lane or the rearward vehicle 230 enters the rearward alarm area estimated by the step 120 described above.

Preferably, the estimated rearward warning area may issue an entry prohibition alarm to the rearward vehicle 230. [ In other words, since the rear vehicle 230 is distinguishable from the rear of the preceding running vehicle 210A, it is independent of the length of the variable vehicle of the running vehicle 210A, but the neighboring vehicle 230 It is difficult to identify the vehicle length of the vehicle 210A that is running when the vehicle 210A is fitted to the rear of the vehicle 210A that is running on the curved road. Therefore, as a warning about the fitting of the nearby vehicle 230, 210A, the rear alarm area reflecting the variable length of the vehicle.

It is preferable that the entry prohibition alarm is issued in the form of a traffic light by an LED, but it may be a sound.

≪ Specific Embodiment of Step 120 >

3 is a diagram illustrating an example of estimating a rear alarm region by a vehicle controller according to an embodiment, and FIG. 4 is a diagram illustrating a relationship between a running vehicle and a rearward vehicle required to estimate a rear alarm region .

As illustrated, the step 130 may include steps 131 through 136.

First, in step 131, the vehicle controller 210 transmits a request message to the rear vehicle 230 through inter-vehicle communication.

In this case, the rear vehicle 230 acquires the first vehicle distance b (m), which is the distance between the vehicles 240 in motion, and calculates the first azimuth angle? .

Accordingly, in step 132, the vehicle controller 210 may receive information of the first vehicle distance and the first azimuth from the rear vehicle 230 via intervehicular communication, in response to the request message.

In step 133, the vehicle controller 210 determines whether or not the vehicle 210A is in the second azimuth angle? Degrees through which the vehicle 210A looks at the rear vehicle through the plurality of vehicle sensors 220 and the rear vehicle 230 (M (m)), which is the distance between the first vehicle and the second vehicle.

In step 134, the vehicle controller 210 determines whether or not the first azimuth angle beta, the first vehicle distance b (m), the second azimuth angle alpha and the second vehicle distance a (m) The radius of curvature R of the lane can be estimated on the basis of the radius R of the lane.

For example, the vehicle controller 210 can estimate the curvature radius R of the road through the following equations (1) and (2).

?: b = R?

L = a x cos? - b x cos? -?

A is a second vehicle distance which is a distance between the rear vehicles 230 measured by the vehicle 210A and b is a distance between the rear vehicle 230 measured by the rear vehicle 230 (M), which is the distance between the first vehicle 210A and the second vehicle 210A.

Is a second azimuth angle from a reference point in the traveling direction of the vehicle 210A to a, a is a first azimuth angle from a reference point in the traveling direction of the rearward vehicle 230 to the b, Is the angle of the reference point of the traveling direction of the vehicle 210A to the reference point of the traveling direction of the rearward vehicle 230, R is the curvature radius of the lane, and L is the variable length of the vehicle 210A.

In step 135, the vehicle controller 210 can determine the variable length L of the vehicle through the above-described equations (1) and (2) based on the estimated radius of curvature.

Thus, in step 136, the vehicle controller 210 is able to determine the range of the rear warning area of the vehicle based on the determined variable length. For example, the vehicle controller 210 can update the rear alarm area and set the rear alarm area again by reflecting the determined variable length of the vehicle in the already set rear alarm area.

As described above, in the present embodiment, the variable length of the vehicle is reflected in the rearward alarm region to newly update and accurately set the rearward alarm region as described above, thereby preventing the rearward collision of various types of vehicles, .

≪ Other setting examples of alarm area >

5 is a flowchart exemplarily showing another example of the alarm area setting method according to the embodiment. The above-described FIG. 2 is supplementarily referred to when describing FIG.

5, an alarm area setting method 300 according to an exemplary embodiment of the present invention sets an alarm area of the vehicle rear side 230 through a vehicle controller 210 that controls a plurality of vehicle sensors 220 disclosed in FIG. And may include steps 310 through 350 for performing the above steps.

The step 310 is the same as the step 110 of FIG. 1, so a description thereof will be omitted.

In operation 320, the vehicle controller 210 may calculate the radius of curvature between the road 210A and the road on which the rear vehicle 230 travels, as a result of the determination in operation 310.

Since the calculation of the radius of curvature is fully described in Fig. 3, the description thereof will be omitted.

Then, the vehicle controller 210 can judge whether or not the curvature radius R of the calculated road is larger than a predetermined radius of curvature, for example, a predetermined radius of curvature of 500M.

For example, in step 330, the vehicle controller 210 can calculate the variable length of the vehicle when the calculated radius of curvature is smaller than a preset curvature radius, and if not, the length of the vehicle included in the rearward alarm area Can be maintained.

The variable length L of the mentioned vehicle can be calculated by the following equations (3) and (4).

In step 340 of the embodiment, the vehicle controller 210 determines the range of the rear warning area of the vehicle by the following Expressions (3) and (4) based on the variable length of the vehicle calculated by the step 330 described above .

In other words, the vehicle controller 210 can reflect the calculated variable length of the vehicle in the range of the rear warning area of the vehicle, so that the rear warning area of the new vehicle can be set.

?: b = R?

L = a x cos? - b x cos? -?

In the above formulas (3) and (4), a is a second vehicle distance which is the distance between the rear vehicles measured by the vehicle, and b is a first vehicle distance m ) Is the second azimuth angle from the reference point in the traveling direction of the vehicle to the a, and beta is the first azimuth angle from the reference point in the traveling direction of the rear vehicle to the b.

Also, theta is an angle between a reference point of the traveling direction of the vehicle and a reference point of the traveling direction of the rear vehicle, R is a radius of curvature of the lane, and L is a variable length of the vehicle.

Lastly, in step 350 of the embodiment, when the neighboring vehicle 230 in the neighboring lane enters the rearward alarm area determined by the above-described step 340, the vehicle controller 210 issues an entry prohibition alarm to the entered nearby vehicle can do.

It is preferable that the entry prohibition alarm is issued in the form of a traffic light by an LED, but it may be a sound.

As described above, in the present embodiment, the variable length of the vehicle is reflected in the rearward alarm region to newly update and accurately set the rearward alarm region as described above, thereby preventing the rearward collision of various types of vehicles, .

On the other hand, the above-described methods may be implemented with program instructions and decoded by a computer-readable medium.

The computer readable medium may be any medium accessible by a processor. Such media can include both volatile and nonvolatile media, removable and non-removable media, communication media, storage media, and computer storage media.

A communication medium may include computer readable instructions, data structures, program modules, other data of a modulated data signal such as a carrier wave or other transmission mechanism, and may include any other form of information delivery medium known in the art.

The storage medium may be any type of storage medium such as RAM, flash memory, ROM, EPROM, electrically erasable read only memory ("EEPROM"), registers, hard disk, removable disk, compact disk read only memory Or any other type of storage medium.

Computer storage media includes removable and non-removable, nonvolatile, and nonvolatile storage media implemented in any method or technology for storing information such as computer readable instructions, data structures, program modules or other data, Volatile media.

Such computer storage media may be embodied as program instructions, such as RAM, ROM, EPROM, EEPROM, flash memory, other solid state memory technology, CDROMs, digital versatile disks (DVDs) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage, Lt; RTI ID = 0.0 > and / or < / RTI >

Examples of program instructions may include machine language code such as those produced by a compiler, as well as high-level language code that may be executed by a computer using an interpreter or the like.

≪ Other Embodiments of BSD System >

6 is a block diagram illustrating another example of a BSD system according to an embodiment.

Referring to FIG. 6, a BSD system 400 according to one embodiment may include a vehicle controller 410 and a vehicle sensor 420. The vehicle controller 410 and the vehicle sensor 420 are the same as those of the vehicle controller 210 and the vehicle sensor 220 shown in FIG. 2, and therefore a description thereof will be omitted.

Here, the setting of the alarm area in the rear of the vehicle can be substantially performed by the vehicle controller 410. [

In other words, the vehicle controller 410 according to an exemplary embodiment uses a vehicle distance information between the running vehicle and neighboring vehicles that are obtained through the plurality of vehicle sensors 420, 411), an alarm region estimating portion 412 for estimating a rearward alarm region of the vehicle that reflects the vehicle length of the variable vehicle when the determination is a cluster travel, and an alarm region estimating portion 412 for estimating a rearward alarm region of the vehicle A route notification unit 413 for issuing an entry prohibition alarm.

Here, the alarm region estimating unit 412 can determine the vehicle length of the variable vehicle by using the vehicle-to-vehicle distance and the azimuth viewed from the vehicle running in the cluster and the vehicle behind the vehicle, respectively.

It is preferable that the target vehicle that determines the vehicle length of the variable vehicle is a vehicle that is running.

In particular, the alarm region estimating unit 412 may be configured to determine the rear warning area of the vehicle based on the variable length L of the vehicle obtained using the following equations (5) and (6) have.

?: b = R?

L = a x cos? - b x cos? -?

In the formulas (5) and (6), a is a second vehicle distance that is a distance between the rear vehicles measured by the vehicle, and b is a first vehicle distance m), where alpha is a second azimuth angle from the reference point in the traveling direction of the vehicle to the a, and beta is the first azimuth angle from the reference point in the traveling direction of the rear vehicle to b.

In the formulas (5) and (6),? Is an angle between a reference point in the traveling direction of the vehicle and a reference point in the traveling direction of the rear vehicle, R is a curvature radius of the lane, It can mean the variable length of the vehicle.

However, since the equations (5) and (6) are the same as the equations (1) and (2) described above, the functions described in FIG. 3 are also performed in the alarm region estimating unit 412 of this embodiment Of course.

As described above, in the present embodiment, the variable length of the vehicle is reflected in the rearward alarm region to newly update and accurately set the rearward alarm region as described above, thereby preventing the rearward collision of various types of vehicles, .

It will be apparent to those skilled in the art that the embodiments disclosed above may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.

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

200, 400: BSD system 210, 410: vehicle controller
220, 420: vehicle sensor 210A: vehicle
230: rear vehicle / surrounding vehicle 411:
412: Alarm area estimating unit 413:

Claims (15)

A method for setting an alarm area in the rear of a vehicle through a vehicle controller that controls a plurality of vehicle sensors,
Determining whether or not the vehicle is traveling using the vehicle distance information or the number of neighboring nearby vehicles between the traveling vehicle and neighboring nearby vehicles acquired through the plurality of vehicle sensors;
Estimating a rear warning area of the vehicle reflecting the vehicle length of the variable vehicle when the determination is a cluster traveling; And
When the neighboring vehicle or the rearward vehicle of the neighboring lane enters the estimated rearward alarm area, issuing an entry prohibition alarm
/ RTI > The method according to claim 1,
The method of claim 1,
Wherein when the vehicle distance information is densely packed within a predetermined radius range from the vehicle being driven, the community travel is considered necessary. The method according to claim 1,
Wherein estimating the rear warning area of the vehicle comprises:
Wherein the vehicle length of the variable vehicle is determined using the distance between the vehicle and the vehicle viewed in the rearward vehicle and the azimuth angle of the rearward vehicle. The method according to claim 1,
Wherein estimating the rear warning area of the vehicle comprises:
Acquiring a first vehicle distance b (m) that is the inter-vehicle distance and a first azimuth angle? Of the vehicle from the rear vehicle among the neighboring vehicles through inter-vehicle communication;
/ RTI > 5. The method of claim 4,
Wherein estimating the rear warning area of the vehicle comprises:
Obtaining a second vehicle distance a (m), which is a distance between the second azimuth angle? ° and the rear vehicle, through which the vehicle looks at the rear vehicle through the plurality of vehicle sensors;
≪ / RTI > 6. The method of claim 5,
Wherein estimating the rear warning area of the vehicle comprises:
The radius of curvature R of the lane on the basis of the obtained first azimuth angle?, The first vehicle distance b (m), the second azimuth angle alpha and the second vehicle distance a (m) ≪ / RTI >
≪ / RTI > The method according to claim 6,
Wherein estimating the rear warning area of the vehicle comprises:
Determining a variable length of the vehicle based on the estimated radius of curvature; And
Determining a range of the rear warning area of the vehicle based on the determined variable length
≪ / RTI > The method according to claim 1,
Wherein estimating the rear warning area of the vehicle comprises:
Determining a rear warning area of the vehicle based on the variable length of the vehicle obtained using the following equations (1) and (2).
?: b = R?
L = a x cos? - b x cos? -?
Wherein a is a second vehicle distance that is a distance between rear vehicles measured by the vehicle and b is a first vehicle distance m that is the vehicle distance measured by the rear vehicle,
Is a second azimuth angle from a reference point in the traveling direction of the vehicle to the a, a is a first azimuth angle from a reference point in the traveling direction of the rear vehicle to the b,
Is a radius of curvature of a lane, and L is a variable length of the vehicle. The angle? Is an angle between a reference point of the traveling direction of the vehicle and a reference point of the traveling direction of the rear vehicle. The method according to any one of claims 1 to 8, wherein the plurality of vehicle sensors is a BSD radar sensor. A method for setting an alarm area in the rear of a vehicle through a vehicle controller that controls a plurality of vehicle sensors,
Determining whether the vehicle is traveling in a cluster using vehicle distance information between a driving vehicle and neighboring vehicles neighboring through the plurality of vehicle sensors;
Determining whether the radius of curvature between the vehicle and the road on which the vehicle is traveling is greater than a preset radius of curvature when the determination is a cluster run;
Calculating a variable length of the vehicle when the radius of curvature is smaller than the preset radius of curvature;
Determining a range of the rear warning area of the vehicle based on the calculated variable length of the vehicle; And
When the neighboring vehicle in the neighboring lane enters the determined rear warning area, issuing an entry prohibition alarm to the neighboring vehicle
/ RTI > 11. The method of claim 10,
Wherein the step of calculating the variable length of the vehicle comprises:
Wherein the vehicle length of the variable vehicle is calculated by using the distance between the vehicle and the vehicle viewed in the rearward vehicle and the azimuth angle of the rear vehicle, respectively. 11. The method of claim 10,
Wherein the estimated radius of curvature and the variable length of the vehicle are calculated using Equations (3) and (4) below.
?: b = R?
L = a x cos? - b x cos? -?
Wherein a is a second vehicle distance that is a distance between rear vehicles measured by the vehicle and b is a first vehicle distance m that is the vehicle distance measured by the rear vehicle,
Is a second azimuth angle from a reference point in the traveling direction of the vehicle to the a, a is a first azimuth angle from a reference point in the traveling direction of the rear vehicle to the b,
Is a radius of curvature of a lane, and L is a variable length of the vehicle. The angle? Is an angle between a reference point of the traveling direction of the vehicle and a reference point of the traveling direction of the rear vehicle. A BSD system for setting an alarm area in the rear of a vehicle through a vehicle controller that controls a plurality of vehicle sensors,
A community driving determination unit for determining whether or not a community is running using the vehicle distance information between the running vehicle and neighboring nearby vehicles acquired through the plurality of vehicle sensors;
An alarm region estimating portion for estimating a rearward alarm region of the vehicle that reflects the vehicle length of the variable vehicle when the determination is a cluster traveling; And
When the neighboring vehicle in the neighboring lane enters the estimated rear warning area, a route commanding unit
Gt; BSD < / RTI > 14. The method of claim 13,
Wherein the alarm region estimating unit estimates,
Wherein the vehicle length of the variable vehicle is determined using the distance between the vehicle and the vehicle viewed in the rearward vehicle and the azimuth of the rearward vehicle, respectively. 14. The method of claim 13,
Wherein the alarm region estimating unit estimates,
And determines the rear warning area of the vehicle based on the variable length of the vehicle obtained using the following equations (5) and (6).
?: b = R?
L = a x cos? - b x cos? -?
Wherein a is a second vehicle distance that is a distance between rear vehicles measured by the vehicle and b is a first vehicle distance m that is the vehicle distance measured by the rear vehicle,
Is a second azimuth angle from a reference point in the traveling direction of the vehicle to the a, a is a first azimuth angle from a reference point in the traveling direction of the rear vehicle to the b,
Is a radius of curvature of a lane, and L is a variable length of the vehicle. The angle? Is an angle between a reference point of the traveling direction of the vehicle and a reference point of the traveling direction of the rear vehicle.

Images