KR20180062189A - Driving assistance apparatus and method for vehicle connected to trailer - Google Patents

Abstract

Disclosed are a driving assistance apparatus and a method for a vehicle connected to a trailer. According to the present invention, the driving assistance apparatus for a vehicle connected to a trailer comprises: a steering angle sensor detecting a steering angle of a steering wheel; a tiltable angle sensor measuring a tiltable angle that the vehicle and the trailer form; and a control unit detecting the steering angle and the tiltable angle by controlling the steering angle sensor and the tiltable angle sensor when a gear is in R, detecting each driving trajectory of the vehicle and the trailer with the detected steering angle and the tiltable angle, and then, outputting the detected driving trajectory through a first output unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a driving assistance apparatus and method for a vehicle equipped with a trailer,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an apparatus and a method for assisting a driving of a vehicle equipped with a trailer, and more particularly, to a driving assistance apparatus and method of a vehicle equipped with a trailer, which visually provides a trailer and a trajectory of a vehicle .

Increasing awareness of the importance of leisure as a result of increased income has led to an increase in camping ties that connect trailers to vehicles.

However, since the trailer is connected to the vehicle with a single pin, it is difficult for the driver to guess the trajectory of the trailer during operation. In addition, when the trailer is mounted on the vehicle, the rear view camera can not observe the rear view of the rearview camera, so that the utility of the rearview camera installed is excluded and the driver's vehicle is difficult to operate.

In particular, for trailers weighing less than 750 kilograms, trailers do not require additional licenses, so the trailer operators will operate the trailer without experience or training in trailer operation.

In the case where the vehicle equipped with the trailer is reversed, the trajectory of the trailer is different from that of a general passenger car.

The background art of the present invention is disclosed in Korean Patent Registration No. 10-1617365 (Apr. 26, 2016) entitled " Trailer towing device ".

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a trailer and a trailer for preventing a collision with a surrounding obstacle by outputting a trajectory of the vehicle to a driver, A driving support apparatus and method for a vehicle.

According to another aspect of the present invention, there is provided a driving support apparatus and method for a vehicle equipped with a trailer, which can improve a driving education effect on a driver of a vehicle by outputting not only a driving trajectory of the vehicle and a trailer but also a steering state of the steering wheel .

Another object of the present invention is to provide a driving assistance apparatus and method for a vehicle equipped with a trailer, which prevents a vehicle failure, breakage or secondary accident by warping the possibility of collision according to the curvature between the trailer and the vehicle.

According to an aspect of the present invention, a driving assistance apparatus for a vehicle equipped with a trailer includes a steering angle sensor for sensing a steering angle of a steering wheel; A turn angle sensor for measuring the turn angle of the vehicle and the trailer; And when the gear stage is the R-stage, the steering angle sensor and the knee angle sensor are controlled to detect the steering angle and the steering angle, and the driving trajectory of each of the vehicle and the trailer is detected using the detected steering angle and the turning angle, And a control unit for outputting the signal through the first output unit.

According to the present invention, the controller alerts the possibility of collision between the trailer and the vehicle through the first output unit when the turning angle measured by the turning angle sensor is not less than a preset angle.

In the present invention, the control unit outputs the driving trajectory of the vehicle and the trailer, while outputting the posture of the vehicle and the trailer according to the steering angle and the angle of cut through the first output unit.

In the present invention, the controller outputs the steering state of the steering wheel in the process of displaying the driving trajectory through the first output unit.

In the present invention, if the gear stage is the D-stage, the control unit alerts the possibility of collision between the trailer and the surrounding obstacle according to the steering angle and the angle of cut through the first output unit.

The present invention relates to an image forming apparatus, comprising: a photographing unit mounted on a trailer and photographing a rear of the trailer; And a second output unit, wherein the control unit detects a parking line of the trailer according to the trajectory of the trailer, and outputs the parking line of the trailer through the second output unit to the image photographed by the photographing unit .

According to an aspect of the present invention, there is provided a method of assisting a vehicle with a trailer mounted thereon, the method comprising: sensing a vehicle speed through a vehicle speed sensor and determining whether a sensed vehicle speed is less than a predetermined speed; When the vehicle speed is equal to or lower than the set speed, the control unit turns the gear stage through the shift lever sensor; Controlling the steering angle sensor and the steering angle sensor so that the steering angle and the steering angle are respectively detected when the control unit is at the R-stage; And the control unit detects the trajectory of the vehicle and the trailer through the steering angle and the angle of cut, and outputs the trajectory of the vehicle and the trailer through the first output unit.

In the present invention, it is preferable that the control unit judges whether the turning angle measured by the turning angle sensor is greater than or equal to the preset angle, and if the turning angle is not less than the setting angle, warns the possibility of collision between the trailer and the vehicle through the first output unit .

In the present invention, the controller outputs the trajectory of each of the vehicle and the trailer while outputting the posture of the vehicle and the trailer according to the steering angle and the angle of the cutout through the first output unit.

In the present invention, if the gear stage is the D-stage, the control unit may warn the possibility of collision between the trailer and the surrounding obstacle according to the steering angle and the angle of cut through the first output unit.

The control unit may further include a step of detecting the parking line of the trailer according to the trajectory of the trailer and outputting the parking line of the trailer through the second output unit to the image photographed by the photographing unit .

An apparatus and method for driving a vehicle equipped with a trailer according to an aspect of the present invention prevent a collision with a surrounding obstacle by outputting a trajectory of a trailer and a driving route of the vehicle to a driver.

According to another aspect of the present invention, there is provided an apparatus and method for driving a vehicle equipped with a trailer, which not only displays the trajectory of the vehicle and the trailer but also the steering state of the steering wheel, thereby enhancing the driving education effect on the driver of the vehicle.

According to another aspect of the present invention, an apparatus and method for driving a vehicle equipped with a trailer warns a possibility of collision between a trailer and a vehicle, thereby preventing a vehicle failure, a breakage, or a secondary accident.

1 is a block diagram of a driving assistance device of a vehicle equipped with a trailer according to an embodiment of the present invention.
2 is a view showing a trajectory of a backward left turn according to an embodiment of the present invention.
FIG. 3 is a view showing a trajectory of a backward right turn according to an embodiment of the present invention.
4 is a flowchart of a driving support method of a vehicle equipped with a trailer according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, an apparatus and method for driving a vehicle equipped with a trailer according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. Further, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the user, the intention or custom of the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

FIG. 1 is a block diagram of a driving assistance device of a vehicle equipped with a trailer according to an embodiment of the present invention. FIG. 2 is a view illustrating a trajectory of a rear left turn according to an embodiment of the present invention, FIG. 5 is a view showing a trajectory of a backward right turn according to an embodiment of the present invention.

1, a driving assistance apparatus for a vehicle equipped with a trailer according to an embodiment of the present invention includes a shift lever sensor 10, a steering angle sensor 20, a vehicle speed sensor 30, a rotation angle sensor 40, A first output unit 60, a second output unit 70, and a control unit 80. The control unit 80 includes a control unit 80,

The shift lever sensor 10 senses the position of the shift lever (not shown) of the vehicle. That is, the shift lever sensor 10 senses whether the position of the shift lever directly operated by the driver is the R-stage, N-stage, D-stage or P-stage.

The steering angle sensor 20 senses the steering angle of the steering wheel (not shown) operated by the driver.

The vehicle speed sensor 30 senses the vehicle speed. The vehicle speed sensor 30 may be a navigation system of a vehicle other than a sensor for sensing a vehicle speed through a wheel speed of the vehicle or the like.

The turn angle sensor 40 senses the angle formed by the vehicle and the trailer.

Generally, the trailer and the vehicle are connected by connecting a ball joint cover (not shown) connected to the trailer side and a joint ball (not shown) connected to the vehicle side. That is, the joint ball connected to the vehicle side is connected to the ball joint cover connected to the trailer side so as to surround the joint ball. Therefore, a joint angle between the vehicle and the trailer is generated while the joint ball is rotated while the ball joint cover is fixed according to the driving situation of the vehicle.

As the rotary sensor 40, a rotary encoder such as a mechanical encoder or an optical sensor-type encoder may be employed. However, the angle-of-inclination sensor 40 is not limited to the above-described embodiment, and any device or method for measuring the angle of intersection between the vehicle and the trailer may be employed.

The photographing unit 50 is installed on the rear side of the trailer and photographs the image behind the trailer. The image of the rear of the trailer photographed by the photographing section 50 is output through the second output section 70 described later.

The first output unit 60 is disposed in the interior of the vehicle and outputs a trajectory of travel of the vehicle and the trailer. The first output unit 60 outputs the posture of the vehicle and the trailer on a two-dimensional plane when the gear stage is R, and displays the driving trajectory of the vehicle and the trajectory of the trailer in different colors, Not only the posture of the driver but also the trajectory of the driving can be easily recognized.

Also, the first output unit 60 warns the driver of the possibility of collision between the vehicle and the trailer if the gear stage is the R-stage and the bend angle is not less than the set angle. In this case, the first output unit 60 warns the driver of the possibility of collision by using at least one of the video and the voice, thereby preventing collision between the vehicle and the trailer during backward running.

In addition, the first output section 60 alerts the possibility of collision between the trailer and the surrounding obstacles, in addition to outputting the turning radius of the trailer when the gear stage is single.

Meanwhile, in the above process, the first output unit 60 outputs the steering state of the steering wheel so that the driver can perceive the posture of the vehicle and the trailer according to the steering angle, and the running locus thereof, The driving education effect for driving can be enhanced.

The second output unit 70 outputs an image photographed by the photographing unit 50 and outputs a parking line of the trailer.

That is, the first output unit 60 and the second output unit 70 are provided in the interior of the vehicle, and the first output unit 60 and the second output unit 70 respectively output different images as described above Can be output.

The first output unit 60 and the second output unit 70 may be formed as separate displays, but may also be fabricated as a single display. When the first output unit 60 and the second output unit 70 are fabricated as a single display, images output through the first output unit 60 and the second output unit 70 are displayed on a single screen It can be output to another area.

The control unit 80 detects the vehicle speed using the vehicle speed sensor 30 when the vehicle is traveling with the trailer mounted thereon, and determines whether the vehicle speed is equal to or lower than the set speed.

Usually, when the vehicle speed is relatively low, the vehicle is likely to rotate at a relatively large angle. As described above, the set speed can be set to a low speed at which the vehicle is likely to rotate at a relatively large angle. By limiting the set speed to the set speed, the first output unit 60 and the second output unit 70 Thereby preventing the image from being output unnecessarily frequently.

The control unit 80 senses the gear position through the shift lever sensor 10 and outputs the driving trajectory of the vehicle and the trailer through the first output unit 60 when the sensed gear position is the R-stage, Warns of the possibility and warns of the possibility of collision of the trailer or anticipated path of the trailer if the sensed gear is in the D side.

More specifically, the control unit 80 controls the steering angle sensor 20 and the angle sensor 40 to sense the steering angle and the steering angle, respectively, when the vehicle speed is equal to or less than the set speed and the gear position is the D position.

The vehicle speed and the steering angle sensor 20 are used to detect the vehicle speed and the steering angle so that the control unit 80 calculates the estimated path of the trailer using the steering angle sensed by the steering angle sensor 20 and the sensed angle by the sensor 40. [ . In this case, the control unit 80 recognizes that the vehicle is turning left or right based on the steering angle sensed by the steering angle sensor 20. Since the turning radius of the trailer is smaller than the turning radius of the vehicle, the control unit 80 warns that there is a possibility that the trailer will collide with the surrounding obstacle when the vehicle turns.

For example, the control unit 80 can not "run." Advance the vehicle to position the vehicle and the trailer side by side as much as possible. " And so on.

The control unit 80 controls the steering angle sensor 20 and the angle sensor 40 to detect the steering angle and the steering angle, respectively, when the vehicle speed is equal to or less than the set speed and the gear position is R. The control unit 80 then detects the driving trajectory of the vehicle and the trailer using the steering angle and the angle detected by the steering angle sensor 20 and the angle sensor 40 respectively and outputs the trajectory of the detected vehicle and the trailer to the first output (60).

2 and 3, the control unit 80 outputs the posture of the vehicle and the trailer on the two-dimensional plane through the first output unit 60 and outputs the trajectory of the vehicle and the trajectory of the trailer Display in different colors.

The control unit 80 alerts the possibility of collision between the vehicle and the trailer through the first output unit 60 when the angle detected by the angle sensor 40 is equal to or greater than the set angle.

Further, the control unit 80 outputs the image of the trailer rear taken by the photographing unit 50 through the second output unit 70. In this process, the parking line is detected through the trajectory of the trailer and the second output (70).

Hereinafter, a driving support method of a vehicle equipped with a trailer according to an embodiment of the present invention will be described in detail with reference to FIG.

4 is a flowchart of a driving support method of a vehicle equipped with a trailer according to an embodiment of the present invention.

Referring to FIG. 4, the controller 80 senses the vehicle speed using the vehicle speed sensor 30 when the vehicle is traveling with the trailer mounted thereon (S10).

If the vehicle speed is detected, the controller 80 determines whether the sensed vehicle speed is equal to or lower than the set speed (S20).

If the sensed vehicle speed is equal to or lower than the set speed as a result of the determination in step S20, the control unit 80 determines whether the gear stage is the D-stage through the shift lever sensor 10 (S30).

As a result of the determination in step S30, if the gear stage is the D stage, the steering angle sensor 20 and the angle sensor 40 are controlled to detect the steering angle and the turn angle, respectively (S40).

Next, the control unit 80 outputs the image of the trailer taken by the photographing unit 50 through the second output unit 70. In this process, the controller 80 detects a predicted path of the trailer using the steering angle sensed by the steering angle sensor 20 and the sensed angle detected by the sensor 40, And outputs it through the output unit 70.

Further, since the turning radius of the trailer is smaller than the turning radius of the vehicle, when the vehicle turns left or right, the control unit 80 warns that there is a possibility that the trailer will collide with surrounding obstacles when the vehicle turns (S50 ).

On the other hand, if it is determined in step S30 that the gear stage is not the D stage, the controller 80 determines whether the gear stage is the R stage (S60).

If it is determined in step S60 that the gear stage is the R stage, the controller 80 controls the turn angle sensor 40 to detect the turn angle between the vehicle and the trailer (S70). If the detected turn angle is greater than or equal to the preset angle (S80).

As a result of the determination in step S80, if the turning angle is not less than the set angle, the control unit 80 alerts the possibility of collision between the vehicle and the trailer through the first output unit 60 (S90).

On the other hand, if it is determined in step S80 that the turning angle is less than the set angle, the control unit 80 controls the steering angle sensor 20 to sense the steering angle (S100).

Next, the control unit 80 detects the driving trajectory of the vehicle and the trailer using the steering angle sensed by the steering angle sensor 20 and the sensed angle sensed by the sensor 40 (S110), and calculates the driving trajectory of the vehicle and the trailer Through the first output unit 60 (S120).

At this time, the control unit 80 outputs the posture of the vehicle and the trailer on the two-dimensional plane through the first output unit 60, and displays the trajectory of the vehicle and the trailer in different colors.

Here, the process of warning of the possibility of collision between the vehicle and the trailer (S90) and the process of outputting the trajectory of the trailer of the vehicle (S120) may be performed independently but simultaneously.

The control unit 80 outputs the rotation state of the steering wheel in the process of warning the possibility of collision between the vehicle and the trailer (S90) or outputting the trajectory of the vehicle and the trailer (S120) So that it can recognize the posture of the vehicle and the trailer and the trajectory of the trailer.

The control unit 80 controls the photographing unit 50 to photograph an image behind the trailer and output the photographed image through the first output unit 60 when the gear stage is the R-stage.

In this process, the control unit 80 may detect the parking line through the trajectory of the trailer and output the detected parking line through the first output unit 60.

Accordingly, the driver can confirm the driving trajectory of the vehicle and the trailer through the first output unit 60 when the gear stage is R, and the driver can see the trailing image of the trailer and the parking line of the trailer through the second output unit 70 can confirm.

As described above, the apparatus and method for driving a vehicle equipped with a trailer according to an embodiment of the present invention prevent a collision with a surrounding obstacle by outputting the trajectory of the trailer and the vehicle to the driver at the time of vehicle backward movement.

According to an embodiment of the present invention, an apparatus and method for driving a vehicle equipped with a trailer according to an aspect of the present invention not only displays a driving trajectory of a vehicle and a trailer but also a steering state of the steering wheel, .

In addition, an apparatus and method for driving a vehicle equipped with a trailer according to an embodiment of the present invention warns the possibility of collision between the trailer and the vehicle, thereby preventing a vehicle malfunction, a breakage, or a secondary accident.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, I will understand. Accordingly, the true scope of the present invention should be determined by the following claims.

10: Shift lever sensor
20: Steering angle sensor
30: vehicle speed sensor
40: Rectangular sensor
50:
60: first output section
70: second output section
80:

Claims (11)

A steering angle sensor for sensing the steering angle of the steering wheel;
A turn angle sensor for measuring the turn angle of the vehicle and the trailer; And
When the gear stage is the R-stage, the steering angle sensor and the knee angle sensor are controlled to detect the steering angle and the crest angle, and the driving trajectory of each of the vehicle and the trailer is detected using the detected steering angle and the crest angle, 1 output unit, and a control unit for outputting the output through the output unit.
2. The method according to claim 1, wherein the control unit warns the possibility of collision between the trailer and the vehicle through the first output unit when the turning angle measured by the turning angle sensor is greater than a predetermined set angle. Supported devices.
2. The vehicle driving assist system according to claim 1, wherein the controller outputs the trajectory of each of the vehicle and the trailer while outputting the posture of the vehicle and the trailer according to the steering angle and the angle of cut through the first output unit Device.
2. The driving support apparatus of claim 1, wherein the controller outputs the steering state of the steering wheel in a process of displaying the driving trajectory through the first output unit.
The driving support device for a vehicle equipped with a trailer according to claim 1, wherein the control unit warns a possibility of collision between a trailer and a surrounding obstacle according to a steering angle and a turning angle, .
The method according to claim 1,
A photographing unit mounted on the trailer and photographing the rear of the trailer; And
And a second output unit,
Wherein the control unit detects a parking line of the trailer according to the trajectory of the trailer and outputs the parking line of the trailer through the second output unit to the image photographed by the photographing unit Supported devices.
The control unit senses the vehicle speed through the vehicle speed sensor and determines whether the sensed vehicle speed is equal to or lower than the set speed.
When the vehicle speed is equal to or lower than the set speed, the control unit turns the gear stage through the shift lever sensor;
If the gear stage is the R-stage, the control unit controls the steering angle sensor and the angle sensor to detect the steering angle and the crest angle, respectively; And
Wherein the controller detects the trajectory of each of the vehicle and the trailer through the steering angle and the angle of cut, and outputs the trajectory of the vehicle and the trailer through the first output unit.
The method as claimed in claim 7, wherein the control unit determines whether the angle detected by the angle sensor is greater than or equal to a preset angle, and warns a possibility of collision between the trailer and the vehicle through the first output unit Further comprising the steps of: determining whether the trailer is mounted on the vehicle;
The driving assist system according to claim 7, wherein the controller outputs the trajectory of each of the vehicle and the trailer while outputting the posture of the vehicle and the trailer through the first output unit according to the steering angle and the angle of rotation. Way.
The method as claimed in claim 7, further comprising, when the gear stage is at the D-stage, warning the control unit of the possibility of collision between the trailer and the surrounding obstacle according to the steering angle and the angle of cut through the first output unit A method of supporting driving of a vehicle.
The method according to claim 7, further comprising the step of the control unit detecting a parking line of the trailer according to the trajectory of the trailer and outputting the parking line of the trailer through the second output unit to the image photographed by the photographing unit Wherein the vehicle is equipped with a trailer.

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