KR20190041744A - Smart cruise control apparatus, system having the same and method thereof - Google Patents

Abstract

The present invention relates to an inter-vehicle distance control apparatus, a system including the same and a method thereof which can improve safe driving and riding comfort of a driver. According to embodiments of the present invention, the inter-vehicle distance control apparatus comprises: a main target request acceleration calculation unit to calculate a request acceleration by a main target vehicle; a cutting-in determination unit to determine whether a cutting-in target vehicle is present while driving a vehicle in accordance with the main target request acceleration; a cutting-in target request acceleration calculation unit to calculate a request acceleration by the cutting-in target vehicle; and an inter-vehicle distance control unit to decelerate and drive the vehicle in a section where the cutting-in target vehicle is discovered and the cutting-in target vehicle is selected as a main target vehicle if the cutting-in target vehicle is determined while driving the vehicle in accordance with the main target request acceleration, and perform inter-vehicle distance control in accordance with the cutting-in target request acceleration if the cutting-in target vehicle is selected as a main target vehicle.

Description

[0001] The present invention relates to a headway distance control apparatus, a system including the headway distance control apparatus,

TECHNICAL FIELD The present invention relates to an inter-vehicle distance control apparatus, a system including the same, and a method thereof, and more particularly, to a technology capable of accurately predicting a vehicle in a next lane and improving driving safety and ride comfort of a driver through smooth brake control .

The inter-vehicle distance control system is a system that helps to adjust the distance between the vehicle and the preceding vehicle.

As shown in FIG. 1, the inter-vehicle distance control device detects the entry target vehicle entering the sub lane using the radar, and when the left wheel of the intervention target vehicle completely enters the sub lane, the main target vehicle And deceleration control is performed, so that rapid brake control is performed. Such a sudden braking control causes a problem of the driver's running disturbance and the fuel efficiency of the vehicle is lowered.

As shown in FIG. 2, even when the main target vehicle (control target vehicle) leaves the sub lane from the sub lane, when the left wheel of the main target vehicle completely goes out of the sub lane, the main target vehicle is recognized as the non- The control for the distance control is delayed.

Therefore, when the preceding vehicle attempts to interrupt even when the following distance control apparatus is driven, the driver recognizes the preceding vehicle in a state in which the preceding vehicle has not completely entered the lane, and attempts to decelerate the vehicle by depressing the brake. The driver may be aware of the vehicle before exiting the vehicle and perform an operation such as stepping on the excel, so that the driver's operation frequently occurs and the driving convenience may be deteriorated.

The embodiment of the present invention predicts an interruption in consideration of lateral distance and transverse relative speed of a vehicle interposed in a side lane and uses the maximum engine natural deceleration to determine the driving safety of the driver through smooth braking control for the intervention target vehicle An inter-vehicle distance control device capable of improving ride comfort, a system including the same, and a method thereof.

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

The apparatus for controlling an inter-vehicle distance according to an embodiment of the present invention includes: a main target required acceleration calculating unit for calculating a required acceleration by a main target vehicle; An interrupt discrimination unit for discriminating whether or not an interrupt target vehicle has occurred during the running of the vehicle in accordance with the main target required acceleration; An intervention target required acceleration calculation unit for calculating a required acceleration by the intervention target vehicle; And when the intervention target vehicle is determined during the running of the vehicle according to the main target demand acceleration, the intervention target vehicle is found and the vehicle is decelerated and traveled during a period of selecting the intervention target vehicle as the main target vehicle, And an inter-vehicle distance controller for performing inter-vehicle distance control according to the intervention target required acceleration when the target vehicle is selected as the main target vehicle.

In one embodiment, the system may further include a natural deceleration calculating unit that calculates a natural deceleration using the minimum engine torque, the speed ratio, and the contribution inertia.

In one embodiment, the inter-vehicle distance control section uses the natural deceleration rate during a period in which a vehicle attempting to interrupt between the main target vehicle and the vehicle is found and the intervention target vehicle is selected as a new main target vehicle And controlling the headway distance.

In one embodiment, the natural deceleration calculating section includes an engine map for calculating a minimum engine torque amount using a throttle angle, engine RPM; A gear information selection unit for selecting a gear ratio and a contribution inertia according to the gear rank information received from the transmission; And a deceleration amount calculating unit for estimating a deceleration amount generated in the vehicle when the throttle is closed by using the minimum engine torque amount, the speed ratio, the contribution inertia, the rolling resistance, and the air resistance.

In one embodiment, the engine map may include calculating the minimum engine torque amount with a difference between an engine torque when the throttle is open and running, and an engine torque when the throttle is closed.

In one embodiment, the intervention determining unit determines quickly whether or not the vehicle is interrupted in a child lane faster than the child lane, and judges whether the vehicle is interfering with the child lane more slowly than the child lane slowly ≪ / RTI >

In one embodiment, the interrupt determination section may include determining that the lateral target position of the vehicle in which the intervention is attempted is determined to be the intervention target vehicle when the lateral position is within the first reference value from the vehicle left and right.

In one embodiment, when the lateral position of the vehicle determined as the intervention target vehicle is within a second reference value smaller than the first reference value from left and right sides of the vehicle, the inter- Vehicle < / RTI >

In one embodiment, the first reference value may include a value within 1.6 m, and the second reference value may include a value within 1.0 m.

In one embodiment, the inter-vehicle distance control section may include performing acceleration control when a vehicle faster than the vehicle is interfering.

In one embodiment, the inter-vehicle distance control section may include performing deceleration control when a vehicle slower than the vehicle is interfering.

In one embodiment, the main target required acceleration calculating section may include calculating the required acceleration using the relative distance and the relative speed of the main target vehicle.

In one embodiment, the intervention target acceleration calculating unit may calculate the required acceleration using the relative distance and the relative speed of the intervention target vehicle when the intervention target vehicle discrimination unit discriminates the intervention target vehicle ≪ / RTI >

The inter-vehicle distance control system according to an embodiment of the present invention determines whether or not the intervention target vehicle is generated when an intervention target vehicle occurs while performing the inter-vehicle distance control according to the required acceleration by the main target vehicle, A processor for controlling the vehicle to perform deceleration during a section selected as the main target vehicle; And a storage unit for storing the data calculated by the processor and the discrimination result.

In one embodiment, the intervention target vehicle may further include a radar that senses entry into or advancement of the child lane.

In one embodiment, the processor includes: a main target required acceleration calculating section for calculating a required acceleration by the main target vehicle; An interrupt discrimination unit for discriminating whether or not an interrupt target vehicle has occurred during the running of the vehicle in accordance with the main target required acceleration; An intervention target required acceleration calculation unit for calculating a required acceleration by the intervention target vehicle; A natural deceleration calculating unit for calculating a natural deceleration using a minimum engine torque, a speed ratio, and a contribution inertia; And when the intervention target vehicle is discriminated during the running of the vehicle according to the main target demand acceleration, the intervention target vehicle is found and the vehicle travels according to the natural deceleration rate during a period of selecting the intervention target vehicle as the main target vehicle And an inter-vehicle distance controller for performing inter-vehicle distance control according to the intervention target required acceleration if the intervention target vehicle is selected as the main target vehicle.

According to an embodiment of the present invention, there is provided an inter-vehicle distance control method comprising: controlling an inter-vehicle distance according to a required acceleration by a main target vehicle; Determining whether the vehicle attempting to interrupt the target vehicle is an intervention target vehicle if a vehicle attempting to interrupt between the main target vehicle and the vehicle is generated; Decelerating the vehicle during a period for selecting the intervention target vehicle as the main target vehicle after the intervention target vehicle is identified; And controlling the inter-vehicle distance by calculating the required acceleration by the intervention target vehicle when the intervention target vehicle is selected as the main target vehicle.

In one embodiment, the step of calculating the natural deceleration may further include calculating the natural deceleration using the minimum engine torque amount, the transmission ratio, and the contribution inertia after the discrimination of the intervention target vehicle.

In one embodiment, the step of decelerating and driving the vehicle may include controlling the inter-vehicle distance using the natural deceleration during a period during which the intervention target vehicle is selected as the main target vehicle after the intervention target vehicle is identified ≪ / RTI >

In one embodiment, the step of determining whether the vehicle is an intervention target vehicle comprises:

Wherein the step of discriminating the intervention target vehicle as the intervention target vehicle when the lateral position of the vehicle attempting to intercept is within a first reference value from the subject vehicle to the left and right sides and controlling the inter- And selecting the intervention target vehicle as the main target vehicle when the position is within a second reference value smaller than the first reference value from left and right sides of the vehicle.

This technology predicts intervention in consideration of the lateral distance and transverse relative speed of the vehicle interposed in the next lane, and uses the maximum engine natural deceleration to improve the driving safety and ride comfort of the driver through smooth braking control for the target vehicle .

Fig. 1 is an exemplary view of a lateral position to be recognized as a control target vehicle in a general inter-vehicle distance control.
Fig. 2 is an exemplary view of a lateral position to be recognized as a control-subject vehicle during general inter-vehicle distance control.
FIG. 3 is a graph showing the required acceleration for vehicle control for a general interrupt target vehicle.
4 is a configuration diagram of an inter-vehicle distance control system according to an embodiment of the present invention.
5 is a detailed configuration diagram of a natural deceleration calculating unit according to an embodiment of the present invention.
FIG. 6A is a graph showing a reference lateral position value according to a lateral relative speed when a preceding vehicle according to an embodiment of the present invention is interposed in a lateral direction. FIG.
FIG. 6B is a view showing a range of a lateral position for recognizing a main target vehicle as an interrupt target vehicle according to the embodiment of the present invention. FIG.
6C is a graph showing a reference lateral position value according to a lateral relative speed when the preceding vehicle is interrupted at the right side according to the embodiment of the present invention.
7 is a flowchart showing a method of controlling an inter-vehicle distance by discriminating an intervention target vehicle according to an embodiment of the present invention.
8 is a flowchart showing a method of calculating a natural deceleration according to an embodiment of the present invention.
9 is a graph for explaining an inter-vehicle distance control method according to an intervention vehicle tracking according to an embodiment of the present invention.
10 is a configuration diagram of a computer system to which the headway distance control method according to the embodiment of the present invention is applied.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the difference that the embodiments of the present invention are not conclusive.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. Also, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted in an ideal or overly formal sense unless explicitly defined in the present application Do not.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 4 to 10. FIG.

4 is a configuration diagram of an inter-vehicle distance control system according to an embodiment of the present invention.

Referring to FIG. 4, an inter-vehicle distance control system according to an embodiment of the present invention includes a radar 110, a storage unit 120, and a processor 140.

The radar 110 senses the distance between the vehicle and the preceding vehicle, the distance from the vehicle that is attempting to break or the vehicle leaving the child lane, and transmits the result to the processor 140. Also, the radar 110 senses the distance between the vehicle attempting to interrupt or the vehicle exiting the child lane and the vehicle, and transmits the result to the processor 140.

The storage unit 120 stores the data calculated by the processor 140, such as the required acceleration, the natural deceleration, and the inter-vehicle distance travel information, and the discrimination result.

When the intervention target vehicle is generated during the inter-vehicle distance control according to the required acceleration by the main target vehicle, the processor 140 determines whether or not the intervention target vehicle is selected, and the intervention target vehicle is selected as the main target vehicle To perform deceleration during a predetermined period; And

To this end, the processor 140 includes a main target demand acceleration calculating section 141, an intervention discriminating section 142, an intervention target required acceleration calculating section 143, a natural deceleration calculating section 144, 145).

The main target required acceleration calculating section 141 calculates the required acceleration using the relative distance and the relative speed of the main target vehicle. In this case, the main target vehicle is a preceding vehicle of the vehicle, and the target vehicle means the target vehicle in which the vehicle performs the inter-vehicle distance control.

The interruption determination unit 142 determines whether the vehicle that is attempting to intercept is a target vehicle to be interrupted when a vehicle attempting to interrupt between the vehicle and the main target vehicle occurs during the driving of the vehicle according to the main target demand acceleration.

FIG. 6A is a graph showing a reference lateral position value according to the lateral relative speed when the preceding vehicle is interposed in the lateral direction according to the embodiment of the present invention, FIG. 6C is a graph showing the lateral lateral position when the leading vehicle according to the embodiment of the present invention, A graph showing a reference lateral position value according to a speed;

Referring to FIGS. 6A and 6C, the intervention determining unit 142 determines quickly whether or not the vehicle is interrupted in a child lane faster than the child lane, and determines whether or not the child lane is interrupted It can be judged slowly. In addition, the intervention discriminating section 142 can set different reference values for the left and right intervention-based lateral position values according to the lateral relative speed of the intervention vehicle. Referring to FIG. 6A, the intervention judging unit 142 judges that the higher the lateral relative speed is, the larger the value of -1.2 m (for example, -1.8 m for the left interlocking reference value ) Can be used to detect the intervention vehicle. On the other hand, when the lateral relative velocity is low, the intervention discrimination unit 142 determines that the intervention criterion value is smaller than -1.6 m when the lateral relative velocity is the same (for example, -1.4 m

Referring to FIG. 6C, the intervention judging unit 142 judges whether the right intervention recognition reference value is greater than 1.6 m (for example, 1.8 m () when the lateral relative velocity is the same, Conversely, the lower the transverse relative speed, the lower the reference value of the intercept recognition reference value to a value larger than 1.6 m (for example, 1.8 m (closer to the right lane)) when the lateral relative speed is the same It is possible to detect the intervention vehicle.

When the lateral position of the vehicle attempting to interrupt is within the first reference value from the left and right sides to the first reference value, the intervention discrimination section 142 discriminates the intervention target vehicle as the intervention target vehicle, The target target vehicle can be selected as the main target vehicle when the target target vehicle is within the second reference value that is smaller than the first reference value. FIG. 6B is a view showing a range of a lateral position for recognizing a main target vehicle as an interrupt target vehicle according to the embodiment of the present invention. FIG.

Referring to FIG. 6B, the first reference value may include a value within 1.6 m, and the second reference value may include a value within 1.0 m.

That is, when the vehicle attempting to break in the right and left sides enters the left and right sides within 1.6 m from the left and right sides, the intervention discrimination unit 142 recognizes the intervention target vehicle as the intervention target vehicle, and the inter-vehicle distance control unit 145 recognizes When the vehicle enters within 1.0m from left and right sides of the vehicle, it is recognized as the main target vehicle.

The intervention target demand acceleration calculation section 143 calculates the required acceleration by the intervention target vehicle. That is, when the intervention target vehicle discrimination unit 142 discriminates the intervention target vehicle, the intervention target demand acceleration calculation unit 143 can calculate the required acceleration using the relative distance and the relative speed of the intervention target vehicle have.

The natural deceleration calculating unit 144 can calculate the natural deceleration using the minimum engine torque, the speed ratio, and the inertia of contribution. The method for calculating the natural deceleration of the later natural deceleration calculating unit 144 will be described in detail.

The inter-vehicle distance control unit 145, when an intervention target vehicle is generated and recognized between the subject vehicle and the main target vehicle during the driving of the vehicle according to the main target demand acceleration, is recognized as the main target vehicle at the time when the intervention target vehicle is recognized Decelerate the vehicle during the interval to the point of selection. When the intervention target vehicle is selected as the main target vehicle, the inter-vehicle distance control unit 145 performs the inter-vehicle distance control according to the intervention target required acceleration. In this case, the inter-vehicle distance control unit 145 determines the deceleration of the vehicle as the natural deceleration calculated by the natural deceleration calculating unit 144 during a period from the time when the target vehicle is recognized to the time when the target vehicle is selected as the main target vehicle Thereby controlling the inter-vehicle distance. At this time, as shown in FIG. 6B, the inter-vehicle distance control unit 145 can select the main target vehicle when the intervention target vehicle enters the left and right sides within 1.0 m from the vehicle.

The inter-vehicle distance control unit 145 performs acceleration control when a vehicle ahead of the intervention target vehicle is interrupted, and performs deceleration control when the intervention target vehicle interferes with a vehicle slower than the intervention vehicle.

5 is a detailed configuration diagram of a natural deceleration calculating unit according to an embodiment of the present invention.

Referring to FIG. 5, the natural deceleration calculating unit 144 can calculate the natural deceleration using the minimum engine torque, the speed ratio, and the inertia of contribution.

To this end, the natural deceleration calculating section 144 includes an engine map section 241, a gear information selecting section 242, and a deceleration amount calculating section 243.

The engine map section 241 includes a chart showing the minimum engine torque that can be produced by the engine in a map format, and calculates the minimum engine torque amount using the throttle angle and the engine RPM. That is, the engine map 241 calculates the minimum engine torque amount by the difference between the engine torque when the throttle is opened and the engine torque when the throttle is closed.

The gear information selection unit 242 selects a transmission ratio and a contribution inertia according to the gear rank information received from the transmission.

The deceleration amount calculator 243 estimates the amount of deceleration that occurs in the vehicle when the throttle is closed using the minimum engine torque, the speed ratio, the contribution inertia, the rolling resistance, and the air resistance. At this time, the expression for calculating the deceleration amount is expressed by Equation 1 below.

ae, min refers to the maximum deceleration amount of a vehicle engine can be a deceleration metrology, and T _{e, min} is the minimum engine torque amount (Minimum Engine Torque), R _{g, i} is the gear ratio (Gear Ratio) a, R _d the road friction resistance (road _resistance), J _t, a _i is the gear moments of inertia (t / C and TM moment of inertia) and, J _e is the engine moment of inertia (engine moment of inertia), J _w is the wheel moment of inertia ( Wheel Moment of Inertia), F _r is the frictional resistance, and F _a is the air resistance.

The rolling resistance value Fr is a constant value along the road surface, the air resistance value F _a is C _d * (present vehicle speed) ² and is a constant value according to the vehicle, and C _d is an air resistance coefficient.

The current throttles are opened through Equation (1) and the maximum deceleration that the engine can generate when the throttle is closed when the vehicle is running is calculated. At this time, the maximum deceleration amount has a value of about -0.2 to -0.8 m / s ² in the flat furnace.

A method for controlling the inter-vehicle distance by discriminating the intervention target vehicle according to the embodiment of the present invention will be described in detail with reference to FIG. 7 is a flowchart showing a method of controlling an inter-vehicle distance by discriminating an intervention target vehicle according to an embodiment of the present invention.

First, the inter-vehicle distance control system 100 calculates the required acceleration by the main target vehicle and performs the traveling through the inter-vehicle distance control (S100).

If a vehicle attempting to break in between the main target vehicle and the subject vehicle occurs while driving at the required acceleration by the main target vehicle, it is determined whether the vehicle attempting to break in has entered the first reference value (1.6m) If it is within the reference value (1.6 m), it is recognized as an intervention target vehicle (S200). In this case, when attempting to break in from the left side, if the left wheel of the vehicle attempting to break in within 1.6 m of the left side of the vehicle enters, it is recognized as the target vehicle to be intercepted. In the case of attempting to break in from the right side, If the right wheel of the vehicle attempting to break in within 1.6m of the right side is entered, it is recognized as the target vehicle to be interrupted.

If it is determined that the target vehicle is the intervention target, the inter-vehicle distance control system 100 calculates the required acceleration by the intervention target vehicle (S300), and calculates the natural deceleration (S400).

Thereafter, the inter-vehicle distance control system 100 decelerates according to the natural deceleration (S500). If the intervention target vehicle further enters the own lane and enters the second reference value (1.0 m), the inter-vehicle distance control The system 100 selects the inter-target vehicle as the main target vehicle (S600). Thus, the vehicle selected as the main target in step S100 is released from the control target, and the intervention target vehicle becomes the main target vehicle and becomes the control target vehicle.

The inter-vehicle distance control system 100 performs inter-vehicle distance control using the required acceleration by the intervention target vehicle after the intervention target vehicle is selected as the main target vehicle (S700).

As described above, according to the present invention, when the intervention target vehicle is discriminated, the vehicle is controlled to decelerate at a natural deceleration, and if the intervention target vehicle is selected as the main target vehicle, the inter-vehicle distance travel control is performed according to the required acceleration by the selected main target vehicle.

Hereinafter, a method of calculating the natural deceleration according to the embodiment of the present invention will be described in detail with reference to FIG. 8 is a flowchart showing a method of calculating a natural deceleration according to an embodiment of the present invention.

First, the headway distance control system 100 calculates the engine torque Ta from the engine map portion during travel (S410), and calculates the engine torque Tb when the throttle is closed (S420).

Thereafter, the inter-vehicle distance control system 100 calculates the minimum engine torque Tc reduced when the throttle is closed due to the difference between the engine torque Ta when the throttle is opened and the engine torque Tb when the throttle is closed and running (T _{e, min} ) (S430).

The inter-vehicle distance control system 100 calculates the rolling resistance Fr and the air resistance Fa (S440), and selects a transmission ratio and a contribution inertia according to the present transmission gear stage (S450).

The inter-vehicle distance control system 100 estimates the amount of deceleration generated in the vehicle when the throttle is closed using the transmission ratio, the inertial inertia, the rolling resistance, the air resistance, and the minimum engine torque (S460).

FIG. 9 is a graph for explaining an inter-vehicle distance control method according to an intervention vehicle tracking method according to an embodiment of the present invention, and FIG. 3 is a graph of a required acceleration during vehicle control for a general interruption target vehicle.

3, it can be seen that, in the past, when the intervention vehicle completely enters the sub lane, the required acceleration rapidly drops and rapid brake control occurs.

Referring to FIG. 9, the inter-vehicle distance control is performed (2) by the required acceleration (1) by the main target before the intervention vehicle occurs (before the point E). Thereafter, the target vehicle to be interrupted at the occurrence of the intervention vehicle is identified, the required acceleration 3 by the intervention target vehicle is calculated, and the intervention target vehicle is selected as the main target vehicle at the point F (6).

9, a difference occurs between the required acceleration for the intervention target vehicle and the required acceleration for the main target vehicle, and the required acceleration for the intervention target vehicle is compared with the required acceleration for the main target vehicle, Small values can be used for control.

The target acceleration required to the main target vehicle is set to the target required acceleration and the headway distance control is performed. In the section T between the E point and the F point, the target required acceleration is the natural deceleration due to the engine braking (4) After the point F, that is, after the target vehicle is selected as the main target vehicle, the target required acceleration is set as the main target required acceleration, so that the inter-vehicle distance control is performed (7).

That is, in the present invention, when an intervention vehicle occurs, the vehicle decelerates by performing braking through the engine brake for a time T, and implements control similar to the driving behavior of the driver, thereby giving the driver more safety.

As described above, the present invention can give a driver a sense of safety by predicting interruption in consideration of the lateral relative speed of the vehicle and performing deceleration by the maximum engine deceleration.

Further, the present invention applies a deceleration effect by operating engine brakes in advance by performing interrupt prediction in advance, and can reduce the amount of deceleration after the interrupt target vehicle completely enters the sub lane, thereby providing a comfortable ride to the driver.

Further, the present invention minimizes the driver's operation by minimizing the operation of the driver by performing control similar to the point of time controlled by the driver through the pre-deceleration using the interruption prediction and the natural deceleration, thereby improving the fuel efficiency by minimizing the sudden deceleration have.

Such a technique of predicting the intervention target vehicle of the present invention in advance can be applied to a vehicle system such as an inter-vehicle distance control device and ADAS (Advanced Driver Assistance Systems), thereby increasing the reliability of the vehicle system.

10 is a configuration diagram of a computer system to which the headway distance control method according to the embodiment of the present invention is applied.

10, a computing system 1000 includes at least one processor 1100 connected via a bus 1200, a memory 1300, a user interface input device 1400, a user interface output device 1500, (1600), and a network interface (1700).

The processor 1100 may be a central processing unit (CPU) or a memory device 1300 and / or a semiconductor device that performs processing for instructions stored in the storage 1600. Memory 1300 and storage 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a ROM (Read Only Memory) and a RAM (Random Access Memory).

Thus, the steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by processor 1100, or in a combination of the two. The software module may reside in a storage medium (i.e., memory 1300 and / or storage 1600) such as a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, You may.

An exemplary storage medium is coupled to the processor 1100, which can read information from, and write information to, the storage medium. Alternatively, the storage medium may be integral to the processor 1100. [ The processor and the storage medium may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and the storage medium may reside as discrete components in a user terminal.

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.

Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. 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.

100: Inter-vehicle distance control system
110: Radar
120:
140: Processor
141: main target demand acceleration calculating section
142: Interruption plate
143: Interruption target request acceleration calculation unit
144: Natural deceleration calculating unit
145: Inter-vehicle distance control section

Claims (20)

A main target required acceleration calculating unit for calculating required acceleration by the main target vehicle;
An interrupt discrimination unit for discriminating whether or not an interrupt target vehicle has occurred during the running of the vehicle in accordance with the main target required acceleration;
An intervention target required acceleration calculation unit for calculating a required acceleration by the intervention target vehicle; And
When the intervention target vehicle is discriminated during the running of the vehicle according to the main target required acceleration, the intervention target vehicle is found and the vehicle is decelerated to travel during a period of selecting the intervention target vehicle as the main target vehicle, An inter-vehicle distance controller for performing inter-vehicle distance control according to the intervention target required acceleration when the vehicle is selected as the main target vehicle;
And an inter-vehicle distance control device. The method according to claim 1,
A natural deceleration calculating unit for calculating the natural deceleration using the minimum engine torque, the speed ratio,
Further comprising: an inter-vehicle distance control device for controlling the inter-vehicle distance. The method of claim 2,
The inter-vehicle distance control unit includes:
Wherein the control unit controls the inter-vehicle distance using the natural deceleration during a period in which a vehicle attempting to interrupt between the main target vehicle and the vehicle is found and the intervention target vehicle is selected as a new main target vehicle Distance control device. The method of claim 2,
Wherein the natural deceleration calculating unit comprises:
An engine map section for calculating a minimum engine torque amount using a throttle angle and an engine RPM;
A gear information selection unit for selecting a gear ratio and a contribution inertia according to the gear rank information received from the transmission;
A deceleration amount calculating unit for estimating a deceleration amount generated in the vehicle when the throttle is closed using the minimum engine torque amount, the transmission ratio, the contribution inertia, the rolling resistance,
And an inter-vehicle distance control device for controlling the inter-vehicle distance. The method of claim 4,
The engine map unit
And calculates the minimum engine torque amount based on the difference between the engine torque when the throttle is open and the engine is closed when the throttle is closed. The method according to claim 1,
Wherein the interruption determination unit comprises:
The inter-vehicle distance control apparatus judges whether or not the vehicle is interfering more quickly than the vehicle, and judges whether the vehicle is interfering with the interfering vehicle more slowly than the vehicle. The method of claim 6,
Wherein the interruption determination unit comprises:
When the transverse position of the vehicle attempting to be interfered is within the first reference value from the left and right sides of the vehicle, the inter-vehicle distance is determined as the intervention target vehicle. The method of claim 7,
The inter-vehicle distance control unit includes:
The intervention target vehicle is selected as the main target vehicle when the lateral position of the vehicle discriminated as the intervention target vehicle is within the second reference value smaller than the first reference value from the vehicle to the left and right sides, Device. The method of claim 8,
Wherein the first reference value includes a value within 1.6 m,
And the second reference value includes a value within 1.0 m. The method of claim 6,
The inter-vehicle distance control unit includes:
And carries out acceleration control when a vehicle is caught faster than the car. The method of claim 10,
The inter-vehicle distance control unit includes:
And the deceleration control is performed when a vehicle slower than the preceding vehicle is interfered. The method according to claim 1,
Wherein the main target required acceleration calculating section calculates,
And calculates the required acceleration using the relative distance and the relative speed of the main target vehicle. The method according to claim 1,
The intervention request acceleration calculation unit calculates,
Wherein the intervention target vehicle discrimination unit calculates the required acceleration using the relative distance and the relative speed of the intervention target vehicle when the intervention target vehicle is discriminated by the intervention target vehicle discrimination unit. When the intervention target vehicle is generated during the inter-vehicle distance control according to the acceleration demanded by the main target vehicle, it is determined whether or not the intervention target vehicle is present, and the intervention target vehicle is decelerated during the interval selected as the main target vehicle A processor for controlling the processor to perform the processing; And
A storage unit for storing data calculated by the processor and a discrimination result;
Vehicle distance control system. 15. The method of claim 14,
A radar device for detecting that the intervention target vehicle enters or advances into a sub lane,
Further comprising: an inter-vehicle distance control system for controlling the inter-vehicle distance. 16. The method of claim 15,
The processor comprising:
A main target required acceleration calculating unit for calculating required acceleration by the main target vehicle;
An interrupt discrimination unit for discriminating whether or not an interrupt target vehicle has occurred during the running of the vehicle in accordance with the main target required acceleration;
An intervention target required acceleration calculation unit for calculating a required acceleration by the intervention target vehicle;
A natural deceleration calculating unit for calculating a natural deceleration using a minimum engine torque, a speed ratio, and a contribution inertia; And
If the intervention target vehicle is discriminated during the running of the vehicle according to the main target demand acceleration, the intervention target vehicle is found and the vehicle travels according to the natural deceleration rate during the interval for selecting the intervention target vehicle as the main target vehicle An inter-vehicle distance controller for performing inter-vehicle distance control according to the intervention target required acceleration when the intervention target vehicle is selected as the main target vehicle;
Vehicle distance control system. Controlling the headway distance according to the required acceleration by the main target vehicle;
Determining whether the vehicle attempting to interrupt the target vehicle is an intervention target vehicle if a vehicle attempting to interrupt between the main target vehicle and the vehicle is generated;
Decelerating the vehicle during a period for selecting the intervention target vehicle as the main target vehicle after the intervention target vehicle is identified; And
When the intervention target vehicle is selected as the main target vehicle, calculating the required acceleration by the intervention target vehicle and controlling the inter-vehicle distance
To-vehicle distance control method. 18. The method of claim 17,
Calculating the natural deceleration using the minimum engine torque, the transmission ratio, and the inertia of inertia after the discrimination of the intervention target vehicle
Further comprising the steps of: 19. The method of claim 18,
Wherein the step of decelerating the vehicle includes:
Wherein the inter-vehicle distance is controlled using the natural deceleration during a period during which the intervention target vehicle is identified as the main target vehicle after the intervention target vehicle is identified. 19. The method of claim 18,
Wherein the step of determining whether the vehicle is an intervention target vehicle comprises:
When the transverse position of the vehicle attempting to interrupt is within a first reference value from the left and right sides of the vehicle, it is determined that the vehicle is an intervention target vehicle,
The step of controlling the inter-vehicle distance includes:
The intervention target vehicle is selected as the main target vehicle when the lateral position of the vehicle discriminated as the intervention target vehicle is within the second reference value smaller than the first reference value from the vehicle to the left and right sides, Way.

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