KR20190083789A - Parking collision-avoidance assist system, vehicle and controll method thereof - Google Patents

Abstract

A vehicle detects a pedestrian or an obstacle when the vehicle is parked, and comprises: a plurality of ultrasonic sensors for outputting information about a distance to a pedestrian or an obstacle; and a control unit estimating a position of the pedestrian or the obstacle based on the information about the distance to the pedestrian or the obstacle, outputted from the ultrasonic sensors, determining reliability of position estimation of the pedestrian or the obstacle based on the position of the pedestrian or the obstacle, and controlling braking of the vehicle in accordance with the reliability of the position estimation of the pedestrian or the obstacle. The control unit can store a table including the reliability of the position estimation of the pedestrian or the obstacle, corresponding to a position of a plurality of different pedestrians or obstacles.

Description

{PARKING COLLISION-AVOIDANCE ASSIST SYSTEM, VEHICLE AND CONTROLL METHOD THEREOF}

The present invention relates to a parking collision assistant system, a vehicle and a control method thereof, and more particularly, to a parking collision assistance system, a vehicle and a control method thereof for preventing a rear parking collision.

A vehicle means a device that can carry people or goods to a destination while driving on roads or tracks. The vehicle can be moved to various positions mainly by using one or more wheels installed in the vehicle body. Such a vehicle may be a two-wheeled vehicle such as a three-wheeled or four-wheeled vehicle, a motorcycle, a construction machine, a bicycle, or a train traveling on a rail arranged on a railroad.

In modern society, vehicles are the most common means of transportation and the number of people using them is increasing. The development of vehicle technology makes it easy to travel long distances and make life easier. However, in high density areas like Korea, road traffic is getting worse and traffic congestion becomes serious.

In recent years, a vehicle equipped with an Advanced Driver Assist System (ADAS) that actively provides information on the vehicle condition, the driver condition, and the surrounding environment in order to reduce the burden on the driver and to enhance the convenience Research is actively underway.

For example, a forward collision avoidance system (FCA), an autonomous emergency brake (AEB), and a driver attention warning system (DAW) are examples of advanced driver assistance systems mounted on a vehicle. Such a system is a collision avoidance and warning system for determining the risk of collision with an object in a running state of the vehicle and emergency braking in a collision situation.

An aspect of the disclosed invention is to provide a parking collision prevention assistance system, a vehicle, and a control method thereof, which estimate a position of a pedestrian based on an output of an ultrasonic sensor.

An aspect of the disclosed invention is to provide a parking collision prevention assistance system, a vehicle, and a control method thereof, which generates a lookup table indicating the reliability of pedestrian position estimation.

An aspect of the disclosed invention is to provide a parking collision prevention assistance system, a vehicle, and a control method thereof for determining a deceleration using a lookup table indicating the reliability of pedestrian position estimation.

A parking collision prevention auxiliary system according to an aspect of the present invention is a parking collision prevention auxiliary system for detecting a pedestrian or an obstacle when a vehicle is parked, comprising: a plurality of ultrasonic sensors for outputting information on a distance to the pedestrian or an obstacle; ; Estimating the position of the pedestrian or the obstacle based on information about the distance to the pedestrian or the obstacle output from the plurality of ultrasonic sensors and calculating the reliability of the position estimation of the pedestrian or the obstacle based on the position of the pedestrian or the obstacle And a control unit for controlling the braking of the vehicle in accordance with the reliability of the position estimation of the pedestrian or the obstacle, wherein the control unit calculates the reliability of the position estimation of the pedestrian or the obstacle corresponding to the positions of the plurality of different pedestrians or obstacles ≪ / RTI >

The control unit may determine the deceleration of the vehicle so as to be proportional to the reliability of the position estimation of the pedestrian or the obstacle.

The control unit may further determine a target remaining distance inversely proportional to the reliability of the position estimation of the pedestrian or obstacle.

The control unit may transmit a braking request message to the braking device of the vehicle so that the behavior of the vehicle follows the deceleration and the target remaining distance.

The reliability of the position estimation of the pedestrian or the obstacle can be stored in advance in the control unit using the ultrasonic sensor measurement model, the Jacobian matrix and the reliability lowering calculation method for each coordinate.

According to an aspect of the disclosed invention, there is provided a vehicle for detecting a pedestrian or an obstacle at the time of parking, comprising: a plurality of ultrasonic sensors for outputting information on a distance to a pedestrian or an obstacle; Estimating the position of the pedestrian or the obstacle based on information about the distance to the pedestrian or the obstacle output from the plurality of ultrasonic sensors and calculating the reliability of the position estimation of the pedestrian or the obstacle based on the position of the pedestrian or the obstacle And a control unit for controlling the braking of the vehicle in accordance with the reliability of the position estimation of the pedestrian or the obstacle, wherein the control unit calculates the reliability of the position estimation of the pedestrian or the obstacle corresponding to the positions of the plurality of different pedestrians or obstacles ≪ / RTI >

The control unit may determine the deceleration of the vehicle so as to be proportional to the reliability of the position estimation of the pedestrian or the obstacle.

The control unit may further determine a target remaining distance inversely proportional to the reliability of the position estimation of the pedestrian or obstacle.

The control unit may control the braking device so that the behavior of the vehicle follows the deceleration and the target remaining distance.

The reliability of the position estimation of the pedestrian or the obstacle can be stored in advance in the control unit using the ultrasonic sensor measurement model, the Jacobian matrix and the reliability lowering calculation method for each coordinate.

A control method of a vehicle according to an aspect of the disclosed invention is a control method of a vehicle that detects a pedestrian or an obstacle at the time of parking, comprising: detecting a distance to a pedestrian or an obstacle; Estimating a position of the pedestrian or obstacle based on the distance to the pedestrian or obstacle; Determining the reliability of the position estimate of the pedestrian or obstacle based on the position of the pedestrian or obstacle; And determining the reliability of the position estimation of the pedestrian or the obstacle, wherein the determination of the reliability of the pedestrian or obstacle position estimation comprises controlling the braking of the vehicle in accordance with the reliability of the pedestrian or the obstacle, And determining reliability of the position estimation of the pedestrian or the obstacle using a table including the reliability of the position estimation of the pedestrian or the obstacle.

Controlling the braking of the vehicle may include determining the deceleration of the vehicle to be proportional to the reliability of the position estimate of the pedestrian or obstacle.

Controlling the braking of the vehicle may further include determining a target remaining distance that is inversely proportional to the reliability of the position estimate of the pedestrian or obstacle.

The controlling of the braking of the vehicle may further include controlling the braking device such that the behavior of the vehicle follows the deceleration and the target remaining distance.

The reliability of the position estimation of the pedestrian or the obstacle can be stored in advance using the ultrasonic sensor measurement model and the Jacobian matrix and the reliability lowering calculation method for each coordinate.

According to an aspect of the disclosed subject matter, there is provided a parking collision prevention auxiliary system for estimating a position of a pedestrian based on an output of an ultrasonic sensor, a vehicle, and a control method thereof.

According to an aspect of the disclosed invention, a parking collision prevention assistance system, a vehicle, and a control method thereof can be provided that generate a lookup table indicating the reliability of pedestrian position estimation.

According to an aspect of the present invention, a parking collision prevention assistance system, a vehicle, and a control method thereof may be provided that determine a deceleration using a lookup table indicating the reliability of pedestrian position estimation.

1 shows a vehicle body of a vehicle according to an embodiment.
Fig. 2 shows a vehicle undercarriage according to one embodiment.
Fig. 3 shows electrical components of a vehicle according to an embodiment.
FIG. 4 illustrates a configuration of a parking collision prevention auxiliary system according to an embodiment.
FIG. 5 illustrates a plurality of ultrasonic sensors included in the parking collision prevention auxiliary system according to one embodiment.
FIG. 6 illustrates an example in which a parking-collision-avoidance auxiliary system according to an embodiment predicts a collision with a pedestrian and / or an obstacle.
FIG. 7 illustrates an example of reliability of the position estimation of a pedestrian and / or an obstacle by the parking collision preventing assistance system according to an embodiment.
FIG. 8 shows an example of deceleration according to the reliability of the position estimation of a pedestrian and / or an obstacle by the parking-collision-avoidance auxiliary system according to an embodiment.
9 shows deceleration of the vehicle by the parking collision prevention auxiliary system according to the embodiment.
Fig. 10 shows an auxiliary collision avoidance assistance method for a vehicle according to an embodiment.

Like reference numerals refer to like elements throughout the specification. This specification does not describe all the elements of the embodiments, and duplicate descriptions of the contents or embodiments in the technical field to which the disclosed invention belongs are omitted. The term 'part, module, member, or block' used in the specification may be embodied in software or hardware, and a plurality of 'part, module, member, and block' may be embodied as one component, It is also possible that a single 'part, module, member, block' includes a plurality of components.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only the case directly connected but also the case where the connection is indirectly connected, and the indirect connection includes connection through the wireless communication network do.

Also, when an element is referred to as "comprising ", it means that it can include other elements as well, without departing from the other elements unless specifically stated otherwise.

Throughout the specification, when a member is located on another member, it includes not only when a member is in contact with another member but also when another member exists between the two members.

The terms first, second, etc. are used to distinguish one element from another, and the elements are not limited by the above-mentioned terms.

The singular forms " a " include plural referents unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of explanation, and the identification code does not describe the order of the steps, and each step may be performed differently from the stated order unless clearly specified in the context. have.

Hereinafter, the working principle and embodiments of the disclosed invention will be described with reference to the accompanying drawings.

1 shows a vehicle body of a vehicle according to an embodiment. Fig. 2 shows a vehicle undercarriage according to one embodiment. Fig. 3 shows electrical components of a vehicle according to an embodiment.

1, 2 and 3, a vehicle 100 includes a body 110 that forms an appearance of a vehicle 100 and accommodates a driver and / or a baggage, A chassis 120 that includes components of the vehicle 100, and electrical components 130 that protect the driver and provide comfort to the driver.

Referring to Fig. 1, the vehicle body 110 forms, for example, an interior space in which a driver can stay, an engine room for accommodating the engine, and a trunk room for accommodating the cargo.

The vehicle body 20 includes a hood 111, a front fender 112, a roof panel 113, a door 114, a trunk lid 115, A quarter panel 116, and the like. A front window 117 is provided in front of the vehicle body 110 and a side window 118 is provided on a side surface of the vehicle body 110, A rear window 119 is provided at the rear of the vehicle body 110.

2, the undercarriage 120 includes a power generating device 121 for driving the vehicle 100 under the control of the driver, a power transmitting device 122, a steering device 123, An apparatus 124, a wheel 125, a frame 126, and the like.

The power generation device 121 generates a rotational force for driving the vehicle 100 in accordance with the acceleration control of the driver and controls the engine 121a, the fuel supply device 121b, the exhaust device 121c, .

The power transmitting device 122 transmits the rotational force generated by the power generating device 121 to the wheels 125 and includes a clutch / transmission 122a, a drive shaft 122b, a shift lever, and the like.

The steering device 123 changes the running direction of the vehicle 100 in accordance with the steering control of the driver and includes a steering wheel 123a, a steering gear 123b, a steering link 123c, and the like.

The braking device 124 stops the running of the vehicle 100 in accordance with the braking control of the driver and includes a master cylinder 124a, a brake disk 124b, a brake pad 124c, a brake pedal, and the like.

The wheel 125 is provided with rotational force from the power generating device 121 through the power transmitting device 122 and can move the vehicle 100. [ The wheel 125 may include a front wheel provided in front of the vehicle and a rear wheel provided in the rear of the vehicle.

The frame 126 can fix the power generating device 121, the power transmitting device 122, the steering device 123, the braking device 124, and the wheel 125. [

Vehicle 100 may include various electrical components 130 for the control of vehicle 100, the safety and comfort of the driver and passenger, as well as the mechanical components described above.

3, the vehicle 100 includes an engine management system (EMS) 131, a transmission control unit (TCU) 132, an electronic braking system (EBS) 132, An electric power steering (EPS) 134, a body control module (BCM) 135, a display device 136, an air conditioner (HVAC) 137, an audio 138, and a Parking Collision-Avoidance Assist (PCA)

The engine management system 131 can control the operation of the engine and manage the engine in response to the driver's acceleration command through the accelerator pedal. For example, the engine management system 131 may perform engine torque control, fuel consumption control, engine failure diagnosis, and / or generator control.

The transmission control unit 132 can control the operation of the transmission in response to the driver's shift command via the shift lever or the running speed of the vehicle 100. [ For example, the transmission control unit 132 may perform clutch control, shift control, and / or engine torque control during a shift.

The electronic braking system 133 can control the operation of the braking device of the vehicle 100 in response to the driver's braking command through the braking pedal. In addition, the electronic braking system 133 can maintain the balance of the vehicle 100. [ For example, the electronic braking system 133 may perform an automatic parking brake, slip prevention during braking, and / or slip prevention during steering.

The electric steering device 134 can assist the driver to easily operate the steering wheel 123a by the driver. For example, the electric steering system 134 may assist the driver in steering operations such as reducing the steering force during low-speed driving or parking and increasing the steering force during high-speed driving.

The vehicle body control module 135 can control the operation of electrical components that provide convenience to the driver or ensure the safety of the driver. For example, the vehicle body control module 135 may control a door lock device, a head lamp, a wiper, a power seat, a seat heater, a cluster, a room lamp, a navigation device, a multifunctional switch, etc. installed in the vehicle 100.

The display device 136 may be installed in the center fascia inside the vehicle 100 and may provide various information and fun to the driver through the image. For example, the display device 136 can reproduce a video file stored in an internal storage medium or an external storage medium according to a command from the driver, and output an image included in the video file. Also, the display device 136 receives the destination from the driver through the touch input of the driver, and can display the route to the input destination.

The air conditioner 137 can heat or cool the indoor air according to the indoor temperature of the vehicle 100 and the target temperature inputted by the driver. For example, the air conditioner 137 can cool the room air if the room temperature is higher than the target temperature, and can heat the room air if the room temperature is lower than the target temperature. The air conditioner 137 may be configured to introduce air outside the vehicle 100 into the interior of the vehicle 100 according to the external environment of the vehicle 100, Can be circulated.

The audio device 138 can provide various information and fun to the driver through the sound. For example, the audio device 138 may reproduce an audio file stored in an internal storage medium or an external storage medium according to a command from the driver, and output audio included in the audio file. In addition, the audio device 138 may receive an audio broadcast signal and output an audio corresponding to the received audio broadcast signal.

The parking-collision-avoidance auxiliary system 200 can predict a collision with a pedestrian and / or an obstacle while the vehicle 100 is moving backward at a low speed, and can warn the driver or perform braking of the vehicle 100 according to the prediction result . Specifically, the parking collision aiding system 200 determines the position of a pedestrian and / or an obstacle located behind the vehicle 100 and determines the position of the vehicle 100 and the pedestrian and / or the obstacle based on the position of the pedestrian and / The collision between obstacles can be predicted. Thereafter, the parking assist system 200 may alert the driver of a collision with a pedestrian and / or an obstacle, or may transmit a braking request message including a deceleration to the electronic braking system 133.

The parking antitheft assistant system 200 is described in further detail below.

In addition, the vehicle 100 may further include electrical components to protect the driver and provide comfort to the driver. For example, vehicle 100 may include electrical components 130 such as door locks, wipers, power seats, seat heaters, clusters, room lamps, navigation, multifunction switches, and the like.

These electrical components 130 can communicate with each other via the vehicle communication network NT. For example, the electrical components 130 may be implemented as Ethernet, MOST (Media Oriented Systems Transport), Flexray, CAN (Controller Area Network), LIN Data can be exchanged through the network.

Hereinafter, the parking-collision-avoidance auxiliary system 200 will be described in detail.

FIG. 4 illustrates a configuration of a parking collision prevention auxiliary system according to an embodiment. FIG. 5 illustrates a plurality of ultrasonic sensors included in the parking collision prevention auxiliary system according to one embodiment.

4, the parking collision aiding system 200 includes a sensing unit 210 for detecting a pedestrian and / or an obstacle, a communication unit 230 for communicating with other electric components 130 included in the vehicle 100, And a control unit 230 for determining whether the vehicle 100 is to be braked based on the output of the sensing unit 210.

The sensing unit 210 includes a plurality of ultrasonic sensors 211.

The plurality of ultrasonic sensors 211 may be installed at the rear of the vehicle 100 as shown in FIG. The plurality of ultrasonic sensors 211 emit ultrasound waves (hereinafter referred to as 'sensed ultrasound waves') for detecting a pedestrian and / or an obstacle toward the rear of the vehicle 100 and generate ultrasound waves Hereinafter referred to as " reflected ultrasonic waves ").

The plurality of ultrasonic sensors 211 can detect the phase difference (or time difference) between the sensed ultrasonic waves and the reflected ultrasonic waves and the information about the phase difference (or time difference) between the sensed ultrasonic waves and the reflected ultrasonic waves, ). The control unit 230 determines the distance between each of the plurality of ultrasonic sensors 211 and the pedestrian and / or the obstacle on the basis of the phase difference (or time difference) between the detected ultrasonic waves and the reflected ultrasonic waves, Or the obstacle and / or the obstacle based on the distance between each of the pedestrians and / or obstacles.

The plurality of ultrasonic sensors 211 includes a first ultrasonic sensor 211a disposed on the left outside on the rear side of the vehicle 100, a second ultrasonic sensor 211b disposed on the inner left side on the rear side of the vehicle 100, And a fourth ultrasonic sensor 211d provided on the right outside of the rear of the vehicle 100. The fourth ultrasonic sensor 211d is disposed on the right side of the rear side of the vehicle 100,

Each of the first, second, third, and fourth ultrasonic sensors 211a, 211b, 211c, and 211d may have different sensing areas R1, R2, R3, and R4. For example, the first ultrasonic sensor 211a has a first sensing area R1, the second ultrasonic sensor 211b has a second sensing area R2, and the third ultrasonic sensor 211c has a third sensing area R2. And the fourth ultrasonic sensor 211d may have a fourth sensing area R4. Further, the plurality of sensing areas R1, R2, R3, and R4 may overlap at least a part with each other.

The first, second, third, and fourth ultrasonic sensors 211a, 211b, 211c, and 211d may include pedestrians in the first, second, third, and fourth sensing regions R1, R2, R3, R4, and / An obstacle can be detected, and the control unit 230 can transmit information on the distance to the pedestrian and / or obstacle (information on the phase difference between the ultrasonic wave and the reflected ultrasonic wave). The controller 230 controls the first, second, and third ultrasonic sensors 211a, 211b, 211c, and 211d based on the information about the distances to the pedestrians and / or obstacles of the first, second, third, And the fourth ultrasonic sensors 211a, 211b, 211c, and 211d to the pedestrian and / or the obstacle, and determine the position of the pedestrian and / or the obstacle.

The plurality of ultrasonic sensors 211 can emit sensed ultrasonic waves simultaneously or sequentially, and can simultaneously or sequentially receive reflected ultrasonic waves.

The communication unit 220 includes a can transceiver 221 that receives a communication signal from the electrical components 130 and transmits the communication signal to the electrical components 130 via the vehicle communication network NT.

The can transceiver 221 receives the analog communication signal through the vehicle communication network NT, converts the analog communication signal into digital communication data, and outputs the digital communication data to the control unit 230. Also, the can transceiver 221 receives the digital communication data from the control unit 230, converts the digital communication data into an analog communication signal, and transmits the analog communication signal through the vehicle communication network NT.

The control unit 230 includes a processor 231 for generating a control signal for controlling the operation of the parking stop collision subsiding system 200 and a storage unit for storing programs and data for controlling the operation of the parking collision avoidance assist system 200 And a memory 232.

The processor 231 processes the output of the sensing unit 210 and transmits the message requesting the braking of the vehicle 100 to the electromagnetic braking system 133 based on the output of the sensing unit 210. [ Can be controlled.

The processor 231 may receive information on distances from the plurality of ultrasonic sensors 211 to the pedestrian and / or obstacle from the sensing unit 210. [ For example, the processor 231 receives information on the phase difference between the sensed ultrasonic waves and the reflected ultrasonic waves of the plurality of ultrasonic sensors 211 from the sensing unit 210, The distance from each of the plurality of ultrasonic sensors 211 to the pedestrian and / or the obstacle can be determined from the phase difference between the detected ultrasonic waves and the reflected ultrasonic waves of the ultrasonic sensors 211.

The processor 231 may determine the position of the pedestrian and / or obstacle based on the distance from the plurality of ultrasonic sensors 211 to the pedestrian and / or obstacle. For example, the processor 231 may be configured to measure the distance from the first, second, third and fourth ultrasonic sensors 211a, 211b, 211c, and 211d to pedestrians and / or obstacles using triangulation techniques, And / or the position of the obstacle.

The processor 231 can predict the collision with the pedestrian and / or the obstacle based on the position of the pedestrian and / or the obstacle, the traveling direction of the vehicle 100, and the traveling speed of the vehicle 100. [ For example, the processor 231 determines whether the traveling path of the vehicle 100 overlaps the position of the pedestrian and / or the obstacle based on the traveling direction of the vehicle 100, and then determines the traveling speed of the vehicle 100 The predicted time (hereinafter referred to as " collision prediction time ") until the collision between the vehicle 100 and the obstacle and / or the obstacle can be predicted.

The processor 231 may also control the communication unit 220 to send a message requesting the braking of the vehicle 100 to the electronic braking system 133 based on the collision prediction result of the position of the pedestrian and / . For example, the processor 231 may calculate the deceleration of the vehicle 100 based on the predicted time until the collision between the vehicle 100 and the pedestrian and / or the obstacle, and the target distance between the vehicle 100 and the pedestrian and / And controls the communication unit 220 to transmit the deceleration calculated by the electronic braking system 133. [

The processor 231 may include an arithmetic circuit for performing a logical operation and an arithmetic operation, a storage circuit for storing arithmetic data, and the like.

The memory 232 processes the output of the sensing unit 210 and transmits a message requesting the braking of the vehicle 100 to the electronic braking system 133 based on the output of the sensing unit 210, It is possible to store programs and data for control.

The memory 232 includes a nonvolatile memory such as a ROM or a flash memory for storing data for a long time, an S-RAM (Static Random Access Memory, S-RAM) for temporarily storing data, a D- And a dynamic random access memory (RAM).

The control unit 230 processes the output of the sensing unit 210 and transmits a message requesting the braking of the vehicle 100 to the electronic braking system 133 based on the output of the sensing unit 210 220 can be controlled.

In particular, the controller 230 determines the position of the pedestrian and / or obstacle based on the distance from the plurality of ultrasonic sensors 211 to the pedestrian and / or the obstacle, 100 to the electronic braking system 133. In this case,

Here, the deceleration of the vehicle 100 to prevent collision with pedestrians and / or obstacles may depend on the reliability of the position estimation of the pedestrian and / or obstacle. Specifically, the deceleration of the vehicle 100 for preventing collision with the pedestrian and / or the obstacle may be larger than the ideal value if the calculated position of the pedestrian and / or the affair is not correct.

In the following, the relationship between the reliability of the position estimation of the pedestrian and / or obstacle and the deceleration of the vehicle 100 is described.

FIG. 6 illustrates an example in which a parking-collision-avoidance auxiliary system according to an embodiment predicts a collision with a pedestrian and / or an obstacle. FIG. 7 illustrates an example of reliability of the position estimation of a pedestrian and / or an obstacle by the parking collision preventing assistance system according to an embodiment. FIG. 8 shows an example of deceleration according to the reliability of the position estimation of a pedestrian and / or an obstacle by the parking-collision-avoidance auxiliary system according to an embodiment. 9 shows deceleration of the vehicle by the parking collision prevention auxiliary system according to the embodiment.

The parking-collision-avoidance auxiliary system 200 can detect a pedestrian and / or an obstacle during a backward travel. For example, the parking-collision-avoidance auxiliary system 200 may be provided between the sensed ultrasonic waves of the first, second, third and fourth ultrasonic sensors 211a, 211b, 211c and 211d and the reflected ultrasonic waves reflected from the pedestrian and / Second, third, and fourth ultrasonic sensors 211a, 211b, 211c, and 211d based on the phase difference between the first, second, third, and fourth ultrasonic sensors 211a, 211b, 211c, The position of the pedestrian and / or the obstacle can be estimated based on the distance from the fourth ultrasonic sensors 211a, 211b, 211c, and 211d to the pedestrian and / or the obstacle.

Thereafter, the parking-collision-assisting-assistant system 200 judges the traveling path of the vehicle 100 based on the traveling direction of the vehicle 100 and judges whether the pedestrian and / 100 on the traveling route of the vehicle.

6, when the vehicle 100 travels backward, the parking-collision-avoidance assisting system 200 calculates the distance R_target from the center of rotation of the vehicle 100 to the pedestrian and / or the obstacle, (R_inner) of the vehicle (100) and the outside radius of rotation (R_outer) of the vehicle (100).

Specifically, the parking-collision-avoidance auxiliary system 200 can judge whether or not the expression (1) is satisfied.

[Equation 1]

However, R_target represents the distance from the center of rotation of the vehicle 100 to the pedestrian and / or obstacle, R_inner represents the inside turning radius of the vehicle 100, and R_outer may represent the outside turning radius of the vehicle 100 .

If Equation (1) is satisfied, the parking-collision-avoidance assisting system 200 calculates the collision prediction time T_col up to the collision between the vehicle 100 and the pedestrian and / or obstacle using Equation (2) .

&Quot; (2) "

Where T_col represents the collision prediction time to the collision between the vehicle 100 and the pedestrian and / or obstacle, R_target represents the distance from the center of rotation of the vehicle 100 to the pedestrian and / or obstacle, 100 denotes an angle between a reference line of a running of the vehicle 100 and a collision predicted position of the vehicle 100 and? 2 denotes an angle between a reference line of a turning travel of the vehicle 100 and a pedestrian and / X_target represents the x-coordinate of the pedestrian and / or obstacle, R_center represents the center of the vehicle 100 from the center of rotation of the vehicle 100, Y_target represents the y coordinate of the pedestrian and / or obstacle, x_collision represents the x coordinate of the expected collision position of the vehicle 100, R_target represents the distance from the center of rotation of the quantity () to the pedestrian and / It may indicate a distance.

According to Equation (2), the collision prediction time T_col is calculated based on the position of the pedestrian and / or the obstacle. In other words, the reliability of the collision prediction time T_col may depend on the reliability of the position estimation of the pedestrian and / or obstacle.

The reliability of the position estimation of the pedestrian and / or obstacle may depend on the number of the plurality of ultrasonic sensors 211, the arrangement of the plurality of ultrasonic sensors 211, and the actual position of the pedestrian and / or obstacle. In particular, if the number of the plurality of ultrasonic sensors 211 is the same, the reliability of the estimation may depend on the relative positional relationship between the plurality of ultrasonic sensors 211 and the pedestrian and / or obstacle. For example, if the plurality of ultrasonic sensors 211 are distributed around the pedestrian and / or obstacle, the position estimation of the pedestrian and / or obstacle may have high reliability. On the other hand, when the plurality of ultrasonic sensors 211 are concentratedly disposed on one side of the pedestrian and / or obstacle, the reliability of the position estimation of the pedestrian and / or obstacle can be lowered.

The reliability of the estimation of the position of the pedestrian and / or obstacle according to the relative positional relationship between the plurality of ultrasonic sensors 211 and the pedestrian and / or obstacle can be calculated in advance and stored in the memory 232. In other words, the memory 232 may include a lookup table that indicates the reliability of the position estimate of the pedestrian and / or obstacle.

The process of generating the look-up table indicating the reliability of the estimation of the position of the pedestrian and / or the obstacle may include a process of generating an ultrasonic sensor measurement model, a process of constructing a Jacobian's matrix, a dilution of precision (DOP) ) Of the input signal.

The reliability degradation (DOP) may be inversely proportional to the reliability of the location estimate of the pedestrian and / or obstacle. In particular, the reliability degradation (DOP) may be a reciprocal of the reliability of the position estimate of the pedestrian and / or obstacle.

The ultrasonic sensor measurement model may be expressed by Equation (3).

&Quot; (3) "

The Jacobian matrix may be equal to Equation (4).

&Quot; (4) "

The prediction of the reliability lowering (DOP) per coordinate can be made using the equation (5)

&Quot; (5) "

The predicted decline in reliability (DOP) for each coordinate may be as shown in Figs. 7 (a) and 7 (b).

7A, when the parking-collision-avoidance auxiliary system 200 includes the first, second, third, and fourth ultrasonic sensors 211a, 211b, 211c, and 211d, In most of the rear region, the reliability degradation (DOP) may have a value similar to approximately '1'. On the other hand, in both sides of the vehicle 100, the reliability degradation (DOP) may increase sharply.

7B, when the parking-collision-assisting-assisting system 200 includes the third and fourth ultrasonic sensors 211c and 211d, the reliability of the vehicle is lowered in the rear region of the vehicle 100, May have a value approximately equal to '3'. On the other hand, in both sides of the vehicle 100, the reliability degradation (DOP) may increase sharply. In particular, the reliability lowering (DOP) on the left side of the vehicle 100 can increase more sharply than the lowering reliability (DOP) on the right side of the vehicle 100. [

As described above, the reliability reduction (DOP) of the position estimation of the pedestrian and / or the obstacle may depend on the number of the plurality of ultrasonic sensors 211. Specifically, as the number of the plurality of ultrasonic sensors 211 increases, the reliability degradation (DOP) of the position estimation of the pedestrian and / or the obstacle can be reduced. In other words, the reliability of the position estimation of the pedestrian and / or obstacle may increase.

In addition, the reliability degradation (DOP) of the pedestrian and / or obstacle location estimation may depend on the relative positional relationship between the plurality of ultrasonic sensors 211 and the pedestrian and / or obstacle. Specifically, when the plurality of ultrasonic sensors 211 are appropriately dispersed in the pedestrian and / or obstacle, the reliability degradation (DOP) of the position estimation of the pedestrian and / or obstacle can be reduced. In other words, the reliability of the position estimation of the pedestrian and / or obstacle may increase.

The parking-collision-avoidance auxiliary system 200 can use the look-up table to determine the reliability degradation (DOP) of the pedestrian and / or obstacle location estimation. Specifically, the parking-collision-avoidance auxiliary system 200 searches the look-up table to find the position of a pedestrian and / or obstacle corresponding to the position (coordinate) of the pedestrian and / or obstacle calculated from the output of the plurality of ultrasonic sensors 211 It is possible to obtain the reliability reduction (DOP) of the estimation.

The parking-collision-avoidance auxiliary system 200 judges the deceleration and the target remaining distance of the vehicle 100 using a look-up table indicating the reliability of the estimation of the position of the pedestrian and / or the obstacle according to the position (coordinates) of the pedestrian and / can do. Here, the remaining distance may indicate the distance from the vehicle 100 to the pedestrian and / or the obstacle after the vehicle 100 is stopped by the deceleration.

The deceleration of the vehicle 100 is proportional to the reliability, and the target remaining distance of the vehicle 100 may be inversely proportional to the reliability. For example, as shown in Fig. 8, the reliability of the estimation of the position of the pedestrian and / or the obstacle may be a reciprocal of the reliability lowering (DOP), and the deceleration may decrease in proportion to the reliability as the reliability decreases. On the other hand, as the reliability decreases, the target residual distance may increase in inverse proportion to the reliability.

The parking-collision-avoidance auxiliary system 200 may transmit a braking request message including the determined deceleration to the electronic braking system 133. [

For example, as shown in FIG. 10 (a), the parking-collision-avoidance auxiliary system 200 can periodically transmit a braking request message including a deceleration to the electronic braking system 133, 133 may braking the vehicle 100 in accordance with the message of the parking collision-avoidance auxiliary system 200.

As a result, the running speed of the vehicle 100 decreases and the vehicle 100 can stop, as shown in Fig. 10 (b).

As described above, the parking-collision-avoidance auxiliary system 200 may store a look-up table indicating the reliability of the position estimation of the pedestrian and / or obstacle according to the position (coordinate) of the pedestrian and / Can be used to determine the deceleration of the vehicle 100 and the target remaining distance to the pedestrian and / or obstacle. At this time, the deceleration of the vehicle 100 is proportional to the reliability of the position estimation of the pedestrian and / or obstacle, and the target remaining distance to the pedestrian and / or obstacle may be inversely proportional to the reliability of the position estimation of the pedestrian and /

FIG. 10 illustrates a main window collision avoidance assistant method 1000 of a vehicle according to an embodiment.

The vehicle 100 detects a pedestrian and / or an obstacle during a backward motion (1010).

The vehicle 100 can detect a pedestrian and / or an obstacle by using a plurality of ultrasonic sensors 211 during a backward travel. For example, the vehicle 100 may measure the phase difference between the detected ultrasonic waves of the first, second, third and fourth ultrasonic sensors 211a, 211b, 211c, and 211d and the reflected ultrasonic waves reflected from the obstacle and / Second, third, and fourth ultrasonic sensors 211a, 211b, 211c, and 211d to determine the distance from the first, second, third, and fourth ultrasonic sensors 211a, 211b, 211c, and 211d to the pedestrian and / It is possible to estimate the position of the pedestrian and / or the obstacle based on the distance from the pedestrian 211a, 211b, 211c, 211d to the pedestrian and / or the obstacle.

The vehicle 100 estimates the position of the pedestrian and / or obstacle (1020).

The vehicle 100 can calculate the distance to the pedestrian and / or the obstacle by using the plurality of ultrasonic sensors 211 during the backward travel. For example, the vehicle 100 determines the distance from each of the plurality of ultrasonic sensors 211 to the pedestrian and / or obstacle on the basis of the phase difference between the detected ultrasonic waves and the reflected ultrasonic waves of the plurality of ultrasonic sensors 211 can do.

Further, the vehicle 100 can determine the position of the pedestrian and / or the obstacle based on the distance from the plurality of ultrasonic sensors 211 to the pedestrian and / or obstacle. For example, the vehicle 100 may be a pedestrian and / or a vehicle using triangulation techniques based on the distances from the first, second, third and fourth ultrasonic sensors 211a, 211b, 211c and 211d to the pedestrian and / And / or the position of the obstacle.

The vehicle 100 determines the reliability of the position estimation of the pedestrian and / or obstacle (1030).

The vehicle 100 can use the look-up table to determine the reliability degradation (DOP) of the position estimate of the pedestrian and / or obstacle. For example, the vehicle 100 searches the lookup table to determine the reliability of the position estimation of the pedestrian and / or obstacle corresponding to the position (coordinate) of the pedestrian and / or obstacle calculated from the output of the plurality of ultrasonic sensors 211 Degradation (DOP) can be obtained.

Vehicle 100 determines 1040 deceleration and braking distance to avoid collision with pedestrians and / or obstacles.

The vehicle 100 can determine the deceleration and the target remaining distance of the vehicle 100 using a look-up table indicating the reliability of the position estimation of the pedestrian and / or the obstacle according to the position (coordinate) of the pedestrian and / or obstacle. Here, the deceleration of the vehicle 100 is proportional to the reliability, and the target remaining distance of the vehicle 100 may be inversely proportional to the reliability.

Vehicle 100 reduces speed and eventually brakes 1050,

Vehicle 100 may control electronic braking system 133 to decelerate at the deceleration determined at operation 1040. [

As a result, when a pedestrian and / or an obstacle is detected during the propulsion, the vehicle 100 can estimate the position of the pedestrian and / or obstacle and determine the reliability of the estimated position. In addition, the vehicle 100 can determine the deceleration and the remaining distance of the vehicle 100 based on the reliability of the position estimation.

Meanwhile, the disclosed embodiments may be embodied in the form of a recording medium storing instructions executable by a computer. The instructions may be stored in the form of program code and, when executed by a processor, may generate a program module to perform the operations of the disclosed embodiments. The recording medium may be embodied as a computer-readable recording medium.

The computer-readable recording medium includes all kinds of recording media in which instructions that can be decoded by a computer are stored. For example, there may be a ROM (Read Only Memory), a RAM (Random Access Memory), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device and the like.

The embodiments disclosed with reference to the accompanying drawings have been described above. It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims. The disclosed embodiments are illustrative and should not be construed as limiting.

100: vehicle 200: parking collision prevention auxiliary system
210: sensing unit 211: plural ultrasonic sensors
211a: first ultrasonic sensor 211b: second ultrasonic sensor
211c: third ultrasonic sensor 211d: fourth ultrasonic sensor
220: communication unit 221: can transceiver
230: control unit 231:
232: memory

Claims (15)

A parking-collision-avoidance auxiliary system for detecting a pedestrian or an obstacle when the vehicle is parked,
A plurality of ultrasonic sensors for outputting information on the distance to the pedestrian or the obstacle;
Estimating the position of the pedestrian or the obstacle based on information about the distance to the pedestrian or the obstacle output from the plurality of ultrasonic sensors and calculating the reliability of the position estimation of the pedestrian or the obstacle based on the position of the pedestrian or the obstacle And a control unit for controlling the braking of the vehicle in accordance with the reliability of the pedestrian or obstacle position estimation,
Wherein the control unit stores a table including reliability of a position estimation of a pedestrian or an obstacle corresponding to a position of a plurality of pedestrians or obstacles different from each other. The method according to claim 1,
Wherein the control unit determines the deceleration of the vehicle so as to be proportional to the reliability of the position estimation of the pedestrian or the obstacle. 3. The method of claim 2,
Wherein the control unit further determines a target remaining distance inversely proportional to the reliability of the position estimation of the pedestrian or the obstacle. The method of claim 3,
Wherein the controller transmits a braking request message to the braking device of the vehicle so that the behavior of the vehicle follows the deceleration and the target remaining distance. The method according to claim 1,
Wherein the reliability of the position estimation of the pedestrian or the obstacle is stored in advance in the control unit using an ultrasonic sensor measurement model, a Jacobian matrix and a reliability lowering calculation method for each coordinate. In a vehicle that detects a pedestrian or an obstacle at the time of parking,
A plurality of ultrasonic sensors for outputting information on a distance to a pedestrian or an obstacle;
Estimating the position of the pedestrian or the obstacle based on information about the distance to the pedestrian or the obstacle output from the plurality of ultrasonic sensors and calculating the reliability of the position estimation of the pedestrian or the obstacle based on the position of the pedestrian or the obstacle And a control unit for controlling the braking of the vehicle in accordance with the reliability of the pedestrian or obstacle position estimation,
Wherein the control unit stores a table including a reliability of a position estimation of a pedestrian or an obstacle corresponding to a position of a plurality of pedestrians or obstacles different from each other. The method according to claim 6,
Wherein the control unit determines the deceleration of the vehicle so as to be proportional to the reliability of the position estimation of the pedestrian or the obstacle. 8. The method of claim 7,
Wherein the control unit further determines a target remaining distance inversely proportional to the reliability of the pedestrian or obstacle location estimation. 9. The method of claim 8,
Wherein the control unit controls the braking device such that the behavior of the vehicle follows the deceleration and the target remaining distance. The method according to claim 6,
Wherein the reliability of the position estimation of the pedestrian or the obstacle is previously stored in the control unit using an ultrasonic sensor measurement model, a Jacobian matrix and a reliability lowering calculation method according to coordinates. A control method of a vehicle for detecting a pedestrian or an obstacle at the time of parking,
Detecting the distance to the pedestrian or obstacle;
Estimating a position of the pedestrian or obstacle based on the distance to the pedestrian or obstacle;
Determining the reliability of the position estimate of the pedestrian or obstacle based on the position of the pedestrian or obstacle;
And controlling the braking of the vehicle in accordance with the reliability of the position estimation of the pedestrian or the obstacle,
The reliability of the pedestrian or obstacle position estimation is determined by using a table including the reliability of the position estimation of the pedestrian or obstacle corresponding to the positions of a plurality of different pedestrian or obstacles, And judging whether or not the vehicle is running. 12. The method of claim 11,
Wherein controlling the braking of the vehicle comprises determining the deceleration of the vehicle to be proportional to the reliability of the position estimate of the pedestrian or obstacle. 13. The method of claim 12,
Wherein controlling the braking of the vehicle further comprises determining a target remaining distance inversely proportional to the reliability of the position estimate of the pedestrian or obstacle. 14. The method of claim 13,
Wherein controlling the braking of the vehicle further includes controlling the braking device such that the behavior of the vehicle follows the deceleration and the target remaining distance. 12. The method of claim 11,
Wherein the reliability of the position estimation of the pedestrian or the obstacle is previously stored using an ultrasonic sensor measurement model, a Jacobian matrix and a reliability lowering calculation method for each coordinate.

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