KR20200059931A - Vehicle and controlling method thereof - Google Patents

Abstract

A vehicle according to an embodiment of the disclosed present invention includes: a front sensor installed in a vehicle to have a front view of a vehicle, and detecting a first target vehicle in a first section; a communication device receiving movement information of a second target vehicle in a second section collected through an external camera; and a control unit for calculating a collision risk between the first target vehicle in the first section and the vehicle based on the movement information received from the communication device.

Description

Vehicle and vehicle control method {VEHICLE AND CONTROLLING METHOD THEREOF}

The disclosed invention relates to a vehicle and a method for controlling the vehicle, and more particularly, to a vehicle and a method for controlling the vehicle, which can avoid an unexpected front collision.

Recently, research on vehicles equipped with Advanced Driver Assist System (ADAS), which actively provides information about vehicle condition, driver condition and surrounding environment to alleviate driver's burden and improve convenience Is actively progressing.

In particular, an example of an advanced driver assistance system mounted on a vehicle is a Forward Collision Avoidance (FCA) system. Specifically, the front collision avoidance system may predict a collision by detecting only vehicles within a certain distance using various sensors (eg, cameras, radars, etc.) provided in front of the vehicle.

On the other hand, the cause of the collision may be caused even outside the sensor recognition range, but the current front collision avoidance system adopts a fragmentary means to predict the collision by detecting only an external vehicle close to the vehicle with the sensor, thus multiple collisions There is a limitation that an unexpected situation like this cannot be considered.

The present invention has been devised to solve the above-described limitations, and is intended to more accurately determine the possibility of collision in addition to various sensors provided in the vehicle.

A technical problem to be solved by the disclosed invention is to provide a vehicle for predicting a collision using a motion information of a target vehicle acquired through an external camera and a control method thereof.

A vehicle according to an embodiment of the disclosed invention includes a front sensor installed in the vehicle to have a front view of the vehicle and detecting a first target vehicle in a first section; A communication device receiving movement information of a second target vehicle in a second section collected through an external camera; And a controller configured to calculate a collision risk between the first target vehicle and the vehicle in the first section based on exercise information received from the communication device, wherein the first section uses the front sensor to detect the first target vehicle. It is a section that can be detected, and the second section is a section that can acquire movement information of a second target vehicle through the external camera.

The external camera includes at least one of a CCTV installed on the outside of the vehicle and an intermittent camera installed on the side of the road, and is connected to a server through a network, and the communication device receives movement information of the second target vehicle from the server. I can receive it.

The communication device may receive at least one of position information and speed information of the second target vehicle in the second section.

The control unit, the second target vehicle includes a second-1 target vehicle and a second-2 target vehicle, the speed of the second-1 target vehicle and the speed of the second-2 target vehicle is a preset speed If the relative distance between the 2-1 target vehicle and the 2-2 target vehicle is equal to or less than a preset distance, the vehicle determines that the second section is a congestion section.

When it is determined that the second section is a congestion section, the controller calculates a collision risk between the first target vehicle and the vehicle in the first section.

The control unit, the second target vehicle includes a 2-1 target vehicle and a 2-2 target vehicle, the expected collision time between the 2-1 target vehicle and the 2-2 target vehicle (TTC: Time To Collision), and if the expected collision time is less than or equal to a preset time, the collision risk between the first target vehicle and the vehicle in the first section is calculated.

The control unit transmits a braking warning signal and a braking control signal based on a collision risk between the first target vehicle and the vehicle in the first section, and the collision risk between the first target vehicle and the vehicle is based on the front sensor Can be calculated.

The front sensor may include at least one of a radar and a rider (LiDAR), and may acquire at least one of position information and speed information of the detected first target vehicle.

The controller may calculate an estimated time to collision (TTC) between the first target vehicle and the vehicle based on at least one of location information and speed information of the first target vehicle.

A method of controlling a vehicle according to an embodiment of the disclosed invention detects a first target vehicle in a first section from a front sensor installed in the vehicle so as to have a front view of the vehicle, wherein the first section is the front sensor. A section capable of detecting a first target vehicle; Receiving exercise information of a second target vehicle in a second section collected through an external camera, wherein the second section is a section capable of obtaining exercise information of the second target vehicle through the external camera; And calculating a collision risk between the first target vehicle and the vehicle in the first section based on the received exercise information.

The step of receiving the movement information of the second target vehicle in the second section collected through the external camera may include the movement in a server connected via a network with at least one of a CCTV installed on the outside of the vehicle and an intermittent camera installed on the side of the road. And receiving information.

The receiving of the motion information of the second target vehicle in the second section collected through the external camera may include receiving at least one of position information and speed information of the second target vehicle in the second section. Can be.

Calculating the collision risk between the first target vehicle and the vehicle in the first section based on the received exercise information, the second target vehicle includes a 2-1 target vehicle and a 2-2 target vehicle And the speed of the 2-1 target vehicle and the speed of the 2-2 target vehicle are equal to or less than a preset speed, and a distance in which a relative distance between the 2-1 target vehicle and the 2-2 target vehicle is preset. If it is, it may include; determining that the second section is a congestion section.

Determining that the second section is a congestion section, if it is determined that the second section is a congestion section, calculating a collision risk between the first target vehicle and the vehicle in the first section; Can be.

Calculating the collision risk between the first target vehicle and the vehicle in the first section based on the received exercise information, the second target vehicle includes a 2-1 target vehicle and a 2-2 target vehicle And calculate a time to collision (TTC) between the 2-1 target vehicle and the 2-2 target vehicle, and if the collision prediction time is equal to or less than a preset time, the first time of the first section And calculating a collision risk between a target vehicle and the vehicle.

The calculating of the collision risk between the first target vehicle in the first section and the vehicle based on the received exercise information may include a braking warning signal based on the collision risk between the first target vehicle and the vehicle in the first section. And transmitting a braking control signal and calculating a collision risk between the first target vehicle and the vehicle based on the front sensor.

The front sensor includes at least one of a radar and a rider (LiDAR), and detecting the first target vehicle in the first section includes at least one of the detected location information and speed information of the first target vehicle. And obtaining one.

The obtaining of at least one of the detected position information and speed information of the first target vehicle may predict a collision between the first target vehicle and the vehicle based on at least one of position information and speed information of the first target vehicle. It may include; calculating a time (TTC: Time To Collision).

A computer program according to an embodiment of the disclosed invention, in combination with a computing device, detects a first target vehicle in a first section from a front sensor installed in the vehicle to have a front view of the vehicle, wherein the first section is the A step in which the first target vehicle can be detected by a front sensor; Receiving exercise information of a second target vehicle in a second section collected through an external camera, wherein the second section is a section capable of obtaining exercise information of the second target vehicle through the external camera; And calculating a collision risk between the first target vehicle and the vehicle in the first section based on the received exercise information.

According to the vehicle and its control method according to an aspect, in addition to various sensors provided in the vehicle, collision probability is calculated using motion information of a target vehicle obtained through an external camera, so that an unexpected collision can be prevented.

1 shows a configuration of a vehicle according to an embodiment.
2 is a control block diagram of a control system according to an embodiment.
3 is a view for explaining the first section and the second section.
4 to 5 are views for explaining a process of determining a possibility of collision between a target vehicle and a vehicle in the first section and the second section.
6 is a flowchart of a method for controlling a vehicle according to an embodiment.

The same reference numerals refer to the same components throughout the specification. This specification does not describe all elements of the embodiments, and overlaps between general contents or embodiments in the technical field to which the disclosed invention belongs will be omitted. The term 'unit, module, member, block' used in the specification may be implemented by software or hardware, and according to embodiments, a plurality of 'unit, module, member, block' may be implemented as one component, It is also possible that one 'part, module, member, block' includes a plurality of components.

Throughout the specification, when a part is "connected" to another part, this includes not only a direct connection but also an indirect connection, and an indirect connection includes connecting through a wireless communication network. do.

Also, when a part “includes” a certain component, this means that other components may be further included, rather than excluding other components, unless otherwise specified.

Throughout the specification, when one member is positioned “on” another member, this includes not only the case where one member abuts another member, but also the case where another member exists between the two members.

Terms such as first and second are used to distinguish one component from other components, and the component is not limited by the above-mentioned terms.

Singular expressions include plural expressions, unless the context clearly has an exception.

In each step, the identification code is used for convenience of explanation. The identification code does not describe the order of each step, and each step can be executed differently from the specified order unless a specific order is clearly stated in the context. have.

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

1 shows a configuration of a vehicle according to an embodiment.

As shown in Fig. 1, the vehicle 1 includes an engine 10, a transmission 20, a braking device 30, and a steering device 40. The engine 10 includes a cylinder and a piston, and can generate power for the vehicle 1 to travel. The transmission 20 includes a plurality of gears, and can transmit power generated by the engine 10 to the wheels. The braking device 30 may decelerate the vehicle 1 through friction with the wheel or stop the vehicle 1. The steering device 40 may change the driving direction of the vehicle 1.

The vehicle 1 may include a plurality of electronic components. For example, the vehicle 1 includes an engine management system (EMS) 11, a transmission control unit (TCU) 21, and an electronic brake control module ( 31), an Electronic Steering System (EPS) 41, a Body Control Module (BCM), and a Driver Assistance System (DAS).

The engine management system 11 may control the engine 10 in response to a driver's willingness to accelerate through an accelerator pedal or a request from the driver assistance system 100. For example, the engine management system 11 may control the torque of the engine 10.

The transmission control unit 21 may control the transmission 20 in response to a driver's shift command through the shift lever and / or the driving speed of the vehicle 1. For example, the transmission control unit 21 can adjust the transmission ratio from the engine 10 to the wheels.

The electronic brake control module 31 may control the braking device 30 in response to the driver's willingness to brake through the brake pedal and / or slip of the wheels. For example, the electronic braking control module 31 may temporarily release the braking of the wheels in response to slippage of the wheels detected during braking of the vehicle 1 (Anti-lock Braking Systems, ABS). The electronic braking control module 31 may selectively release braking of the wheels in response to oversteering and / or understeering detected when the vehicle 1 is steered (Electronic stability control, ESC) ). In addition, the electronic brake control module 31 may temporarily brake the wheel in response to slippage of the wheel sensed when the vehicle 1 is driven (Traction Control System, TCS).

The electronic steering device 41 may assist the operation of the steering device 40 so that the driver can easily operate the steering wheel in response to the driver's willingness to steer through the steering wheel. For example, the electronic steering device 41 may assist the operation of the steering device 40 to reduce the steering force during low-speed driving or parking and increase the steering force during high-speed driving.

The body control module 51 may provide convenience to the driver or control the operation of electronic components that guarantee the safety of the driver. For example, the body control module 51 may control a head lamp, a wiper, a cluster, a multi-function switch, and a direction indicator lamp.

The vehicle 1 can assist the driver in manipulating (driving, braking, steering) the vehicle 1. For example, the vehicle 1 detects the environment around the vehicle 1 (eg, other vehicles, pedestrians, cyclists, lanes, road signs, etc.), and responds to the detected environment, and the vehicle 1 ) Can be driven and / or braked and / or steered.

The vehicle 1 can provide various functions to the driver. For example, the vehicle 1 includes a Lane Departure Warning (LDW), Lane Keeping Assist (LKA), High Beam Assist (HBA), and Autonomous Emergency It can provide Braking, AEB, Traffic Sign Recognition (TSR), Smart Cruise Control (SCC), and Blind Spot Detection (BSD).

The vehicle 1 includes a camera module 60 for obtaining image data around the vehicle 1 and a radar module 70 for obtaining object data around the vehicle 1.

Camera module 60 includes a camera (61) controller (Electronic Control Unit, ECU) (62), to photograph the front of the vehicle (1) and can recognize other vehicles, pedestrians, cyclists, lanes, road signs, etc. have.

The radar module 70 includes a radar 71 and a controller 72, and can obtain a relative distance, a relative speed, etc. of objects (eg, other vehicles, pedestrians, cyclists, etc.) around the vehicle 1 have.

The communication module 80 may receive information from various devices disposed outside through a wired or wireless network. For example, the communication module 80 may receive traffic information of a road on which the vehicle 1 is traveling from the server S or may receive exercise information of another vehicle. At this time, the server S may provide location information and speed information of another vehicle through image information of another vehicle obtained by the external camera C.

The electronic components described above may communicate with each other through a vehicle communication network NT. For example, electronic components can transmit data through Ethernet, MOST (Media Oriented Systems Transport), Flexray, CAN (Controller Area Network), and LIN (Local Interconnect Network). Can send and receive. For example, the vehicle 1 transmits a driving control signal, a braking signal, and a steering signal to the engine management system 11, the electronic braking control module 31, and the electronic steering device 41 through the vehicle communication network NT, respectively. Can transmit.

2 shows a configuration of a front collision avoidance system according to an embodiment.

The vehicle includes a front collision avoidance system, and the front collision avoidance system includes a front sensor 100, a communication device 130, a control unit 140, a warning system 150, and a control system 160, as shown in FIG. ).

The front sensor 100 includes a front camera 110 and a front radar 12.

The front camera 110 may have a field of view 110a facing the front of the vehicle 1. The front camera 110 may be installed on the front windshield of the vehicle 1, for example.

The front camera 110 may photograph the front of the vehicle 1 and obtain image data in front of the vehicle 1. The image data in front of the vehicle 1 may include location information about another vehicle or pedestrian or cyclist or lane located in front of the vehicle 1.

The front camera 110 may include a plurality of lenses and an image sensor. The image sensor may include a plurality of photodiodes that convert light into electrical signals, and the plurality of photodiodes may be arranged in a two-dimensional matrix.

The front camera 110 may be electrically connected to the control unit 140. For example, the front camera 110 is connected to the control unit 140 through a vehicle communication network (NT), connected to the control unit 140 through a hard wire, or a printed circuit board (Printed Circuit Board, PCB) may be connected to the control unit 140.

The front camera 110 may transmit image data in front of the vehicle 1 to the controller 140.

The front radar 120 may have a field of sensing toward the front of the vehicle 1. The front radar 120 can be installed, for example, on a grill or bumper of the vehicle 1.

The front radar 120 may include a transmitting antenna (or a transmitting antenna array) that radiates a transmitting radio wave toward the front of the vehicle 1 and a receiving antenna (or a receiving antenna array) that receives the reflected wave reflected by the object. have. The forward radar 120 may acquire forward radar data from the transmitted radio wave transmitted by the transmit antenna and the reflected radio wave received by the receive antenna. The forward radar data may include distance information and speed information regarding another vehicle or pedestrian or cyclist located in front of the vehicle 1. The front radar 120 calculates the state distance to the object based on the phase difference (or time difference) between the transmitted and reflected waves, and calculates the relative speed of the object based on the frequency difference between the transmitted and reflected waves. can do.

The front radar 120 may be connected to the control unit 140 through, for example, a vehicle communication network NT or a hard wire or a printed circuit board. The forward radar 120 may transmit forward radar data to the controller 140.

The communication device 130 is a device capable of receiving various information through an external server and a wired or wireless network in order to receive motion information of another vehicle that the front sensor 100 cannot detect. The communication device 130 may be connected to the control unit 140 through a vehicle communication network NT or a hard wire or a printed circuit board. Accordingly, the communication device 130 may provide location information and speed information of another vehicle for the control unit 140 to determine the possibility of collision.

The control unit 140 includes a processor 141 and a memory 142.

The processor 141 processes the front image data of the front camera 110 and the front radar data of the front radar 120, and generates warning signals and control signals for controlling the warning system 150 and the control system 160 can do. Here, the warning signal indicates a signal that conveys information about the situation by various means that the driver can recognize, and the control signal cuts off the power of the vehicle or controls the steering direction so that the vehicle can avoid collision with other vehicles. Pointer to a signal that allows you to

The processor 141 generates an image signal processor for processing the front image data of the front camera 110 and / or a digital signal processor for processing the radar data of the radars 120 and 130 and / or a braking signal and a steering signal. It may include a micro control unit (Micro Control Unit, MCU).

The processor 141 detects objects (eg, other vehicles, pedestrians, cyclists, etc.) in front of the vehicle 1 based on the front image data of the front camera 110 and the front radar data of the front radar 120. can do.

Specifically, the processor 141 may acquire location information (distance and direction) and speed information (relative speed) of objects in front of the vehicle 1 based on the front radar data of the front radar 120. The processor 141 is based on the front image data of the front camera 110, the location information (direction) and type information of objects in front of the vehicle 1 (eg, whether the object is another vehicle, a pedestrian, or a cyclist) Cognitive, etc.). In addition, the processor 141 matches the objects detected by the front image data to the objects detected by the front radar data, and based on the matching result, the type information, location information, and speed information of the front objects of the vehicle 1 Can be obtained.

The processor 141 may generate a warning signal and a control signal based on the type information of the front objects, position information, and speed information. The warning signal and the control signal may be transmitted to the warning system 150 and the control system 160, respectively, to be output by the output device of the vehicle, or to enable the braking device or the steering device to operate.

The processor 141 calculates a time to collision (TCC) between the vehicle 1 and the front object based on the position information (distance) and the speed information (relative speed) of the front objects, and until the collision Based on the comparison result between the time and a predetermined reference time, the driver may be warned of a collision or a warning signal may be transmitted to the warning system 150. In response to a time until a collision that is less than a predetermined first reference time, the processor 141 may cause an alert to be output through audio and / or a display. In response to a time until a collision smaller than a predetermined second reference time, the processor 141 may transmit a pre-control signal to the control system 160.

As another example, the processor 141 calculates a distance to collision (DTC) based on the speed information (relative speed) of the front objects, and a comparison result between the distance to the collision and the distance to the front objects Based on this, the driver may be warned of a collision or a control signal may be transmitted to the control system 160.

The memory 142 includes a program and / or data for the processor 141 to process image data, a program and / or data for processing radar data, and a processor 141 to generate a braking signal and / or a steering signal. Program and / or data for the purpose.

The memory 142 temporarily stores image data received from the front camera 110 and / or radar data received from the radars 120 and 130 and processes the image data and / or radar data of the processor 141 Results can be temporarily remembered.

The memory 142 includes flash memory, ROM (Read Only Memory, ROM), Erasable Programmable Read Only Memory (EPROM), as well as volatile memory such as S-RAM and D-RAM. It may include a non-volatile memory.

In the above, the configuration of the vehicle 1 and the configuration of the front collision avoidance system have been described. Hereinafter, a process of avoiding forward collisions according to the above-described configuration will be described in detail. However, it should be noted that the subject of the process may be omitted in order to facilitate the convenience of description. Hereinafter, a situation in which a plurality of embodiments disclosed with reference to FIG. 3 is applied will be described in detail.

In a plurality of disclosed embodiments, a section of the road may be divided into a first section and a second section based on a distance from the vehicle 1 in order to determine the possibility of collision between the vehicle 1 and the target vehicle. Here, the target vehicle corresponds to another vehicle traveling in front of the vehicle 1 and points to an object to be analyzed to determine the possibility of collision with the vehicle 1.

Meanwhile, the first section refers to a section in which the target vehicle can be detected by the front sensor. For example, referring to FIG. 3, the first section may be a section in which the first target vehicle 2-1 immediately adjacent to the front of the vehicle is detected. The vehicle 1 may acquire the position, speed, and acceleration information of the first target vehicle 2-1 using the front sensor, and the obtained information may be transmitted to the control unit.

Next, the second section refers to a section in which the target vehicle cannot be detected by the front sensor or the movement information is not accurately known even when it is detected. For example, referring to FIG. 3, the second section is the second target vehicle 2-2 and the third target vehicle 2-3 that cannot be detected by the front sensor by the first target vehicle 2-1. ) Indicates the section on which the vehicle travels. Since the second target vehicle 2-2 or the third target vehicle 2-3 cannot be detected by the front sensor provided in the vehicle 1, there is a need for a means to compensate for this.

The disclosed invention can use the infrastructure of the external camera (C) installed on the road to obtain the motion information of the second target vehicle (2-2) and the third target vehicle (2-3) running in the second section. The external camera C refers to information acquisition equipment installed to acquire various traffic information. For example, the external camera C may include a CCTV and a surveillance camera.

Meanwhile, the external camera C may acquire an image of the target vehicle to obtain speed information and location information of the target vehicle. The speed information and the location information of the target vehicle obtained by the external camera C may be transmitted to the server S and provided to the vehicle 1 through a network, and the speed information and location information of the target vehicle in the second section Can be delivered to the control unit.

The control unit may analyze the speed information and the location information of the target vehicle in the second section to grasp the traffic situation in the second section. Specifically, the controller may determine whether the second section is a congestion section using speed information and location information of a target vehicle in the second section. For example, if the speed of a plurality of target vehicles in the second section is analyzed as a low value, or when the distance between two adjacent target vehicles in the second section is analyzed as a short value, it is determined that the second section is a congestion section. chat. Here, the congestion section is a section in which the driver of the vehicle 1 cannot see with the field of view and cannot sense the movement of the target vehicle with the front sensor, which indirectly causes the vehicle 1 to collide with an external vehicle in front. It can be a factor. If it is a congestion section, it may be a dangerous section.

The process of determining that the second section is a congestion section will be described in more detail with reference to FIG. 4. However, the number of target vehicles shown in FIG. 4 is limited for convenience of description, but it is a matter of course that the disclosed invention is not limited to a specific number.

4, in front of the vehicle 1, the first target vehicle 2-1 in the first section, the second target vehicle 2-2 and the third target vehicle 2-3 in the second section This position, the speed and position of the vehicle (1) can be represented by (V0, X0), the first target vehicle (2-1), the second target vehicle (2-2) and the third target vehicle (2- 3) Each velocity and position can be represented by (V1, X1), (V2, X2) and (V3, X3).

Further, the relative distance from the vehicle 1 to the first target vehicle 2-1 is d1, and the relative distance from the first target vehicle 2-1 to the second target vehicle 2-2 is d2, the second target The relative distance from the vehicle 2-2 to the third target vehicle 2-3 may be represented by d3. And, based on the vehicle 1, the distance from the first target vehicle 2-1 is S1, the distance from the second target vehicle 2-2 is S2, and the distance from the third target vehicle 2-3 is It can be represented by S3.

The controller may determine whether the traffic jam is a stagnant section using speed information and location information of a target vehicle driving in the second section. Specifically, when the speeds V2 and V3 of the second target vehicle 2-2 and the third target vehicle 2-3 in the second section are equal to or less than a preset speed, and the second target vehicle 2-2 ), If the relative distance d3 from the third target vehicle 2-3 is less than or equal to a preset distance, the second section may be determined as a congestion section or a dangerous section.

If it is determined that the second section is a congestion section or a dangerous section, the controller may perform collision risk calculation to determine the possibility of collision of the vehicle 1. This is because the target vehicle running in the second section does not collide directly with the vehicle 1, but may affect the target vehicle running in the first section, and the driver of the vehicle 1 unexpectedly unexpectedly It is intended to simplify the unnecessary control process by predicting the possibility of collision in a situation and performing an operation process only when an actual collision can occur. Here, the collision risk is for a collision between the vehicle 1 and the first target vehicle 2-1.

On the other hand, the controller, in addition to the collision risk between the vehicle 1 and the first target vehicle 2-1, the collision risk between the vehicle 1 and the second target vehicle 2-2, the vehicle 1 and the third target vehicle ( The collision risk calculation between 2-3) can be performed together. Specifically, in this embodiment, the collision risk may be calculated based on the first collision prediction time (TTCn). The first collision prediction time refers to the collision prediction time with the target vehicle based on the vehicle 1. For example, the estimated first collision time TTC1 between the vehicle 1 and the first target vehicle 2-1 is (S1) / (V0-V1), and the vehicle 1 and the second target vehicle 2 The expected first collision time (TTC2) between -2) is (S2) / (V0-V2), and the expected first collision time (TTC3) between the vehicle (1) and the third target vehicle (2-3) is (S3). ) / (V0-V3). At this time, the controller compares the calculated first collision prediction time with the distance between the vehicle 1 and the target vehicle, respectively, and generates a warning signal and a control signal only when the first collision prediction time of the vehicle having the closest distance is smallest. Can be controlled. In other situations, the collision risk may be newly calculated in consideration of the predicted stop positions of the target vehicles. That is, even in a situation in which the target vehicle in front of the vehicle 1 does not cope with the dangerous situation in front and the collision risk with the vehicle 1 is low, the vehicle 1 does not rely on the front sensor and is driving all the target vehicles in front. For, we can calculate the collision risk.

The control unit may calculate a collision risk of the vehicle 1 by measuring an estimated collision time between target vehicles. Specifically, in this embodiment, the collision risk may be calculated based on the second collision prediction time (TTCnm). The second predicted collision time means an expected collision time between adjacent vehicles. For example, the estimated second collision time TTC01 between the vehicle 1 and the first target vehicle 2-1 is (d1) / (V0-V1), and the first target vehicle 2-1 and The estimated second collision time (TTC12) between the 2 target vehicles (2-2) is (d2) / (V1-V2), which is the second between the second target vehicle (2-2) and the third target vehicle (2-3). The estimated collision time (TTC23) may be calculated as (d3) / (V2-V3). At this time, the control unit may predict whether a collision between target vehicles will occur based on the calculated estimated second collision time. Here, the control unit may determine that there is a possibility of collision between target vehicles when the estimated second collision time is less than a preset time, and accordingly, may determine that the vehicle 1 has an increased risk of collision.

Next, a method of calculating the expected stop position of the vehicle 1 and the target vehicle will be described with reference to FIG. 5.

The estimated stop position can be calculated based on the sum of the princess distance and the braking distance. Here, the control unit is Gongju distance = vehicle speed * (time progressed to the collision avoidance threshold threshold time + driver recognition and brake pedal operation time), braking distance = 1/2 * (deceleration acceleration) * (collision avoidance threshold threshold time ) ² , the estimated stop position can be calculated. However, the critical point at which collision avoidance is possible may be determined according to a user setting in an interval of 1 to 2 seconds within the expected collision time, and the time taken to operate the brake pedal after driver recognition may be estimated to be about 0.5 seconds.

When the predicted stop positions X0 ', X1', X2 ', and X3' of the vehicle 1 and the target vehicle are calculated according to the above-described calculation method, the controller controls the risk of the predicted vehicle 1 based on the expected stop position The risk can be calculated. Specifically, in this embodiment, the collision risk may be calculated based on the third collision prediction time (TTCn '). The third predicted collision time refers to a predicted collision time with the target vehicle after stopping based on the vehicle 1 after stopping. For example, the estimated third collision time TTC1 'between the vehicle 1 and the first target vehicle 2-1 is (X1'-X0) / (V0'-V1'), and the vehicle 1 The estimated third collision time TTC2 'between the second target vehicle 2-2 is (X2'-X0') / (V0'-V2 '), and the vehicle 1 and the third target vehicle 2-3 Estimated third collision time between (TTC3 ') may be calculated as (X3'-X0') / (V0'-V3 '). At this time, the control unit calculates the collision risk based on the smallest value of the third collision prediction time, and if the third collision prediction time is less than the braking warning required time or the braking control required time, at least one of the warning signal and the control signal Control to output.

6 is a flowchart of a method for controlling a vehicle according to an embodiment.

The vehicle 1 recognizes the target vehicle of the first section through the front sensor (601). Here, the target vehicle corresponds to an object having a possibility of directly colliding with the vehicle 1 adjacent to the vehicle 1.

The vehicle 1 recognizes a target vehicle in the second section through an external camera (602). Then, the exercise information of the target vehicle in the second section is received (603). As described above, the exercise information may include speed information and position information of the target vehicle.

When all the target vehicle information in the first section and the second section is received, it is determined whether the second section is a dangerous section (604). In other words, in this step, it is possible to indirectly determine whether the second section can affect the movement of the target vehicle in the first section because it corresponds to a congestion section or a dangerous section.

If it is determined that the second section is a dangerous section (605), a collision risk between target vehicles in the second section is calculated (606).

If the collision risk between target vehicles is higher than a predetermined value (607), it is determined whether the collision risk is higher than a predetermined value in consideration of the expected stop position of the target vehicles (608). At this time, if the estimated collision time is calculated so as to satisfy at least one of the warning condition and the control condition (609), it is controlled to generate at least one of the warning signal and the control signal (610).

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may generate program modules to perform 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 storing instructions that can be read by a computer. For example, there may be a read only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, and an optical data storage device.

As described above, the disclosed embodiments have been described with reference to the accompanying drawings. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be practiced in different forms from the disclosed embodiments without changing the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

1: Vehicle
100: front sensor
110: front camera
120: forward radar
130: communication device
140: control unit
150: warning system
160: control system

Claims (19)

A front sensor installed in the vehicle to have a front view of the vehicle and detecting a first target vehicle in the first section;
A communication device receiving movement information of a second target vehicle in a second section collected through an external camera; And
Includes a control unit for calculating a collision risk between the first target vehicle and the vehicle in the first section based on the exercise information received from the communication device;
The first section is a section capable of detecting a first target vehicle with the front sensor,
The second section is a vehicle that can acquire motion information of a second target vehicle through the external camera. According to claim 1,
The external camera,
It includes at least one of the CCTV installed on the outside of the vehicle and the surveillance camera installed on the side of the road, and is connected to the server through a network
The communication device,
A vehicle that receives exercise information of the second target vehicle from the server. According to claim 1,
The communication device,
A vehicle that receives at least one of position information and speed information of a second target vehicle in the second section. The method of claim 3,
The control unit,
The second target vehicle includes a 2-1 target vehicle and a 2-2 target vehicle,
If the speed of the 2-1 target vehicle and the speed of the 2-2 target vehicle are equal to or less than a preset speed, and the relative distance between the 2-1 target vehicle and the 2-2 target vehicle is equal to or less than a preset distance , A vehicle determining that the second section is a congestion section. The method of claim 4,
The control unit,
If it is determined that the second section is a congestion section, a vehicle that calculates a collision risk between the first target vehicle and the vehicle in the first section. The method of claim 3,
The control unit,
The second target vehicle includes a 2-1 target vehicle and a 2-2 target vehicle, and a predicted collision time (TTC: Time To Collision) between the 2-1 target vehicle and the 2-2 target vehicle. A vehicle that calculates and calculates a collision risk between the first target vehicle and the vehicle in the first section when the estimated collision time is equal to or less than a preset time. According to claim 1,
The control unit,
A vehicle that transmits a braking warning signal and a braking control signal based on a collision risk between the first target vehicle and the vehicle in the first section, and calculates a collision risk between the first target vehicle and the vehicle based on the front sensor . According to claim 1,
The front sensor,
A vehicle including at least one of a radar and a rider (LiDAR), and acquiring at least one of the detected location information and speed information of the first target vehicle. The method of claim 8,
The control unit,
A vehicle that calculates a time to collision (TTC) between the first target vehicle and the vehicle based on at least one of location information and speed information of the first target vehicle. Detecting a first target vehicle in a first section from a front sensor installed in the vehicle so as to have a front view of the vehicle, wherein the first section is a section capable of detecting the first target vehicle with the front sensor;
Receiving exercise information of a second target vehicle in a second section collected through an external camera, wherein the second section is a section capable of obtaining exercise information of the second target vehicle through the external camera; And
And calculating a collision risk between the first target vehicle and the vehicle in the first section based on the received exercise information. The method of claim 10,
Receiving the movement information of the second target vehicle of the second section collected through the external camera,
And receiving the exercise information from a server connected through a network with at least one of a CCTV installed on the outside of the vehicle and an intermittent camera installed on the side of the road. The method of claim 10,
Receiving the movement information of the second target vehicle of the second section collected through the external camera,
And receiving at least one of position information and speed information of a second target vehicle in the second section. The method of claim 12,
Computing the risk of collision between the first target vehicle and the vehicle in the first section based on the received exercise information,
The second target vehicle includes a 2-1 target vehicle and a 2-2 target vehicle, wherein the speed of the 2-1 target vehicle and the speed of the 2-2 target vehicle are equal to or less than a preset speed, and the And if the relative distance between the 2-1 target vehicle and the 2-2 target vehicle is equal to or less than a preset distance, determining that the second section is a stagnant section. The method of claim 13,
The step of determining that the second section is a congestion section,
And if the second section is determined to be a congestion section, calculating a collision risk between the first target vehicle and the vehicle in the first section. The method of claim 12,
Computing the risk of collision between the first target vehicle and the vehicle in the first section based on the received exercise information,
The second target vehicle includes a 2-1 target vehicle and a 2-2 target vehicle, and a predicted collision time (TTC: Time To Collision) between the 2-1 target vehicle and the 2-2 target vehicle. And calculating a collision risk between the first target vehicle and the vehicle in the first section if the estimated collision time is equal to or less than a preset time. The method of claim 10,
Computing the risk of collision between the first target vehicle and the vehicle in the first section based on the received exercise information,
Transmitting a braking warning signal and a braking control signal based on a collision risk between the first target vehicle and the vehicle in the first section, and calculating a collision risk between the first target vehicle and the vehicle based on the front sensor ; Control method of a vehicle comprising a. According to claim 1,
The front sensor,
At least one of a radar and a rider (LiDAR),
The step of detecting the first target vehicle in the first section may include:
And obtaining at least one of position information and speed information of the detected first target vehicle. The method of claim 17,
Acquiring at least one of the detected position information and speed information of the first target vehicle,
And calculating a time to collision (TTC) between the first target vehicle and the vehicle based on at least one of location information and speed information of the first target vehicle. In combination with computing devices,
Detecting a first target vehicle in a first section from a front sensor installed in the vehicle so as to have a front view of the vehicle, wherein the first section is a section capable of detecting the first target vehicle with the front sensor;
Receiving exercise information of a second target vehicle in a second section collected through an external camera, wherein the second section is a section capable of obtaining exercise information of the second target vehicle through the external camera; And
And calculating a collision risk between the first target vehicle and the vehicle in the first section based on the received exercise information.

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