KR20200116181A - Smart cruise control apparatus for vehicle and control method thereof - Google Patents

Abstract

The present invention relates to a smart cruise control device for a vehicle, including: a sensor unit including at least one sensor for detecting information on a user vehicle and information around the user vehicle; and a control unit for controlling a smart cruise control function based on the information on the user vehicle detected through the sensor unit and information around the user vehicle. The control unit controls the smart cruise control function by calculating new target acceleration of the user vehicle in consideration of information on a front vehicle, information on a vehicle ahead of the front vehicle, and information on left and right vehicles.

Description

Vehicle smart cruise control device and its control method {SMART CRUISE CONTROL APPARATUS FOR VEHICLE AND CONTROL METHOD THEREOF}

The present invention relates to a smart cruise control device for a vehicle and a control method thereof, and in more detail, considering the front vehicle and the front vehicle driving in front of the host vehicle, and also considering the lateral vehicle driving from the side of the host vehicle. The present invention relates to a smart cruise control device for a vehicle and a method for controlling the same, which enables stable braking of an own vehicle even in an emergency situation by controlling the vehicle speed.

Recently released vehicles are equipped with a Smart Cruise Control (SCC) function as one of the driver assistance systems (ADAS).

The smart cruise control function is a function of automatically maintaining a constant distance between vehicles by measuring a distance and a relative speed between the host vehicle and a preceding vehicle (or a vehicle in front) using a radar sensor of the host vehicle.

For example, a vehicle equipped with the smart cruise control function automatically activates the brake when the preceding vehicle (or the vehicle in front) becomes slow, and does not turn off if necessary, and maintains the braking state, and automatically accelerates the vehicle when the vehicle preceding it becomes faster. Therefore, a stability function is included to keep the distance between vehicles constant and to prevent acceleration by recognizing the rotation angle of the steering wheel when cornering and accidentally recognizing that there is no preceding vehicle during cornering.

However, despite the convenient function as described above, from the driver's point of view, if the behavior of the preceding vehicle (i.e., the vehicle in front) suddenly changes (e.g., when the vehicle in front of the vehicle suddenly brakes, the vehicle in front of the vehicle in front of it suddenly stops in the next lane to avoid a collision). It is not easy to respond with the existing smart control function.In addition, a vehicle (i.e., a vehicle on the side of the vehicle) that was driving above the vehicle speed of the vehicle in the lane immediately next to both sides of the vehicle suddenly intervenes in front of the vehicle and drives. Even when doing so, I always have anxiety because it is not easy to respond with the existing smart control function.

In order to solve this problem, the smart cruise control function considers not only the vehicle in front of the vehicle running in front of the host vehicle, but also the vehicle in front of the vehicle (e.g., considers a case where the vehicle in front suddenly changes lanes by a vehicle in front of the vehicle). In addition, there is a need for a method for stably braking the own vehicle even in an emergency situation by controlling the vehicle speed by taking into account the lateral vehicle running from the side of the own vehicle (e.g., taking into account the case of a sudden interruption of the lateral vehicle). have.

The background technology of the present invention is disclosed in Korean Patent Registration No. 10-1936989 (registered on January 3, 2019, control method of a smart cruise control system for a vehicle).

According to an aspect of the present invention, the present invention was created to solve the above problems, taking into account a front vehicle running in front of the host vehicle and a vehicle in front of the host vehicle, and also a side vehicle running from the side of the host vehicle. An object thereof is to provide a smart cruise control device for a vehicle and a control method thereof, which can stably brake an own vehicle even in an emergency situation by controlling the vehicle speed in consideration of up to.

A smart cruise control device for a vehicle according to an aspect of the present invention includes: a sensor unit including at least one sensor for detecting information of an own vehicle and information around the own vehicle; And a control unit for controlling a smart cruise control function based on the information of the host vehicle and the information around the host vehicle detected through the sensor unit, wherein the control unit includes front vehicle information, front vehicle information, and left and right vehicle information. It is characterized in that the smart cruise control function is controlled by calculating a new target acceleration of the own vehicle in consideration.

In the present invention, the sensor unit includes at least one sensor for detecting vehicle speed, steering, and deceleration information of the host vehicle; And at least one sensor for detecting vehicle information around the own vehicle or lane information of a road.

In the present invention, the control unit is characterized in that the signal output through the sensor unit detects information on the front vehicle based on information reflected on the road floor or the vehicle, and reflects the information on the control of the smart cruise control function. .

In the present invention, the control unit reflects information with high reliability among the information on the front vehicle detected through the sensor unit to the control of the smart cruise control function, wherein the reliability is the strength of the signal detected through the sensor unit It is characterized in that it is determined according to whether it is equal to or greater than a preset threshold.

In the present invention, the control unit decels the host vehicle by adjusting the target acceleration when the collision risk increases, taking into account the front vehicle information, the front vehicle information, and the left and right vehicle information, and the target when the collision risk decreases. Characterized in that it accelerates the host vehicle by adjusting the acceleration.

The present invention further comprises a vehicle driving unit for controlling a vehicle speed or acceleration/deceleration control and an alarm output device according to the control of the controller.

In the present invention, the vehicle driving unit, when the control unit changes the basic target acceleration to a new target acceleration as the driving situation of the front vehicle or other surrounding vehicles changes rapidly in the smart cruise control driving situation of the own vehicle, the alarm device notifies this situation. It is notified to the driver of the own vehicle and the driver of the rear vehicle through the vehicle, and the basic target acceleration is a target acceleration set to control the smart cruise control function in consideration of only the front vehicle.

A control method of a vehicle smart cruise control device according to another aspect of the present invention includes the steps of: receiving, by a controller, information of an own vehicle and information around the own vehicle; Checking, by the control unit, whether a lateral vehicle exists within a predetermined range of the left and right lateral lanes of the host vehicle; Setting, by the control unit, a left and right side vehicle and a front front vehicle in addition to the front vehicle as multiple targets when there is a side vehicle within a predetermined range; If the multiple targets are set, checking, by the control unit, whether the reliability of acceleration/deceleration information of the front vehicle is higher than a preset reference; When the reliability of the acceleration/deceleration information of the front vehicle is not higher than the reference, calculating, by the controller, a new target acceleration by reflecting a weight according to the presence or absence of a lateral vehicle to the basic target acceleration; And outputting the calculated new target acceleration to a vehicle driving unit to control a vehicle speed and output an alarm.

In the present invention, if the reliability of acceleration/deceleration information of the front vehicle is higher than a reference, the control unit checks whether an absolute value of an acceleration difference between the front vehicle and the vehicle in front is greater than a preset threshold; When the absolute value of the difference in acceleration between the front vehicle and the vehicle in front is not greater than a preset reference threshold, calculating, by the control unit, a new target acceleration by reflecting a weight according to the presence or absence of a lateral vehicle to the basic target acceleration; And outputting the calculated new target acceleration to the vehicle driving unit to control the vehicle speed and output an alarm.

In the present invention, when the absolute value of the difference in acceleration between the front vehicle and the vehicle in front is greater than a preset reference threshold, the control unit operates a pre-brake and warns in preparation for a cut off situation of the vehicle in front. In addition, the vehicle speed is controlled by calculating a new target acceleration by reflecting a weight according to the presence or absence of a lateral vehicle to the basic target acceleration.

The present invention further comprises a step of continuously monitoring whether the side vehicle enters the predetermined range through the sensor unit when there is no side vehicle within a predetermined range of the left and right side lanes.

In the present invention, the setting of the multiple targets is characterized in that a vehicle that affects setting of a target acceleration among a plurality of vehicles in the vicinity of the host vehicle is designated as a target target.

According to one aspect of the present invention, the present invention considers the vehicle in front of the vehicle in front of the vehicle and the vehicle in front of the vehicle in front of the vehicle and controls the vehicle speed in consideration of the vehicle in the direction of the vehicle. To be able to brake stably.

1 is an exemplary view showing a schematic configuration of a vehicle smart cruise control device according to an embodiment of the present invention.
2 is a flow chart illustrating a method of controlling a smart cruise control device for a vehicle according to an embodiment of the present invention.
FIG. 3 is an exemplary view for explaining surrounding vehicle information reflected to calculate a new target acceleration during driving of the smart cruise control in FIG. 2.
4 is an exemplary diagram illustrating a method of calculating a basic target acceleration in FIG. 1.

Hereinafter, an embodiment of a vehicle smart cruise control device and a control method according to the present invention will be described with reference to the accompanying drawings.

In this process, the thickness of the lines or the size of components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms to be described later are terms defined in consideration of functions in the present invention and may vary according to the intention or custom of users or operators. Therefore, definitions of these terms should be made based on the contents throughout the present specification.

1 is an exemplary view showing a schematic configuration of a vehicle smart cruise control device according to an embodiment of the present invention.

As shown in FIG. 1, the smart cruise control device for a vehicle according to the present embodiment includes a sensor unit 110, a control unit 120, and a vehicle driving unit 130.

The sensor unit 110 includes a sensor that detects information about the own vehicle (eg, driving information or state information), and a sensor that detects information around the host vehicle.

For example, the sensor unit 110 includes at least one sensor for detecting vehicle speed, steering, and deceleration information of the own vehicle, and at least one sensor for detecting vehicle information around the own vehicle or lane information of a road (for example, a lidar, Camera, radar, etc.).

In this case, the sensor unit 110 may also detect information on the front vehicle (LLC in FIG. 3) by reflecting the signal output for sensing to the road floor or the vehicle.

Therefore, the control unit 120 determines whether the reliability of the information on the front-facing vehicle (LLC in FIG. 3) detected through the sensor unit 110 (eg, whether the strength of the signal detected through the sensor unit is higher than a preset threshold value) Information with high reliability) can be reflected in the control of the smart cruise control (SCC) function.

The control unit 120 controls a smart cruise control (SCC) function based on information detected through the sensor unit 110 (eg, information about the own vehicle, information around the own vehicle).

For example, the control unit 120 performs an existing smart cruise control function that controls the vehicle speed of the host vehicle (EC of FIG. 3) so that a specified distance with respect to the front vehicle (LC of FIG. 3) can be maintained.

In addition, in the present embodiment, the control unit 120 includes information on the front vehicle (LLC in Fig. 3) and the lateral vehicle (LSC in Fig. 3) among the information included in the information (e.g., information on the own vehicle, information around the host vehicle). , RSC) information is considered to calculate (calculate) a new target acceleration of the host vehicle (EC in FIG. 3).

For example, when considering a front-facing vehicle (LLC in FIG. 3) and a lateral vehicle (LSC, RSC in FIG. 3), if the risk increases, the target acceleration is adjusted to decelerate the own vehicle (EC in FIG. 3), and if the risk decreases, the target The host vehicle (EC in FIG. 3) can be accelerated by adjusting the acceleration.

Accordingly, when it is assumed that the vehicle in front (LC in FIG. 3) suddenly changes lanes due to sudden braking of the vehicle in front of the vehicle (LLC in FIG. 3), the vehicle in front (LC in FIG. 3) Before performing a lane change, it is possible to decelerate the host vehicle (EC in FIG. 3) by detecting the sudden braking of the vehicle ahead (that is, when the risk increases) and adjusting the target acceleration in advance.

In addition, the control unit 120 considers that when a side vehicle (LSC, RSC of FIG. 3) running in the side of the host vehicle (EC in FIG. 3) is ahead of the host vehicle, the basic target The host vehicle (EC in FIG. 3) can be decelerated by adjusting the acceleration (that is, the target acceleration set to control the smart cruise control function in consideration of only the front vehicle LC) as a new target acceleration.

Accordingly, in the smart cruise control driving situation, the control unit 120 collides even if the driving situation of the surrounding vehicles other than the front vehicle (LC) (for example, a front vehicle (LLC), a lateral vehicle (LSC, RSC)) changes rapidly. There is an effect of improving safety by lowering the possibility of accidents.

The vehicle driving unit 130 controls a vehicle speed (or acceleration/deceleration) control of the vehicle and a device for outputting an alarm (warning) according to the control of the controller 120.

For example, the vehicle driving unit 130 changes the driving situation of a front vehicle (LC) or other surrounding vehicles (eg, front-facing vehicle (LLC), side-facing vehicle (LSC, RSC)) in a smart cruise control driving situation. An alarm device notifying the driver when the acceleration (i.e., the target acceleration set to control the smart cruise control function considering only the front vehicle (LC)) is changed to a new target acceleration (e.g., vehicle dashboard or AVN (Audio Video Navigation)) It drives the alarm device through the device) and acceleration/deceleration control devices (eg AEB, ESC, EMS, etc.).

In addition, when changing the basic target acceleration to a new target acceleration in the smart cruise control driving situation as described above, the control unit 120 informs the driver of the rear vehicle through the vehicle driving unit 130 (e.g., rear lamp, Brake lamp, etc.) can be controlled.

FIG. 2 is a flowchart illustrating a method of controlling a smart cruise control device for a vehicle according to an embodiment of the present invention, and FIG. 3 is a surrounding area reflected in FIG. 2 to calculate a new target acceleration when driving the smart cruise control. It is an exemplary diagram shown to explain vehicle information of.

As shown in FIG. 2, the control unit 120 receives sensing information (eg, information of the host vehicle, information around the host vehicle) from the sensor unit 110 (S101).

In addition, the control unit 120 checks whether a side vehicle exists within a predetermined range of the left and right lanes (ie, the side) of the host vehicle (S102).

As a result of the check (S102), if there is no side vehicle within a predetermined range (No in S102), the control unit 120 uses a sensor unit 110 including a front camera and a rear camera to determine a predetermined range of the side vehicle. Whether or not it enters the inside is continuously monitored (S103).

On the other hand, as a result of the check (S102), if there is a lateral vehicle within a predetermined range (example of S102), in addition to the front vehicle (LC), the lateral vehicles (LSC, RSC) and the front-facing vehicle (LLC) in the left and right lanes are multi-targeted. It is set to (S104).

Here, setting as the multiple target means designating a vehicle that affects the setting of a target acceleration among a plurality of vehicles in the vicinity of the host vehicle as a target target.

When multiple targets are set as described above, the control unit 120 determines the reliability of acceleration/deceleration information of the front vehicle LLC (e.g., the reliability determined based on whether the strength of the signal detected through the sensor unit is greater than or equal to a preset threshold) Is higher than a preset criterion (S105).

As a result of the check (S105), when the reliability of acceleration/deceleration information of the front vehicle LLC is higher than the reference (example of S105), the control unit 120 determines the difference in acceleration between the front vehicle LLC and the front vehicle LC. It is checked whether the absolute value of is greater than a preset reference (eg, a first threshold value) (S106).

As a result of the check (S106), if the absolute value of the difference in acceleration between the front vehicle LLC and the front vehicle LC is greater than a preset reference (e.g., a first threshold value) (YES in S106), this is the front vehicle ( LLC) and the vehicle ahead (LC) means that the speed is not similar.For example, if the speed of the front vehicle (LLC) is faster than the speed of the vehicle in front (LC), a big problem does not occur. If the speed of the (LLC) is slower than the speed of the vehicle in front (LC), it means that the degree of risk (e.g., the vehicle in front (LC) may brake suddenly or change lanes suddenly) increases.

Accordingly, the control unit 120 performs a pre-brake operation and a driver warning in preparation for a cut-off situation of the front vehicle LC. In addition, the new target acceleration (i.e., correction) by reflecting the weight (e.g. A, B) according to the presence or absence of a vehicle in the side (e.g., presence or absence of a vehicle ahead of the own vehicle in the left and right lanes) to the existing SCC target acceleration (i.e., the basic target acceleration). The final target acceleration) is calculated (calculated) (S107).

At this time, although it is not specifically shown in the drawing, the weight according to the acceleration of the front-facing vehicle (LLC) (i.e., when the acceleration direction is negative and corresponds to deceleration) to the existing SCC target acceleration (i.e., basic target acceleration) Example: Note that it is possible to calculate (calculate) a new target acceleration (ie, corrected final target acceleration) by additionally reflecting C) (not shown).

On the other hand, when the reliability of acceleration/deceleration information of the front vehicle LLC is not higher than the reference (No in S105), or the absolute value of the difference in acceleration between the front vehicle LLC and the front vehicle LC is a preset reference ( Example: If it is not greater than the first threshold value (No in S106), the control unit 120 determines whether or not there is a side vehicle (eg, the vehicle ahead of the own vehicle in the left and right lanes) to the existing SCC target acceleration (i.e., the basic target acceleration). A new target acceleration (i.e., corrected final target acceleration) is calculated (calculated) by reflecting the weight (e.g., A, B) according to the presence or absence (S108), and the calculated (calculated) new target acceleration (i.e., corrected) The final target acceleration) is output to the vehicle driving unit 130 to control the vehicle speed and output an alarm (S109).

FIG. 4 is an exemplary diagram shown to explain a method of calculating a basic target acceleration in FIG. 1, and a value obtained by multiplying the difference between the safety distance and the relative distance by a preset weight k1 (that is, k1 (safe distance- Relative distance)) and a value obtained by multiplying the difference between the speed of the preceding vehicle and the speed of the host vehicle by a preset weight (k2) (i.e., k2 (speed of the preceding vehicle-speed of the host vehicle)) is calculated as the basic target acceleration. At this time, depending on the control method, the relative distance may be shorter or longer than the safe distance.

However, the method of calculating the basic target acceleration illustrated in FIG. 4 is illustrated to aid understanding of the basic target acceleration, and this method is not necessarily intended to limit the method of calculating the basic target acceleration. Note that in other embodiments, the basic target acceleration may be calculated in a different way.

As described above, this embodiment considers the vehicle in front and the vehicle in front of the vehicle in front of the vehicle and controls the vehicle speed in consideration of the vehicle in the front of the vehicle. There is an effect that allows you to do it.

As described above, the present invention has been described with reference to the embodiments shown in the drawings, but these are only exemplary, and those of ordinary skill in the field to which the technology pertains, various modifications and other equivalent embodiments are possible. I will understand the point. Therefore, the technical protection scope of the present invention should be determined by the following claims. Also, the implementation described herein may be implemented in, for example, a method or process, an apparatus, a software program, a data stream or a signal. Although discussed only in the context of a single form of implementation (eg, only as a method), the implementation of the discussed features may also be implemented in other forms (eg, an apparatus or program). The device may be implemented with appropriate hardware, software and firmware. The method may be implemented in an apparatus such as a processor, which generally refers to a processing device including, for example, a computer, microprocessor, integrated circuit or programmable logic device, or the like. Processors also include communication devices such as computers, cell phones, personal digital assistants (“PDAs”) and other devices that facilitate communication of information between end-users.

110: sensor unit
120: control unit
130: vehicle drive unit

Claims (12)

A sensor unit including at least one sensor for detecting information on the own vehicle and information around the own vehicle; And
Including; a control unit for controlling a smart cruise control function based on the information of the host vehicle and information around the host vehicle detected through the sensor unit,
The control unit,
A smart cruise control device for a vehicle, characterized in that for controlling a smart cruise control function by calculating a new target acceleration of the own vehicle in consideration of front vehicle information, front vehicle information, and left and right vehicle information.
The method of claim 1, wherein the sensor unit,
At least one sensor for detecting vehicle speed, steering, and deceleration information of the host vehicle; And
At least one sensor for detecting vehicle information around an own vehicle or lane information of a road; a smart cruise control device for a vehicle comprising: a.
The method of claim 1, wherein the control unit,
A smart cruise control device for a vehicle, characterized in that the signal output through the sensor unit detects information on the front vehicle by information reflected on the road floor or the vehicle and reflects the information on the control of a smart cruise control function.
The method of claim 3, wherein the control unit,
Among the information on the front vehicle detected through the sensor unit, highly reliable information is reflected in the control of the smart cruise control function,
The reliability is,
Smart cruise control device for a vehicle, characterized in that it is determined according to whether the strength of the signal detected through the sensor unit is equal to or greater than a preset threshold.
The method of claim 1, wherein the control unit,
Considering the front vehicle information, the front vehicle information, and the left and right vehicle information,
When the risk of collision increases, the target acceleration is adjusted to decelerate the vehicle,
A smart cruise control device for a vehicle, characterized in that when the risk of collision decreases, the vehicle is accelerated by adjusting a target acceleration.
The method of claim 1,
Under the control of the controller,
A vehicle driving unit for controlling vehicle speed or acceleration/deceleration control of the vehicle and an alarm output device; a smart cruise control device for a vehicle, further comprising.
The method of claim 6, wherein the vehicle driving unit,
When the control unit changes the default target acceleration to a new target acceleration due to a sudden change in the driving situation of the vehicle in front of the vehicle in front of the vehicle in the smart cruise control driving situation of the own vehicle or the driving situation of other surrounding vehicles, this situation is detected by the driver of the own vehicle and the driver of the rear vehicle through an alarm To notify
The basic target acceleration is,
A smart cruise control device for a vehicle, characterized in that the target acceleration is set to control the smart cruise control function in consideration of only the vehicle in front.
Receiving, by the controller, information on the own vehicle and information around the own vehicle through a sensor unit;
Checking, by the control unit, whether a lateral vehicle exists within a predetermined range of the left and right lateral lanes of the host vehicle;
Setting, by the control unit, a left and right side vehicle and a front front vehicle in addition to the front vehicle as multiple targets when there is a side vehicle within a predetermined range;
If the multiple targets are set, checking, by the control unit, whether the reliability of acceleration/deceleration information of the front vehicle is higher than a preset reference;
When the reliability of the acceleration/deceleration information of the front vehicle is not higher than the reference, calculating, by the controller, a new target acceleration by reflecting a weight according to the presence or absence of a lateral vehicle to the basic target acceleration; And
And outputting the calculated new target acceleration to a vehicle driving unit to control the vehicle speed and output an alarm.
The method of claim 8,
When the reliability of acceleration/deceleration information of the front vehicle is higher than a reference, checking, by the controller, whether an absolute value of an acceleration difference between the front vehicle and the vehicle in front is greater than a preset threshold;
When the absolute value of the difference in acceleration between the front vehicle and the vehicle in front is not greater than a preset reference threshold, calculating, by the control unit, a new target acceleration by reflecting a weight according to the presence or absence of a lateral vehicle to the basic target acceleration; And
And outputting the calculated new target acceleration to a vehicle driving unit to control a vehicle speed and output an alarm.
The method of claim 9,
When the absolute value of the difference in acceleration between the front vehicle and the vehicle in front is greater than a preset reference threshold,
The control unit performs pre-brake operation and warning in preparation for a cut-off situation of the vehicle in front, and calculates a new target acceleration by reflecting a weight according to the presence or absence of a lateral vehicle in the basic target acceleration to control the vehicle speed. Control method of a vehicle smart cruise control device, characterized in that.
The method of claim 8,
When there is no side vehicle within the predetermined range of the left and right lanes, the control unit continuously monitors whether the side vehicle enters the predetermined range through the sensor unit; the smart cruise control device for a vehicle further comprising: Control method.
The method of claim 8, wherein the setting of the multiple targets comprises:
A method of controlling a smart cruise control device for a vehicle, characterized in that, among a plurality of vehicles in the vicinity of the host vehicle, a vehicle that affects setting of a target acceleration is designated as a target target.

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