KR20210022812A - Vehicle and method for controlling thereof - Google Patents

Abstract

The present invention relates to a vehicle and a control method thereof. More particularly, the present invention relates to a technology for supplementing an intersection collision avoidance system according to the degree of overlap between a vehicle expected to collide at an intersection and a target vehicle. According to an embodiment of the present invention, a vehicle comprises: a speed sensor which detects the driving speed of the vehicle; a detection sensor which detects a target vehicle that intersects with the vehicle and obtains location information and speed information of the target vehicle; and a control unit for determining an intersection time between the vehicle and the target vehicle based on the driving speed of the vehicle and the driving speed of the target vehicle, and if the determined intersection time is less than or equal to a predetermined time, controlling the vehicle to brake at a predetermined deceleration rate or to brake at a predetermined yaw rate value.

Description

Vehicle and its control method {VEHICLE AND METHOD FOR CONTROLLING THEREOF}

The present invention relates to a vehicle and a control method thereof, and more particularly, to a technology for supplementing an intersection collision avoidance system according to the degree of overlap between a vehicle and a target vehicle expected to collide at an intersection.

A vehicle refers to a device capable of transporting people or objects to a destination while traveling on a road or track. A vehicle can move to several positions mainly using one or more wheels installed on the vehicle body. Such a vehicle may include a three-wheeled or four-wheeled vehicle, a two-wheeled vehicle such as a motorcycle, a construction machine, a bicycle, and a train running on a rail disposed on a track.

In modern society, automobiles are the most common means of transportation, and the number of people who use them is increasing. Due to the advancement of automobile technology, long-distance movement is easy and life is easier. However, in places with a high population density, such as in Korea, road traffic conditions deteriorate and traffic congestion often occurs.

Recently, in order to reduce the burden on the driver and improve convenience, the advanced driver assistance system (Advanced Driver Assist System (ADAS)) that actively provides information on the vehicle status, driver status, and surrounding environment has been used. Research is actively underway.

Examples of advanced driver assistance systems mounted on vehicles include Cross Traffic Alert (CTA) and Cross Collision Avoidance (CCA). The intersection collision avoidance assistance system and the intersection collision avoidance system are collision avoidance systems by determining the risk of collision with an opposing vehicle or a crossover vehicle in a driving situation at an intersection, and through emergency braking in a collision situation.

Such an intersection collision avoidance assistance system and an intersection collision avoidance system detect and avoid the risk of vehicle collision.A general intersection collision avoidance system interferes with normal driving by performing braking even when the overlap between crossing vehicles is small. There is a problem that makes the driver feel a sense of difference.

An object of the present invention is to supplement an intersection collision avoidance system by avoiding a collision by performing micro braking or micro braking according to the degree of overlap between a vehicle expected to collide at an intersection and a target vehicle.

A vehicle according to an embodiment for achieving the above object,

A speed detection unit that detects a driving speed of a vehicle, a detection sensor that detects a target vehicle driving across the vehicle and obtains location information and speed information of the target vehicle, and a driving speed of the vehicle and a driving speed of the target vehicle Based on the determination of the crossing time between the vehicle and the target vehicle, and if the determined crossing time is less than or equal to a predetermined time, the vehicle comprises a control unit for controlling the vehicle to brake at a predetermined deceleration speed or a predetermined yaw rate value. do.

In addition, the control unit may determine an intersection entry time and exit time of the vehicle, determine the intersection entry time and exit time of the target vehicle, and the intersection entry time of the vehicle and the target vehicle exit time of the intersection The difference of may be determined as an intersection time between the vehicle and the target vehicle.

In addition, if the determined intersection time is less than or equal to a predetermined first time, the control unit may brake the vehicle at the predetermined deceleration speed so that the vehicle's entrance time to the intersection becomes after the target vehicle's entrance time to the intersection. have.

In addition, the control unit, when the determined crossing time exceeds the predetermined first time and less than a predetermined second time, the vehicle is configured such that the vehicle enters the intersection after the target vehicle enters the intersection. The braking can be performed at a predetermined yaw rate value.

In addition, when the determined crossing time exceeds the predetermined first time and is less than or equal to the predetermined second time, the control unit brakes the vehicle at the predetermined yaw rate value, and the driving distance before the vehicle enters the intersection. Can increase

In addition, the control unit controls one-sided braking of the inner or outer ring of the vehicle at the predetermined yaw rate value, and alternately controls the one-sided braking of the inner and outer rings, thereby driving distance before the vehicle enters the intersection. Can increase

In addition, the vehicle control method according to an embodiment for achieving the above object,

Detecting the driving speed of the vehicle; Detecting a target vehicle traveling crossing the vehicle to obtain location information and speed information of the target vehicle; Determining an intersection time between the vehicle and the target vehicle based on the driving speed of the vehicle and the driving speed of the target vehicle; When the determined crossover time is less than or equal to a predetermined time, the vehicle brakes at a predetermined deceleration speed or onely at a predetermined yaw rate value.

In addition, determining an intersection time between the vehicle and the target vehicle may include determining an intersection entry time and an exit time of the vehicle; Determining an entry time and exit time of the target vehicle at the intersection; It may include determining a difference between the vehicle's entrance time to the intersection and the target vehicle's entrance time to the intersection as an intersection time between the vehicle and the target vehicle.

In addition, braking the vehicle at a predetermined deceleration speed means that if the determined crossing time is less than or equal to a predetermined first time, the vehicle is configured such that the vehicle enters the intersection after the target vehicle enters the intersection. It may include braking at a predetermined deceleration speed.

In addition, braking the vehicle at a predetermined yaw rate value means that when the determined intersection time exceeds the predetermined first time and is less than or equal to the predetermined second time, the vehicle's entry time to the intersection is the target vehicle. It may include braking the vehicle at the predetermined yaw rate value so as to be after the intersection advance time.

In addition, the partial braking of the vehicle at a predetermined yaw rate value, when the determined crossing time exceeds the predetermined first time and is less than or equal to a predetermined second time, the vehicle is braking at the predetermined yaw rate value. It may include increasing the driving distance before the vehicle enters the intersection.

In addition, the one-sided braking of the vehicle at a predetermined yaw rate value includes controlling one-sided braking for the inner or outer ring of the vehicle with the predetermined yaw rate value, and one-sided braking of the inner and outer rings is alternately performed. By controlling to, it may include increasing the driving distance of the vehicle before entering the intersection.

Depending on the degree of overlap between the vehicle expected to collide at the intersection and the target vehicle, micro-braking or micro-braking is performed to avoid a collision, thereby supplementing the intersection collision avoidance system, and providing the driver with safety and no sense of disparity through natural driving at the intersection. There is an effect that can provide a driving feeling.

1 illustrates a vehicle equipped with a detection sensor according to an exemplary embodiment.
2 is a diagram illustrating the occurrence of an overlap between intersecting vehicles according to an exemplary embodiment.
3 is a control block diagram of a vehicle according to an exemplary embodiment.
4 is a flowchart illustrating a method of controlling a vehicle according to an exemplary embodiment.
5 is a diagram illustrating a vehicle and a target vehicle entering and exiting an intersection according to an exemplary embodiment.
6 is a diagram illustrating an intersection time between a vehicle and a target vehicle according to an exemplary embodiment.
7 illustrates braking a vehicle at a predetermined deceleration speed according to an exemplary embodiment.
8 is a diagram illustrating a change in a vehicle's entrance time to an intersection according to vehicle braking according to an exemplary embodiment.
9 is a diagram illustrating a vehicle braking according to an exemplary embodiment.
FIG. 10 is a diagram illustrating a change in an intersection entry time of a vehicle according to a vehicle braking according to an exemplary embodiment.

The same reference numerals refer to the same elements throughout the specification. This specification does not describe all elements of the embodiments, and general content in the technical field to which the present invention belongs or overlapping content between the embodiments will be omitted. The term'unit, module, member, block' used in the specification may be implemented in software or hardware, and according to embodiments, a plurality of'units, modules, members, blocks' may be implemented as one component, It is also possible for one'unit, module, member, block' to include a plurality of components.

Throughout the specification, when a part is said to be "connected" with another part, this includes not only the case of being directly connected, but also the case of indirect connection, and the indirect connection includes connection through a wireless communication network. do.

In addition, when a part "includes" a certain component, it means that other components may be further included rather than excluding other components unless specifically stated to the contrary.

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

Singular expressions include plural expressions, unless the context clearly makes exceptions.

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

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

1 illustrates a vehicle equipped with a detection sensor according to an exemplary embodiment. 2 is a diagram illustrating the occurrence of an overlap between intersecting vehicles according to an exemplary embodiment. 3 is a control block diagram of a vehicle according to an exemplary embodiment. 4 is a flowchart illustrating a method of controlling a vehicle according to an exemplary embodiment. 5 is a diagram illustrating a vehicle and a target vehicle entering and exiting an intersection according to an exemplary embodiment. 6 is a diagram illustrating an intersection time between a vehicle and a target vehicle according to an exemplary embodiment. 7 is a diagram illustrating braking of a vehicle at a predetermined deceleration speed according to an exemplary embodiment, and FIG. 8 is a diagram illustrating a change in an entry time of a vehicle at an intersection according to vehicle braking according to an exemplary embodiment. 9 is a diagram illustrating a vehicle braking according to an exemplary embodiment, and FIG. 10 is a diagram illustrating a change in an intersection entry time of a vehicle according to a vehicle braking according to an exemplary embodiment.

For the convenience of description below, in general, the direction in which the vehicle 1 advances is referred to as front, and the left direction and the right direction are divided based on the front, but when the front is at 12 o'clock, the 3 o'clock direction or its surroundings Define it as the right direction, and define the 9 o'clock position or the surrounding as the left direction. The opposite direction to the front becomes the rear. In addition, with the vehicle 1 as the center, the floor direction is referred to as downward, and the opposite direction is referred to as upward. In addition, one side disposed in the front is referred to as the front, one side disposed in the rear is referred to as the rear, and the side disposed on the side is referred to as a side. Among the sides, the left side is defined as the left side, and the right side is defined as the right side.

Referring to FIG. 1, the vehicle 1 may be provided with a detection sensor 200 that detects an object (an obstacle) positioned in front of the vehicle and acquires at least one of the sensed object location information and driving speed information. .

The detection sensor 200 according to an embodiment may acquire at least one of location information or speed information of an object located around the vehicle 1 based on the vehicle 1. That is, the detection sensor 200 may acquire coordinate information that changes as the object moves in real time, and may sense a distance between the vehicle 1 and the object.

As will be described later, the controller 100 (refer to FIG. 3) uses the position information and speed information of the object acquired by the detection sensor 200 to determine the relative distance between the vehicle 1 and the object and the relative distance between the vehicle 1 and the object. The speed may be calculated, and an expected collision time (Time To Collision, TTC) between the vehicle 1 and the object may be calculated based on this.

According to an embodiment, when the vehicle 1 travels at an intersection, the detection sensor 200 detects another vehicle traveling in a direction crossing the vehicle 1 and obtains location information and speed information of the other vehicle. have. The control unit 100 may calculate an expected collision time when the vehicle 1 and another vehicle cross using the position information and speed information of another vehicle acquired by the detection sensor 200, and based on this, the cross vehicle The risk of collision between them can be determined.

As shown in FIG. 1, the detection sensor 200 may be installed in an appropriate position capable of recognizing an object in the front, side or front side, for example, another vehicle. According to an embodiment, the detection sensor 200 includes a front side of the vehicle 1, a direction between the left side and the front side of the vehicle 1 (hereinafter, left front side), and the right side of the vehicle 1 ( It may be installed on both the front, left and right sides of the vehicle 1 so that objects located in both directions (hereinafter, hereinafter, right and front sides) between the front and the front side can be recognized.

For example, the first detection sensor 200a may be installed on a part of the radiator grill, for example, inside, and may be installed at any position of the vehicle 1 if it is a position capable of detecting a vehicle positioned in front. In one embodiment of the disclosed invention, a case where the first detection sensor 200a is provided in the center of the front of the vehicle 1 will be described as an example. In addition, the second detection sensor 200b may be provided on the left side of the vehicle 1, and the third detection sensor 200c may be provided on the right side of the vehicle 1.

The detection sensor 200 includes, for example, a radar using millimeter wave or microwave, a light detection and ranging (LiDAR) using pulsed laser light, a vision using visible light, an infrared sensor using infrared, or ultrasonic waves. It may be implemented using various devices such as an ultrasonic sensor to be used. The detection sensor 200 may be implemented using only any one of them, or may be implemented by combining them in combination. When a plurality of detection sensors 200 are provided in one vehicle 1, each detection sensor 200 may be implemented using the same device or may be implemented using different devices. In addition, the detection sensor 200 can be implemented using various devices and combinations that can be considered by the designer.

Referring to FIG. 2, when the vehicle 1 and the target vehicle 2 travel at an intersection, a collision overlap occurs according to the driving speed and the driving position of the vehicle 1 and the target vehicle 2.

In this case, according to the existing intersection collision avoidance system, even when the overlap between the vehicle 1 and the target vehicle 2 is small, the vehicle 1 is braked and a warning is issued to prevent the vehicle 1 from driving. Rather, there was a problem that interfered and made the driver feel a sense of foreignness.

That is, when the overlap between the vehicle 1 and the target vehicle 2 is large, the collision area and the risk of collision are relatively high, so there is a need to urgently perform braking on the vehicle 1, but when the overlap is small, the intersection Without braking the vehicle 1 through the collision avoidance system, the vehicle 1 can be slowed down or a collision can be avoided through steering.

Therefore, according to the vehicle and the control method thereof according to an embodiment of the disclosed invention, the degree of overlap between the vehicle 1 and the target vehicle 2 is determined, and when the degree of overlap is small, the vehicle 1 is reduced to a predetermined deceleration rate. By decelerating or braking at a predetermined yaw rate value, it is possible to avoid a collision with a target vehicle 2 that crosses without sudden braking for collision avoidance.

Referring to FIG. 3, in the vehicle 1 according to an embodiment, a speed control unit 70 that adjusts a driving speed of a vehicle 1 driven by a driver, and a speed detection unit that detects the driving speed of the vehicle 1 (80), a storage unit 90 for storing data related to the control of the vehicle 1, and a control unit 100 for controlling each component of the vehicle 1 and controlling the driving speed of the vehicle 1 have.

The speed control unit 70 may adjust the speed of the vehicle 1 driven by the driver. The speed control unit 70 may include an accelerator driving unit 71 and a brake driving unit 72.

The accelerator driving unit 71 receives a control signal from the control unit 100 to drive the accelerator to increase the speed of the vehicle 1, and the brake driving unit 72 drives the brake by receiving a control signal from the control unit 100 to drive the vehicle ( 1) can reduce the speed.

The speed control unit 70 can adjust the driving speed of the vehicle 1 under the control of the control unit 100. When the risk of collision between the vehicle 1 and other objects is high, the driving speed of the vehicle 1 is reduced. I can make it.

The speed detection unit 80 may detect the driving speed of the vehicle 1 driven by the driver under the control of the controller 100. That is, the driving speed can be detected using the speed at which the wheel of the vehicle 1 rotates. The unit of the driving speed can be expressed as [kph], and the unit of the driving speed can be expressed as the distance traveled per unit time (h) (km). Can be indicated.

The storage unit 90 may store various types of data related to control of the vehicle 1. Specifically, information on a driving speed, a driving distance, and a driving time of the vehicle 1 according to an exemplary embodiment may be stored. In addition, the storage unit 90 may store location information and speed information of the object detected by the detection sensor 200, coordinate information changed in real time of the moving object, the relative distance between the vehicle 1 and the object, and You can store information about the relative speed. In addition, the storage unit 90 may store data related to an equation and a control algorithm for controlling the vehicle 1 according to an exemplary embodiment, and the controller 100 may control the vehicle 1 according to the equation and the control algorithm. Control signals can be transmitted.

In addition, the storage unit 90 may store cross-time data between the vehicle 1 and the target vehicle 2 for controlling braking or partial braking of the vehicle 1 according to an exemplary embodiment. The controller 100 compares the crossing time between the vehicle 1 and the target vehicle 2 with a reference value stored in the storage unit 90 to brake the vehicle 1 or braking onely.

The storage unit 90 is a nonvolatile memory device such as a cache, read only memory (ROM), programmable ROM (PROM), eraseable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), and flash memory, or It may be implemented as at least one of a volatile memory device such as a random access memory (RAM), a hard disk drive (HDD), or a storage medium such as a CD-ROM, but is not limited thereto. The storage unit 90 may be a memory implemented as a separate chip from the processor described above with respect to the control unit 100, or may be implemented as a processor and a single chip.

Referring to FIG. 4, the speed detection unit 80 may detect the driving speed of the vehicle 1 (1000 ). In addition, the detection sensor 200 may detect the target vehicle 2 traveling by crossing the vehicle 1 at the intersection to obtain location information and speed information of the target vehicle 2 (1100).

The controller 100 may determine an intersection time between the vehicle 1 and the target vehicle 2 based on the driving speed of the vehicle 1 and the driving speed of the target vehicle 2 (1200 ). Specifically, the control unit 100 determines the intersection entry time (TV1) and the exit time (TV2) of the vehicle 1 as shown in FIG. 5, and the intersection entry time (TT1) of the target vehicle 2 and Advance time (TT2) can be determined.

As shown in Fig. 6, the control unit 100 determines the difference between the vehicle 1's entry time (TV1) and the target vehicle's 2's entry time (TT2). It can be determined by the crossover time (Tov) of.

That is, the time when the vehicle 1 enters the intersection (TV1) and the time when the target vehicle 2 enters the intersection (TV2) between the time when the target vehicle 2 enters the intersection (TT1) and the time when exiting the intersection (TT2) When they overlap, an overlap occurs in which the vehicle 1 and the target vehicle 2 collide, and the intersection time is the overlap time between the vehicle 1 and the target vehicle 2.

Under the condition that the driving speed of the vehicle 1 and the target vehicle 2 is the same, if the crossing time between the vehicle 1 and the target vehicle 2 is long, the vehicle 1 collides with the front part of the target vehicle 2, If the crossover time is short, the vehicle 1 collides with the rear part of the target vehicle 2.

As described above, according to the existing intersection collision avoidance system, when an overlap occurs where the vehicle 1 and the target vehicle 2 intersect as in FIG. 6, braking is performed on the vehicle 1 to prevent a collision. By giving a warning, there is a problem that the driving of the vehicle 1 is rather hindered and the driver feels a sense of difference.

The control unit 100 of the vehicle 1 according to an embodiment may compare the intersection time Tov between the vehicle 1 and the target vehicle 2 with data stored in the storage unit 90 (1300), and the vehicle ( If the intersection time (Tov) between 1) and the target vehicle 2 is less than or equal to the first predetermined time, the vehicle 1 is braked at a predetermined deceleration speed (1400), so that the vehicle 1 enters the intersection (TV1). It can be controlled to be after the intersection advance time (TT2) of the target vehicle (2).

At this time, the first predetermined time is, without braking the vehicle 1 according to the existing intersection collision avoidance system, by braking the vehicle 1 at a decelerated speed that the driver cannot feel, and thus the vehicle 1 and the vehicle 1 It is a short overlap time enough to prevent a collision of the target vehicle 2. This first time may vary according to settings and may be stored in the storage unit 90.

On the other hand, if the intersection entry time TV1 of the driving vehicle 1 is expressed by an equation, it is as in Equation 1.

[Equation 1]

At this time, as shown in FIG. 7, d1 is the driving distance to the point at which the vehicle 1 enters the intersection, and Vs is the driving speed of the vehicle 1. That is, in this case, since the vehicle 1's entrance time (TV1) is faster than the intersection exit time (TT2) of the target vehicle 2, an overlap between the vehicle 1 and the target vehicle 2 occurs. ) And the target vehicle 2 collide.

The control unit 100 may brake the vehicle 1 at a predetermined deceleration speed. In this case, the predetermined deceleration speed is the maximum deceleration speed that the driver cannot feel, and brakes the vehicle 1 to reduce the intersection of the vehicle 1. Although the entry time TV1 is delayed, since the vehicle 1 is not completely stopped, the driver does not feel a sense of foreignness.

The control unit 100 may brake the vehicle 1 at a predetermined deceleration speed, and according to this braking control, the time for entering the intersection of the vehicle 1 may be changed as shown in Equation (2).

[Equation 2]

At this time, a _s is the maximum deceleration speed (m/s ² ) that the driver cannot feel, and the vehicle 1's entrance time to the intersection as shown in FIG. 8 according to the vehicle 1 braking control of the controller 100 This can be changed from TV1 to TV1'.

That is, when the risk of cross-collision between the vehicle 1 and the target vehicle 2 is less than a certain value, the vehicle 1 was stopped through the crossroad collision prevention system to prevent the collision, but the disclosed invention is an embodiment. By braking the vehicle 1 at a predetermined deceleration speed, the vehicle 1's entry time (TV1') of the vehicle 1 is after the intersection entry time (TT2) of the target vehicle 2, so that the driving situation is not disturbed. At the same time, collisions can be avoided.

Referring back to FIG. 4, when the crossing time Tov between the vehicle 1 and the target vehicle 2 exceeds a predetermined first time, the controller 100 compares the data stored in the storage unit 90 with the vehicle ( It may be determined whether the intersection time Tov between 1) and the target vehicle 2 exceeds the first time and is less than the second time (1500).

As a result of the determination, if the intersection time Tov between the vehicle 1 and the target vehicle 2 exceeds the first time and is less than the second time, the vehicle 1 is braking at a predetermined yaw rate value (1600) and the vehicle 1 ) Of the intersection entry time (TV1) can be controlled to be after the intersection entry time (TT2) of the target vehicle (2).

In this case, the second predetermined time is an overlap time sufficient to prevent a collision between the vehicle 1 and the target vehicle 2 without braking the vehicle 1 according to the existing intersection collision avoidance system. to be.

However, the first time was a time when the vehicle 1 could avoid a collision by braking at a predetermined deceleration speed, but the second time could not avoid a collision by braking the vehicle 1 at a decelerated speed. It is an overlap time enough to avoid a collision with the target vehicle 2 by increasing the driving distance of the vehicle 1 through braking. This second time may vary depending on the setting and may be stored in the storage unit 90.

The controller 100 may increase the driving distance the vehicle 1 travels before entering the intersection by controlling the braking of the inner or outer rings of the vehicle 1 at a predetermined yaw rate value.

As shown in FIG. 9, the control unit 100 may control the individual brake operation of the vehicle 1 with a predetermined yaw rate value, so that the vehicle 1 brakes unevenly. In other words, at this time, the predetermined yaw rate value is the maximum yaw rate value that the driver cannot feel. Fig. 9 is repeated by uni-braking one wheel of the vehicle 1 and turning the opposite wheel by uni-braking and turning in the opposite direction. As in, the driving distance of the vehicle 1 can be increased.

For example, if the wheel on the left in the driving direction of the vehicle 1 is an inner wheel and the wheel on the right in the driving direction is an outer wheel, the control unit 100 brakes one side on the left rear wheel a1 of the vehicle 1 at a predetermined yaw rate value. After a certain period of time, the driving distance d2 before entering the intersection of the vehicle 1 can be increased by braking the right rear wheel a2 and braking the left rear wheel a3 again.

As the driving distance d2 before the vehicle 1 enters the intersection increases, the intersection entry time of the vehicle 1 may be changed as shown in Equation 3 below.

[Equation 3]

The controller 100 can increase the driving distance d2 before entering the intersection of the vehicle 1 by alternately controlling the braking of the inner and outer rings of the vehicle 1, and accordingly, as shown in FIG. The time of entering the intersection of the vehicle 1 may be changed from TV1 to TV1''.

In other words, when the risk of cross-collision between the vehicle 1 and the target vehicle 2 is within a certain range, the vehicle 1 is braked at a predetermined deceleration speed, so that the vehicle 1's entrance time (TV1') is the target vehicle 2 ), but the vehicle (1) is braked at a predetermined yaw rate, so that the vehicle (1)'s entry time (TV``) enters the intersection of the target vehicle (2). By making it after the time TT2, it is possible to prevent the vehicle 1 from being disturbed by the driving situation and to prevent a collision with the target vehicle 2.

On the other hand, when the crossing time Tov at which the vehicle 1 and the target vehicle 2 intersect exceeds the second predetermined time, the vehicle 1 and the target vehicle 1 control method according to the disclosed embodiment Since a collision of the vehicle 2 cannot be prevented, the control unit 100 may prevent a collision with the target vehicle 2 by braking 1700 of the vehicle 1 according to an intersection collision avoidance system.

As described above, according to the vehicle 1 and the control method thereof according to an embodiment of the disclosed invention, a vehicle at a predetermined deceleration speed according to the degree of overlap between the vehicle 1 and the target vehicle 2 expected to collide at an intersection. By braking (1) or braking the vehicle (1) according to a predetermined yaw rate value to avoid a collision, the intersection collision avoidance system is supplemented, and the natural driving at the intersection provides the driver with safety and a feeling of driving without discomfort. There is an effect that can be.

1: vehicle
70: speed control unit
80: speed detection unit
90: storage
100: control unit
200: detection sensor

Claims (12)

A speed sensing unit that detects a driving speed of the vehicle;
A detection sensor that detects a target vehicle traveling crossing the vehicle and obtains location information and speed information of the target vehicle; And
A crossing time between the vehicle and the target vehicle is determined based on the driving speed of the vehicle and the driving speed of the target vehicle, and if the determined crossing time is less than or equal to a predetermined time, the vehicle brakes at a predetermined deceleration speed or A vehicle comprising a; a control unit for controlling the braking at a yaw rate value. The method of claim 1,
The control unit,
Determine the intersection entry time and exit time of the vehicle, determine the intersection entry time and exit time of the target vehicle,
A vehicle for determining a difference between the vehicle's entry time at the intersection and the target vehicle's entry time at the intersection as an intersection time between the vehicle and the target vehicle. The method of claim 2,
The control unit,
When the determined crossing time is less than or equal to a predetermined first time, the vehicle is braked at the predetermined deceleration speed so that the vehicle's entry time to the intersection is after the crossing entry time of the target vehicle. The method of claim 3,
The control unit,
If the determined intersection time exceeds the predetermined first time and is less than or equal to the predetermined second time, the vehicle is set to the predetermined yaw rate value so that the vehicle enters the intersection after the target vehicle enters the intersection. Vehicles that are braking onely. The method of claim 3,
The control unit,
When the determined intersection time exceeds the predetermined first time and is less than or equal to the predetermined second time, the vehicle is braking the vehicle at the predetermined yaw rate value to increase the driving distance before the vehicle enters the intersection. The method of claim 5,
The control unit,
Controlling one-sided braking for an inner or outer wheel of the vehicle with the predetermined yaw rate value,
A vehicle for increasing the travel distance before the vehicle enters the intersection by alternately controlling the braking of the inner and outer rings. Sensing the driving speed of the vehicle;
Detecting a target vehicle traveling crossing the vehicle to obtain location information and speed information of the target vehicle;
Determining an intersection time between the vehicle and the target vehicle based on the driving speed of the vehicle and the driving speed of the target vehicle;
When the determined crossover time is less than or equal to a predetermined time, the vehicle brakes at a predetermined deceleration speed or one-sided braking at a predetermined yaw rate value. The method of claim 7,
Determining the intersection time between the vehicle and the target vehicle,
Determining an entry time and exit time of the vehicle at the intersection;
Determining an entry time and exit time of the target vehicle at the intersection;
A vehicle control method for determining a difference between the vehicle's entry time at the intersection and the target vehicle's entry time at the intersection as an intersection time between the vehicle and the target vehicle. The method of claim 8,
Braking the vehicle at a predetermined deceleration speed,
If the determined intersection time is less than or equal to a predetermined first time, the vehicle control method for braking the vehicle at the predetermined deceleration speed such that the vehicle enters the intersection after the target vehicle enters the intersection. The method of claim 9,
Braking the vehicle at a predetermined yaw rate value,
If the determined intersection time exceeds the predetermined first time and is less than or equal to the predetermined second time, the vehicle is set to the predetermined yaw rate value so that the vehicle enters the intersection after the target vehicle enters the intersection. Vehicle control method for single braking. The method of claim 9,
Braking the vehicle at a predetermined yaw rate value,
When the determined crossing time exceeds the predetermined first time and is less than or equal to the predetermined second time, the vehicle control method of increasing the driving distance before the vehicle enters the intersection by braking the vehicle at the predetermined yaw rate value . The method of claim 11,
Braking the vehicle at a predetermined yaw rate value,
Including controlling one-sided braking for the inner ring or the outer ring of the vehicle with the predetermined yaw rate value,
A vehicle control method for increasing the driving distance before the vehicle enters the intersection by alternately controlling the braking of the inner and outer rings.

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