KR20210029324A - Blind spot collision warning apparatus and control method thereof - Google Patents

Abstract

Disclosed are a rear-spot collision warning device and a method for controlling the same. According to the present invention, the rear-spot collision warning device comprises: an MFC information input unit for receiving an input of the driving state of the own vehicle photographed through a multi-function front recognition camera; a rear side distance measuring unit for measuring a distance from a target vehicle existing on the side or rear of the own vehicle; a control unit which corrects a warning area by reflecting the driving state of the own vehicle input from the MFC information input unit, and generates a warning when the target vehicle exists in the warning area based on the distance to the target vehicle measured through the rear side distance measuring unit; and a warning unit which outputs a warning generated by the control unit.

Description

Rear collision warning device and its control method {BLIND SPOT COLLISION WARNING APPARATUS AND CONTROL METHOD THEREOF}

The present invention relates to a rear collision warning device and a control method thereof, and more particularly, when warning by measuring the distance of a rear target, a false warning is made by correcting a set value by reflecting the driving environment recognized through a front recognition camera. It relates to a rear-side collision warning device and a control method thereof so as to reduce the amount.

Recently, with the development of various sensors and recognition systems, commercialization of an Advanced Driver Assistant System (ADAS) mounted on a vehicle has been actively made.

In particular, a device for actively coping with the safety of passengers has been developed and used. This is being developed in the direction of an active driving assistance device to prevent accidents in advance, compared to a passive safety device that is operated when an accident occurs.

As such a driver assistance system, a blind-spot collision warning device is a system that detects a target vehicle approaching to the side or rear blind spot of the user vehicle and warns it in advance. At this time, the rear collision warning device uses an ultrasonic sensor or a radar sensor to detect objects around the user's vehicle.

The background technology of the present invention is disclosed in Korean Patent Application Publication No. 2018-0065527 (published on 18 June 2018, a warning device for the rear side of a vehicle and a warning method using the same).

In this way, the rear collision warning device recognizes the distance to the rear target by using an ultrasonic sensor or a radar sensor, and when the warning is output by measuring the distance to the rear target based on the distance set only by the vehicle speed. There is a problem in that false alarms are generated depending on the driving environment in the actual road environment.

In other words, when the driver makes a deflected drive to the right or left in the own lane, a warning is output even when the target, which is the rear vehicle, is driving in a deflected lane in the same lane or in a lane next to the lane instead of the next lane. have.

In addition, there is a problem of outputting a warning even when the rear vehicle is traveling on a curved road in the same lane.

The present invention was devised to improve the above problems, and an object of the present invention according to one aspect is to reflect the driving environment recognized through the front recognition camera when warning by measuring the distance of the rear target. It is to provide a rear-side collision warning device and a control method thereof, which can reduce false warnings by correcting.

A rear collision warning device according to an aspect of the present invention includes an MFC information input unit for receiving a driving state of an own vehicle photographed through a multifunctional front recognition camera; A rear side distance measuring unit for measuring a distance to a target vehicle existing at the side or rear of the own vehicle; A control unit that corrects the warning area by reflecting the driving state of the own vehicle input from the MFC information input unit, and generates a warning when a target vehicle exists in the warning area based on the distance to the target vehicle measured through the rear distance measurement unit. ; And a warning unit for outputting a warning generated by the control unit.

In the present invention, the rear distance measuring unit is characterized in that it is any one of an ultrasonic sensor, a lidar sensor, and a radar sensor.

In the present invention, the driving state of the own vehicle is characterized in that it includes any one or more of a lane width, a position of a vehicle within a lane, and a road curvature.

In the present invention, the control unit is characterized in that the warning area is corrected by correcting at least one of a lateral offset, a lane width offset, and curvature information according to a driving state of the host vehicle.

In the present invention, the control unit corrects the yaw rate information input from the rear distance measuring unit by reflecting the curvature of the road obtained from the driving state of the host vehicle input through the MFC information input unit.

In the present invention, the warning unit is characterized in that it includes a display device for displaying the host vehicle and the target vehicle on the screen.

A control method of a rear collision warning device according to another aspect of the present invention includes the steps of: receiving, by a controller, a driving state of the own vehicle photographed through a multifunctional front recognition camera from an MFC information input unit; Receiving, by the controller, a driving state of the own vehicle and correcting the warning area; Receiving, by the control unit, a distance to a target vehicle existing at the side or rear of the host vehicle through the rear side distance measuring unit; Determining, by the controller, whether the target vehicle exists in the warning area by receiving the distance to the target vehicle; And generating and outputting a warning by determining, by the control unit, whether a target vehicle exists in the warning area.

In the present invention, the step of receiving the driving state of the own vehicle is characterized in that the control unit receives one or more of a lane width, a position of a vehicle within a lane, and a road curvature.

In the present invention, the step of correcting the warning area is characterized in that the control unit corrects the warning area by correcting at least one of a lateral offset, a lane width offset, and curvature information according to a driving state of the host vehicle.

In the present invention, the step of correcting the warning area is characterized in that the control unit corrects the yaw rate information input from the rear distance measuring unit by reflecting the road curvature obtained from the driving state of the host vehicle input through the MFC information input unit. It is done.

In the present invention, the step of generating and outputting a warning is characterized in that the control unit outputs the warning through a display device that displays the host vehicle and the target vehicle on the screen.

According to an aspect of the present invention, a rear collision warning device and a control method thereof are provided by correcting the set value by reflecting the driving environment recognized through the front recognition camera when warning by measuring the distance of the rear target. By outputting the appropriate warning, it is possible not only to reduce false warnings, but also to improve curvature reliability.

1 is a block diagram showing a rear collision warning apparatus according to an embodiment of the present invention.
2 is an exemplary view showing an actual road environment for setting the operation of the rear collision warning device according to an embodiment of the present invention.
3 is a flowchart illustrating a method of controlling a rear collision warning device according to an embodiment of the present invention.

Hereinafter, a rear collision warning apparatus and a control method thereof 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, which 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 a block diagram showing a rear collision warning device according to an embodiment of the present invention, and FIG. 2 is an actual road environment for setting the operation of the rear collision warning device according to an embodiment of the present invention. It is an exemplary diagram.

As shown in Figure 1, the rear collision warning device according to an embodiment of the present invention includes an MFC information input unit 10, a rear distance measurement unit 20, a control unit 30, and a warning unit 40 can do.

The MFC information input unit 10 may receive a driving state of the own vehicle photographed through a multifunctional front recognition camera (not shown) and provide it to the control unit 30.

Here, the driving state of the own vehicle may include any one or more of a lane width, a position of a vehicle in the lane, and a road curvature for grasping the driving environment of a driver in an actual road environment.

The rear distance measuring unit 20 may measure a distance to a target vehicle existing at the side or rear of the host vehicle and provide the measured distance to the control unit 30.

Here, the rear distance measuring unit 20 may include any one of an ultrasonic sensor, a lidar sensor, and a radar sensor.

The control unit 30 corrects the warning area by reflecting the driving state of the own vehicle input from the MFC information input unit 10, and the warning area based on the distance to the target vehicle measured through the rear distance measurement unit 20. I can trigger an alert if my target vehicle is present.

Here, the controller 30 may correct the warning area by correcting at least one of a lateral offset, a lane width offset, and curvature information according to the driving state of the own vehicle.

In this case, the control unit 30 may determine the lane width and the position of the vehicle within the lane based on the driving state of the own vehicle, and correct the lateral offset in the case of biased driving in the lane width. In addition, when the lane width for each road on which the own vehicle is traveling is different, the lane width offset may be corrected.

On the other hand, the yaw rate information input from the rear distance measuring unit 20 and the road curvature obtained from the driving state of the own vehicle input through the MFC information input unit 10 are compared, and if a difference occurs, the driving state of the own vehicle is determined. By reflecting and correcting, the reliability of curvature can be improved.

At this time, the warning area may be set according to the warning time by calculating the collision time according to the speed of the host vehicle and the approach speed and distance of the rear target vehicle.

For example, as shown in (a) of FIG. 2, when the host vehicle drives left and the rear target vehicle is driving right, a warning is generated when it is determined only by the distance to the rear target vehicle. It is possible to prevent false warnings by correcting the warning area by correcting the lateral offset because the vehicle is traveling in the same lane.

In addition, as shown in (B), even when the own vehicle is driving on the right side and the rear target vehicle is driving on the left side in the side lane, a warning is generated when it is judged only by the distance to the rear target vehicle. Since there is no risk of collision as a vehicle traveling in a lane, it is possible to prevent false warnings by correcting the warning area by correcting the lateral offset.

In addition, as shown in (C), if the lane width (x) of the road on which the own vehicle is traveling is wider than the default lane width, a warning is not generated if it is determined only by the distance to the rear target vehicle driving in the next lane. Although a case occurs, it is possible to prevent non-warning by correcting the lane width offset to correct the warning area.

On the other hand, as shown in (D), even when the host vehicle and the target vehicle drive on a curved road in the same lane or behind a side lane, based on the yaw rate information input from the rear-side distance measuring unit 20, the warning area is When determining whether a target vehicle exists, the warning area is corrected by correcting the curvature by reflecting the curvature of the road input as the driving state of the own vehicle, thereby improving curvature reliability and preventing false warnings.

The warning unit 40 warns the driver by outputting a warning generated by the control unit 30. It may include a display device that displays the own vehicle and the target vehicle on the screen.

As described above, according to the rear-side collision warning apparatus according to an embodiment of the present invention, when the distance of the rear-side target is measured and warned, the set value is corrected by reflecting the driving environment recognized through the front recognition camera. As warnings can be output according to the road environment, false warnings can be reduced and the reliability of curvature can be improved.

3 is a flowchart illustrating a control method of a rear collision warning device according to an embodiment of the present invention.

In the control method of the rear-side collision warning device according to an embodiment of the present invention as shown in FIG. 3, first, the control unit 30 moves the own vehicle photographed from the MFC information input unit 10 through a multifunctional front recognition camera. The state is input (S10).

Here, the driving state of the own vehicle may include any one or more of a lane width, a position of a vehicle in the lane, and a road curvature.

In step S10, the control unit 30 corrects the warning area for the rear collision warning after receiving the driving state of the own vehicle (S20).

Here, the warning area may be set according to the warning time by calculating the collision time according to the speed of the host vehicle and the approach speed and distance of the rear target vehicle.

Accordingly, the controller 30 may correct the warning area by determining the width of the lane and the position of the vehicle in the lane based on the driving state of the own vehicle, and correcting the lateral offset in the case of deflected driving. In addition, when the lane width for each road on which the own vehicle is traveling is different, the warning area may be corrected by correcting the lane width offset.

On the other hand, the yaw rate information input from the rear distance measuring unit 20 and the road curvature obtained from the driving state of the own vehicle input through the MFC information input unit 10 are compared, and if a difference occurs, the driving state of the own vehicle is determined. By reflecting and correcting, the reliability of curvature can be improved.

After correcting the warning area in step S20, the control unit 30 receives the distance to the rear target vehicle existing laterally or at the rear through the rear side distance measuring unit 20 (S30).

After receiving the distance to the rear target vehicle in step S30, the controller 30 determines whether the target vehicle exists in the warning area (S40).

For example, as shown in (A) and (B) of Fig. 2, in the case of deflected driving based on the driving state of the own vehicle, the warning area is corrected by correcting the lateral offset, A warning is not generated for the target vehicle driving in the lane.

In addition, as shown in (C), if the lane width (x) of the road on which the own vehicle is traveling is wider than the default lane width, a warning is not generated if it is determined only by the distance to the rear target vehicle driving in the next lane. Although a case occurs, it is possible to prevent non-warning by correcting the lane width offset to correct the warning area.

In step S40, it is determined whether the target vehicle exists in the warning area, and if the target vehicle exists in the warning area, the control unit 30 generates a warning and outputs it through the warning unit 40 to warn the driver of a rear collision (S50). ).

Here, the controller 30 may output a warning through a display device that displays the host vehicle and the target vehicle on the screen.

As described above, according to the control method of the rear collision warning apparatus according to an embodiment of the present invention, when warning by measuring the distance of the rear target, the set value is corrected by reflecting the driving environment recognized through the front recognition camera. By doing so, it is possible to output a warning according to the actual road environment, thereby reducing false warnings and improving curvature reliability.

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, a microprocessor, an integrated circuit or a 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.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is only illustrative, and those of ordinary skill in the field to which the technology pertains, various modifications and other equivalent embodiments are possible. I will understand.

Therefore, the true technical protection scope of the present invention should be determined by the following claims.

10: MFC information input unit
20: rear side distance measuring unit
30: control unit
40: warning part

Claims (11)

MFC information input unit for receiving the driving state of the own vehicle photographed through the multi-function front recognition camera;
A rear distance measuring unit for measuring a distance to a target vehicle existing at the side or rear of the own vehicle;
The warning area is corrected by reflecting the driving state of the own vehicle input from the MFC information input unit, and the target vehicle is present in the warning area based on the distance to the target vehicle measured through the rear distance measuring unit. A control unit that generates a warning in case; And
And a warning unit for outputting the warning generated by the control unit.
The apparatus of claim 1, wherein the rear distance measuring unit is any one of an ultrasonic sensor, a lidar sensor, and a radar sensor.
The rear collision warning device according to claim 1, wherein the driving state of the own vehicle includes at least one of a lane width, a position of a vehicle in a lane, and a road curvature.
The apparatus of claim 1, wherein the control unit corrects the warning area by correcting at least one of a lateral offset, a lane width offset, and curvature information according to a driving state of the host vehicle.
The method of claim 1, wherein the control unit corrects the yaw rate information input from the rear distance measuring unit by reflecting a road curvature obtained from the driving state of the host vehicle input through the MFC information input unit. Back side collision warning device.
The rear collision warning apparatus according to claim 1, wherein the warning unit comprises a display device that displays the host vehicle and the target vehicle on a screen.
Receiving, by the control unit, a driving state of the own vehicle photographed through the multi-function front recognition camera from the MFC information input unit;
Receiving, by the control unit, a driving state of the own vehicle and correcting a warning area;
Receiving, by the control unit, a distance to a target vehicle existing at the side or rear of the host vehicle through a rear side distance measuring unit;
Determining, by the control unit, whether the target vehicle is present in the warning area by receiving a distance from the target vehicle; And
And generating and outputting a warning by determining, by the controller, whether the target vehicle is present in the warning area.
The control of a rear collision warning device according to claim 7, wherein the receiving of the driving state of the own vehicle comprises receiving at least one of a lane width, a position of a vehicle in a lane, and a road curvature by the controller. Way.
The method of claim 7, wherein the step of correcting the warning area, the control unit corrects the warning area by correcting at least one of a lateral offset, a lane width offset, and curvature information according to a driving state of the own vehicle. The control method of the rear-side collision warning device.
The road of claim 7, wherein the correcting the warning area comprises: the control unit obtained from the driving state of the host vehicle input through the MFC information input unit for the yaw rate information input from the rear distance measurement unit. A control method of a rear collision warning device, characterized in that correcting by reflecting the curvature.
The method of claim 7, wherein the generating and outputting the warning comprises: the control unit outputs a warning through a display device that displays the host vehicle and the target vehicle on a screen. Control method.

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