KR20210044350A - The method of avoiding rear end impact using steering drive control - Google Patents

Abstract

The present invention relates to a method for effectively avoiding an emergency collision which unexpectedly occurs by a following vehicle. The conventional steering control apparatus has avoided the danger of a driving vehicle by mainly controlling a brake or an accelerator. In general, the steering control apparatus works in a normal situation. In an abnormal special situation, it is most desirable to avoid an impending emergency situation from the rear side by changing lanes. The present invention is able to avoid a rear collision by controlling the steering and the driving. The present invention is able to detect the presence of a following vehicle driving on the rear side of the driving vehicle through a pair of side radars, respectively installed on both sides of the rear of the driving vehicle. In addition, the present invention is able to calculate the relative speed and the position deviations to the sides of the following vehicle, and to, if it is determined that there is a danger of rear collision, change the rotary angle of the steering to the opposite direction to the deviation position of the following vehicle, thereby changing the direction of the driving vehicle.

Description

How to avoid rear collision through steering drive control {THE METHOD OF AVOIDING REAR END IMPACT USING STEERING DRIVE CONTROL}

The present invention relates to a method of automatically avoiding a collision of a vehicle, and in particular, to a method of recognizing and avoiding a rear collision.

Today, a cruise control system for a vehicle in motion is employed. It is a technology that controls the vehicle while maintaining a constant speed set by the driver. A technology for controlling the braking force to maintain a certain distance from the preceding vehicle by improving such cruise control technology is also known. This is called adaptive cruise control. It controls the speed of the driving vehicle by calculating the distance and speed between the vehicle and the preceding vehicle using the camera and radar installed in the front.

Republic of Korea Patent Publication No. 10-2009-0041129 has described the control method of the above adaptive cruise control device using an equation. However, there was a serious problem in the prior art, which is that it only calculates the relationship with the preceding vehicle and does not consider the relationship with the following vehicle. In order to maintain a constant distance from the preceding vehicle, it is possible to reduce the speed of the driving vehicle. However, there may be a trailing vehicle approaching at a high speed from behind, which increases the risk of an accident.

Compared to the preceding vehicle driving from the front, the following vehicle approaching from the rear is out of sight of the driver, and it is difficult to actively respond due to unpredictable risks (for example, drowsy driving, etc.) occurring in the rear vehicle. If we try to solve this problem only from a linear perspective of the front and rear, it means that cruise control must be performed through accelerator and brake control in the end.In this case, variables generated from the relationship between the preceding vehicle and the following vehicle are simultaneously calculated. It cannot avoid the possibility of "disengagement of cruise control" that occurs when doing so. Due to the variable of the preceding vehicle, the speed of the driving vehicle must be slowed down, and a contradictory situation arises in which the speed of the driving vehicle must be increased due to the speed of the following vehicle.

The inventor of the present invention came to complete the present invention after contemplating in order to solve this problem.

An object of the present invention is to accelerate the risk of a collision occurring from a trailing vehicle approaching from the rear of the vehicle being driven and It is to propose a method that can be effectively avoided through steering control.

Meanwhile, other objects that are not specified of the present invention will be additionally considered within a range that can be easily deduced from the detailed description and effects thereof below.

In order to achieve the above object, the present invention is a method for a driving vehicle system controller to avoid a rear collision through steering drive control,

It detects the presence of a trailing vehicle traveling from the rear of the traveling vehicle through a pair of side radars installed at the left and right rear of the traveling vehicle, and determines whether there is a rear collision risk by calculating the relative speed and the left and right positional deflection of the traveling vehicle. Step and,

And changing a direction of a driving vehicle by changing a rotation angle of the steering in a direction opposite to a deflection position of the following vehicle while monitoring a driving situation when it is determined that there is a risk of a rear collision.

In a method for avoiding a rear collision by a driving vehicle system controller according to a preferred embodiment of the present invention through steering drive control, the direction of the driving vehicle is changed by changing the rotation angle of the steering in a direction opposite to the deflection position of the following vehicle. As for the changing step, it is good to change the driving lane.

In addition, in the method for avoiding a rear collision by the driving vehicle system controller according to a preferred embodiment of the present invention through steering drive control, the rotation angle of the steering is changed in a direction opposite to the deflecting position of the following vehicle. The step of changing the direction is a driving vehicle achieved by changing the steering rotation angle in response to the condition that it is impossible to avoid a rear collision due to acceleration of the speed of the driving vehicle due to the presence of a preceding vehicle existing in front of the driving vehicle and the speed of the driving vehicle. It is advisable to execute when the condition that the third risk does not exist at the location of the change in is satisfied.

According to the present invention, in an emergency situation where a collision of a vehicle approaching from the rear is imminent, it is possible to change the direction of the driving vehicle through steering control as well as the accelerator or brake of the driving vehicle. Can be avoided. In addition, it is possible to mitigate the impact even in the event of a collision, thereby reducing damage to the vehicle and contributing to the safety of the occupant of the driving vehicle.

On the other hand, even if it is an effect not explicitly mentioned herein, it is added that the effect described in the following specification and its provisional effect expected by the technical features of the present invention are treated as described in the specification of the present invention.

1 schematically shows a situation in which the driving vehicle 10 is driving in a lane.
FIG. 2 shows a vehicle system that detects data on vehicles/lanes/obstacles, etc. in the front and rear and sides through radar devices and sensors installed in the driving vehicle 10 traveling in a lane.
3 is a diagram illustrating a concept of a method of avoiding a rear collision through steering drive control according to an exemplary embodiment of the present invention.
4 schematically shows the configuration of a traveling control system device according to a preferred embodiment of the present invention.
5 is a diagram illustrating the method of the present invention as a process.
6 is a diagram illustrating a message that is exaggerated and briefly conveyed by the technical idea of the present invention.
※ The accompanying drawings reveal that they are exemplified by reference for an understanding of the technical idea of the present invention, and the scope of the present invention is not limited thereto.

Hereinafter, a configuration of the present invention guided by various embodiments of the present invention and effects resulting from the configuration will be described with reference to the drawings. In describing the present invention, when it is determined that the subject matter of the present invention may be unnecessarily obscured as matters obvious to those skilled in the art with respect to known functions related to the present invention, a detailed description thereof will be omitted.

In FIG. 1, the traveling vehicle 10 is traveling on a second lane. The following vehicle 20 travels in the traveling vehicle 10 in the same lane. If the relative speed of the following vehicle 20 is greater than the speed of the traveling vehicle 10, there is a possibility of a collision. If the relative speed of the following vehicle 20 does not decrease, the driving vehicle 10 needs to accelerate further. Or you have to change lanes to one or three lanes. When changing to the first lane, the relationship between the third driving vehicle 31 on the left lane and the third driving vehicle 33 on the right lane should be considered when changing to the third lane.

Accidents do not occur under normal circumstances. For example, the risk of accidents increases when the following vehicle is driving drowsy or driving under severe special circumstances such as drunk driving. Even in such a special situation, if the following vehicle 20 increases the relative speed and maintains a straight line on the second lane, as described above, a collision risk can be avoided by increasing the acceleration of the traveling vehicle 10 once. However, in special circumstances, it is rare to run in the middle of the lane of the following vehicle 20, and a driving slope may occur based on the virtual center line of the corresponding lane. The present invention responds to this special situation.

Various sensor devices are installed in vehicles today. So, information about the surrounding situation can be collected in real time. Various sensors, cameras, radars, etc. may be included as a real-time collecting device for surrounding situation information. 2 illustrates a scenario in which a driving vehicle 10 running on a second lane collects information that exists or occurs in the same lane and adjacent lanes in real time.

A front radar 11 installed in front of the traveling vehicle 10 detects the presence of a vehicle or an obstacle traveling in the front. In addition, a pair of side radars 12 and 13 installed at the left and right rear of the driving vehicle 10 detects the presence of a following vehicle running from the rear. Therefore, it is possible to calculate whether the following vehicle is deflected toward the first lane or toward the third lane. On the other hand, since the driving vehicle 10 is driving on the road, the object detected through the radar system is obtained as position and speed data that varies in real time, and the risk is calculated using the distance and the relative speed to the driving vehicle. .

3 shows a driving scenario according to a preferred embodiment of the present invention.

From the rear, the following vehicle 20 approaches at a higher relative speed than the driving vehicle. The driving vehicle system controller judged that the risk of accidents was very high. Controlling the brakes makes no sense. When the speed is increased by controlling the accelerator, it collides with the vehicle 32 running in the same lane.

The driving vehicle system controller of the driving vehicle 10 can calculate that the following vehicle is deflected to the right through a pair of side radars respectively installed at the left and right rear of the driving vehicle 10. Change the rotation angle. As shown in the drawing, the traveling vehicle 10 running on the second lane can urgently avoid a collision from the following vehicle 20 by changing the lane to the first lane.

4 illustrates a schematic configuration of a driving vehicle control system apparatus according to a preferred embodiment of the present invention.

The driving situation monitoring unit 150 configured including a camera, a radar, an ultrasonic sensor, and/or a rider, etc. monitors the driving situation (including the presence of adjacent vehicles or obstacles and their changing position and speed data, etc.) And transmits it to the control unit 100.

The front radar 140 detects data on a vehicle or an obstacle running in front of the driving vehicle and transmits it to the controller 100.

The rear radar 160 detects data on a vehicle running behind the driving vehicle and transmits it to the controller 100. In particular, the rear radar 160 serves to detect a vehicle following an emergency collision.

The controller 100 serving as a processor of the driving vehicle control system apparatus communicates with the above-described driving condition monitoring unit 150, the front radar 140, and the rear radar 160 to obtain data. It judges whether there is an obstacle in the side, and on the other hand, it determines whether there is a risk of a rear collision by calculating the relative speed and the left and right positional deflection of the following vehicle. In addition, the controller 100 may transmit a control signal to the power unit 120 to increase the acceleration of the driving vehicle, and may transmit a control signal to the brake 130 to reduce the acceleration of the driving vehicle.

In particular, the controller 100 may transmit a control signal for changing the rotation angle in communication with the steering 110. Thus, by controlling the driving of the steering 110, the direction of the driving vehicle is changed, (1) the driving lane is changed, (2) the proximity distance to the following vehicle that brings danger is avoided by changing the angle, even if the driving lane is the same, (3) The amount of impact caused by a collision can be reduced.

The steering 110 includes a device that mechanically drives the steering and a steering control module that electrically controls this mechanical mechanism.

5 schematically shows the entire process of a method for avoiding a rear collision through steering drive control according to an exemplary embodiment of the present invention. The contents described above will be summarized and described again with reference to FIG. 5.

The traveling vehicle is running (S100).

When the presence of a trailing vehicle traveling from the rear of the traveling vehicle is detected through a pair of side radars respectively installed at the left and right rear of the traveling vehicle and transmitted to the controller, the controller calculates the relative speed and the left and right positional deflection of the following vehicle ( S110).

In addition, in step S110, it is determined whether the following vehicle is running from the rear of the center, deflected from the rear of the left, or approaches with deflected from the rear of the right. Also, based on the lane of the driving vehicle, the driving situation is monitored to see if an additional lane is on the left or right, and whether there are any obstacles in the additional lane.

The controller may simulate whether there is a risk of a rear collision through speed and position data of a driving vehicle, relative speed and left and right position deflection data of a following vehicle, and a driving condition monitoring. If it is determined that the possibility of a rear collision exceeds the reference value set in advance by software (S120), a control operation set in advance is executed. For example, if there is no vehicle ahead or the distance is far, the speed of the driving vehicle is accelerated to "relative speed + alpha". Alpha is determined by a preset value or rule. It is set to a value that is greater than the relative speed of the following vehicle and does not have a risk of colliding with the preceding vehicle.

When there is an adjacent lane in the step S120, there are no additional obstacles in the adjacent lane, and the left and right deflection of the following vehicle is detected, collision avoidance is preferably performed through steering drive control (S130).

If the following vehicle is deflected to the right, the driving vehicle is moved to the left lane by changing the rotation angle of the steering to the left. In addition, if the following vehicle is deflected to the left, the steering rotation angle is changed to the right to move the driving vehicle to the right lane. The change of the steering rotation angle is determined in consideration of the speed of the traveling vehicle and the risk of a third collision.

Preferably, the step S130 includes: (1) a condition in which a preceding vehicle existing in front of the driving vehicle cannot avoid a rear collision due to acceleration of the speed of the driving vehicle, and (2) steering in response to the speed of the driving vehicle. It is preferable to make it run when the condition that a third risk does not exist in the change position of the driving vehicle achieved through the change of the rotation angle is satisfied.

On the other hand, when a collision accident occurs at a biased position by a following vehicle, that is, at the left or right rear of the vehicle while changing the lane of the driving vehicle through the steering drive control, the controller of the present invention prevents the vehicle from deviating from the lane to be changed. Control the steering again. For example, the steering angle is controlled to rotate in a direction opposite to the rotation direction in step S130. In this way, it is possible to prevent the vehicle from leaving the lane while turning rapidly due to a collision accident.

FIG. 6 briefly expresses once again the problem consciousness of the inventor of the present invention in response to a rear collision occurring in an unexpected situation. It is best to change lanes before a collision occurs in the rear. Then, it is possible to effectively avoid unexpected collisions that occur in an emergency.

The scope of protection of the present invention is not limited to the description and expression of the embodiments explicitly described above. In addition, it is added once again that the scope of protection of the present invention may not be limited due to obvious changes or substitutions in the technical field to which the present invention pertains.

Claims (3)

A method of avoiding a rear collision by the driving vehicle system controller through steering drive control, and detects the presence of a trailing vehicle traveling from the rear of the driving vehicle through a pair of side radars respectively installed at the left and right rear of the driving vehicle. The step of determining whether there is a risk of a rear collision by calculating the relative speed of the vehicle and the left and right position deflection, and changing the rotation angle of the steering in the opposite direction to the deflection position of the following vehicle while monitoring the driving situation when it is determined that there is a rear collision risk. Thus, a rear collision avoidance method through steering drive control, comprising the step of changing the direction of the driving vehicle.
The method of claim 1,
The step of changing the direction of the driving vehicle by changing the rotation angle of the steering in a direction opposite to the deflection position of the following vehicle is changing a driving lane.
The method of claim 1,
In the step of changing the direction of the driving vehicle by changing the rotation angle of the steering in a direction opposite to the deflection position of the following vehicle, the presence of the preceding vehicle in the front of the driving vehicle can avoid a rear collision by accelerating the speed of the driving vehicle. A method of avoiding a rear collision through steering drive control, which is executed when the condition that there is no third risk in the changed position of the driving vehicle, which is achieved by changing the steering rotation angle in response to the speed of the driving vehicle and the driving vehicle, is satisfied. .

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