KR20210054339A - Rear collision avoidance system and method - Google Patents

Abstract

Provided is a system for avoiding a rear collision, which determines a rear collision risk when a control command is inputted to perform braking control of a vehicle by itself. The system for avoiding a rear collision performing the braking control of the vehicle by itself by determining the rear collision risk when the braking command is inputted comprises: a first sensor for sensing driving environment information of a front side of the vehicle; a second sensor sensing information of the other vehicle accessing a rear side of the vehicle; and a control unit receiving information of the other vehicle and the driving environment information to determine the collision risk between the vehicle and the other vehicle and releasing or maintaining the braking command.

Description

Rear collision avoidance system and method {REAR COLLISION AVOIDANCE SYSTEM AND METHOD}

The present invention relates to a rear collision avoidance system and method, and more particularly, to a rear collision avoidance system and method for performing braking control of a vehicle by determining a rear collision risk when a braking command is input.

Recently, various advanced driver assistance systems (ADAS) are being developed to improve vehicle safety and convenience. For example, a parking assistance system (PAS) that informs the driver of distance information using a radar, lidar sensor, or ultrasonic sensor to assist in parking or reverse driving, and a radar, lidar sensor, or camera sensor. Using a rear view monitor (RVM), which shows the rear image of the vehicle, is being applied to vehicles.

In addition, from a passive level such as warning through sound, display, etc., by analyzing ultrasonic or image information, if there is an object that can collide on the vehicle's movement path, it is a direction to actively automatically control the vehicle to prevent accidents. Related technologies are developing.

However, most advanced driver assistance systems do not consider information on other vehicles that are expected to collide from the rear, and determine whether to brake based only on traffic signals or obstacle information in front. Accordingly, there is a need to develop a rear collision avoidance system and method for performing vehicle braking control in consideration of information such as the size, relative speed, or distance of the vehicle that follows.

An embodiment of the present invention is to provide a rear collision avoidance system and method for determining a rear collision risk in consideration of the size information of a subsequent vehicle.

An embodiment of the present invention is to provide a rear collision avoidance system and method for determining the degree of a rear collision risk by recognizing the size of a subsequent vehicle and estimating the amount of impact during a collision.

An embodiment of the present invention is to provide a rear collision avoidance system and method for determining a rear collision risk in consideration of weather information during driving.

According to an aspect of the present invention, there is provided a rear collision avoidance system for performing braking control of an own vehicle by determining a rear collision risk when a braking command is input, comprising: a first sensor configured to detect driving environment information in front of the host vehicle; A second sensor that senses information of another vehicle approaching the rear of the own vehicle and the driving environment information and the information of the other vehicle determine the risk of collision between the host vehicle and the other vehicle, and release the braking command, or A rear collision avoidance system comprising a holding control unit is provided.

In this case, the driving environment information may include a traffic signal.

In this case, the information on the other vehicle may include at least one of a speed, a size of the other vehicle, and a distance between the host vehicle and the other vehicle.

At this time, the control unit compares the relative speed of the other vehicle with respect to the host vehicle with a preset limit speed according to the distance between the host vehicle and the other vehicle, and when the relative speed is greater than the limit speed, the host vehicle and the other vehicle It can be determined that there is a risk of collision.

In this case, the limit speed may be a speed estimated to be a collision risk when considering a stopping distance due to the braking of the other vehicle.

In this case, the limit speed may be set differently according to the size of the other vehicle.

In this case, when it is determined that there is a risk of collision, the control unit may release the braking command even when a yellow signal is detected by the first sensor.

In this case, if it is determined that there is a risk of collision, the controller may release or maintain the braking command by comparing the amount of shock according to the collision with a preset limit shock amount after calculating the amount of shock according to the collision.

In this case, a third sensor for detecting weather information may be further included.

At this time, the control unit compares the relative speed of the other vehicle with respect to the host vehicle with a preset limit speed according to the distance between the host vehicle and the other vehicle, and when the relative speed is greater than the limit speed, the host vehicle and the other vehicle It is determined that there is a risk of collision, but the limit speed may be calculated in consideration of the weight according to the weather information.

At this time, if it is determined that there is a risk of collision, the control unit releases or maintains the braking command by comparing with a preset limit shock amount after calculating the amount of shock according to the collision additionally, but the limit shock amount is a weight according to the weather information. Can be calculated taking into account.

At this time, at least one of the limit speed and the limit impact amount may be calculated in consideration of a weight according to the weather information.

According to another aspect of the present invention, there is provided a rear collision avoidance method for performing braking control of an own vehicle by determining a rear collision risk when a braking command is input, comprising the steps of: sensing information about a driving environment in the front; Checking whether another vehicle is present at the rear of the own vehicle; Checking the size of the other vehicle; Comparing the relative speed of the other vehicle with respect to the host vehicle with a preset limit speed according to the distance between the host vehicle and the other vehicle to determine whether the relative speed is greater than or equal to the limit speed, and the relative speed is greater than or equal to the limit speed. A method for avoiding a rear collision is provided, comprising the step of releasing a braking command in case of a case and making a driving decision.

In this case, it may further include the step of checking the type of the meteorological environment.

At this time, the step of checking the size of the other vehicle may include checking whether the size of the other vehicle is large, and when the size of the other vehicle is not large, checking whether the size of the other vehicle is medium-sized. have.

In this case, when the relative speed is greater than or equal to the limit speed, the step of determining whether or not to release the braking command is compared with a preset limit shock amount after calculating an amount of impact due to the collision.

In the rear collision avoidance system and method according to an exemplary embodiment of the present invention, a collision risk is determined according to the size of another vehicle approaching the rear of the vehicle, and the braking command is released or maintained, so that reliable rear collision avoidance is possible.

In the rear collision avoidance system and method according to an embodiment of the present invention, effective rear collision avoidance is possible because a braking command is released or maintained by calculating an amount of impact when a rear collision is expected.

In the rear collision avoidance system and method according to an embodiment of the present invention, since it is possible to determine a collision risk in consideration of weather environment information, reliable rear collision avoidance is possible.

1 is a block diagram of a rear collision avoidance system according to an embodiment of the present invention.
2 is a view showing a vehicle equipped with a rear collision avoidance system according to an embodiment of the present invention.
3 is a view showing a difference in braking distance according to the size of another vehicle approaching the rear of the own vehicle.
4 is a diagram illustrating that a rear collision avoidance system according to an embodiment of the present invention determines a risk of collision caused by another vehicle and performs braking control of an own vehicle.
FIG. 5 is a diagram illustrating that a rear collision avoidance system according to an embodiment of the present invention applies a different speed limit for each distance according to the size of another vehicle approaching the rear of an own vehicle.
6 is a flowchart of a method for avoiding a rear collision according to an embodiment of the present invention.
7 is a flowchart of a method for avoiding a rear collision according to another embodiment of the present invention.
8 is a flowchart of a method for avoiding a rear collision according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art may easily implement the present invention. The present invention may be implemented in various different forms and is not limited to the embodiments described herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and the same reference numerals are assigned to the same or similar components throughout the specification.

In the present specification, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or a combination thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements, numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance the possibility of the presence or addition.

1 is a block diagram of a rear collision avoidance system according to an embodiment of the present invention. 2 is a view showing a vehicle equipped with a rear collision avoidance system according to an embodiment of the present invention.

The rear collision avoidance system according to an embodiment of the present invention determines a collision risk of another vehicle 2 approaching the rear of the host vehicle 1 when a brake command is input, and releases or maintains the braking command to avoid a rear collision. It is a capable system.

1 and 2, a rear collision avoidance system according to an embodiment of the present invention includes a first sensor 10, a second sensor 20, a third sensor 30, and a control unit 40. .

The first sensor 10 of the rear collision avoidance system 100 according to an exemplary embodiment of the present invention may be installed in the vehicle 1 to detect driving environment information in the front. At this time, the driving environment information includes a variety of information required for safe driving of the vehicle 1, such as the type of the front obstacle, the distance to the obstacle, lane information, whether an intersection exists, or traffic signal information.

The first sensor 10 may include at least one sensor, such as a laser sensor, an infrared sensor, a radar, a LiDAR sensor, and an ultrasonic sensor, that measures a distance to an object at predetermined time intervals.

In an embodiment of the present invention, the first sensor 10 may include at least one image sensor. At this time, the image sensor is installed in front of the vehicle to generate image data related to surrounding environment information. For example, it may be composed of a camera installed in front of the vehicle 1, and at this time, it may have a field of view (FOV) capable of photographing a certain area around the vehicle 1. In addition, the image sensor may generate image data using distance information received from the sensor measuring the above-described distance.

The first sensor 10 may detect a traffic signal indicated by the traffic light 50 in the intersection in front. That is, an image related to a traffic signal composed of red, yellow, and green may be detected and transmitted to the controller 40 to be described later. Accordingly, when the control unit 40 recognizes a red or yellow signal, it may issue a braking command based on this.

In an embodiment of the present invention, the type of the first sensor 10 is not limited to the above-described sensors, and various types of sensors may be installed in the vehicle 1 as long as it is a sensor for acquiring driving environment information. In addition, although there is no limitation on the installation position of the first sensor 10 in the vehicle, it is preferable to be installed in the front and front sides.

The second sensor 20 of the rear collision avoidance system 100 according to an embodiment of the present invention may detect information on the other vehicle 2 approaching the rear of the host vehicle 1. In this case, the information on the other vehicle may include a driving speed of the other vehicle 2 approaching from the rear or rear side of the host vehicle, the size of the other vehicle, and a distance between the host vehicle and the other vehicle.

Like the first sensor 10 described above, the second sensor 20 measures the distance to the object at regular time intervals, such as a laser sensor, an infrared sensor, a radar, a LiDAR sensor, and an ultrasonic sensor. It may also include a sensor and an image sensor capable of generating image data. In this case, the second sensor 20 may be installed in the rear or rear side of the vehicle 1, and may be variously installed without limitation of the type or number.

The third sensor 30 of the rear collision avoidance system 100 according to an embodiment of the present invention may detect weather information. In this case, the weather information may include information that may affect the driving of the vehicle 1 as various physical phenomena occurring in the atmosphere such as snowfall, rainfall, temperature, wind, or humidity.

In detail, the third sensor 30 may include a rain sensor that determines whether there is rainfall or snowfall around the vehicle 1. In this case, the third sensor 30 may be installed on a vehicle wiper or a bonnet. However, the installation position of the third sensor 30 is not limited thereto.

In addition, the third sensor 30 may include a humidity sensor capable of measuring the humidity outside the vehicle 1. However, the example of the third sensor 30 is not limited thereto, and various types of sensors may be installed in the vehicle 1 to measure meteorological phenomena that may affect driving.

Referring to Figure 2, the first sensor 10, the second sensor 20 and the number of the third sensor 30 shown in the figure is only an example, the rear according to an embodiment of the present invention. It should be noted that the location and number of sensors of the collision avoidance system 100 are not limited thereto and may be variously adopted.

The control unit 40 of the rear collision avoidance system 100 according to an embodiment of the present invention includes driving environment information obtained by the first sensor 10, other vehicle information obtained by the second sensor 20, and 3 A risk of collision between the host vehicle 1 and the other vehicle 20 is determined by receiving at least one of the weather information acquired by the sensor 30. In addition, braking control of the host vehicle 1 may be performed based on the determination of the risk of collision.

At this time, the control unit 40 is installed in the vehicle and implemented as one electronic control unit connected to at least one of the first sensor 10, the second sensor 20, or the third sensor 30 described above. Can be. Alternatively, the control unit 40 may be implemented as a plurality of distributed electronic control units.

In one embodiment of the present invention, the collision risk determination by the control unit 40 is performed by estimating the stopping distance according to the braking of the other vehicle 2 and comparing it with the distance between the own vehicle 1 and the other vehicle 2 Can be. In detail, when the stopping distance according to the braking of the other vehicle 2 is greater than or equal to the distance between the host vehicle 1 and the other vehicle 2, the control unit 40 according to an embodiment of the present invention indicates that there is a risk of collision. I can judge.

However, when the host vehicle 1 is moving, the distance between the host vehicle 1 and the other vehicle 2 and the distance the host vehicle 1 moves until the other vehicle 2 stops must also be considered. That is, the concept of the relative speed between the host vehicle 1 and the other vehicle 2 should be considered, and details will be described later.

At this time, the stopping distance (d) according to the braking of the other vehicle (2) refers to the distance traveled at the driving speed (v) for a period of time (t) until the driver of the other vehicle (2) feels a risk of collision and applies the brake. It means a distance obtained by adding up the Gongju distance (d1) and the braking distance (d2), which means the distance traveled from the moment the brake is applied until the other vehicle (2) stops.

In an embodiment of the present invention, the stopping distance can be estimated through an empirical equation obtained by an experiment in advance. That is, it was derived inductively by performing an experiment in advance, and the driving speed (v) of the other vehicle (2) was calculated in the empirical equation obtained by analyzing the correlation between the driving speed (v) of the other vehicle (2) and the stopping distance. By substituting, the stopping distance can be estimated.

3 is a view showing a difference in braking distance according to the size of another vehicle approaching the rear of the own vehicle. 4 is a diagram illustrating that a rear collision avoidance system according to an embodiment of the present invention determines a risk of collision caused by another vehicle and performs braking control of an own vehicle. FIG. 5 is a diagram illustrating that a rear collision avoidance system according to an embodiment of the present invention applies a different speed limit for each distance according to the size of another vehicle approaching the rear of an own vehicle.

Referring to FIG. 3, the stopping distance of the other vehicle may vary according to the size of the other vehicle 2. In general, the larger the vehicle size, the longer the stopping distance. Therefore, when the stopping distance is uniformly estimated regardless of the size of the vehicle, there may be a discrepancy with the actual stopping distance. In order to reduce this discrepancy and more accurately estimate the stopping distance, the control unit 40 of the rear collision avoidance system 100 according to an embodiment of the present invention determines a collision risk in consideration of the size of the other vehicle 2.

In an embodiment of the present invention, the control unit 40 may release or maintain the braking command according to the result of determining the risk of collision as described above.

In more detail, a driver of the host vehicle 1 or an Advanced Driver Assistance Systems (ADAS) may input a braking command based on an arbitrary driving situation. For example, a driver or driver assistance system may detect a yellow signal ahead and input a braking command.

In this case, referring to FIG. 4, the control unit 40 may maintain or release the braking command according to the above-described collision risk determination. If it is predicted that there will be no collision as a result of the collision risk determination, the braking command is maintained, and if the host vehicle 1 and the other vehicle 20 are expected to collide, the braking command may be canceled despite the previously input braking command. I can.

In an embodiment of the present invention, when the braking command is released, the control unit 40 may maintain the driving speed at the moment of release or may input an acceleration command.

The control unit 40 of the rear collision avoidance system 100 according to an embodiment of the present invention determines the relative speed of the other vehicle 2 with respect to the host vehicle 1 and the distance between the host vehicle 1 and the other vehicle 2 According to this, the risk of collision can be determined by comparing with each other with a preset limit speed.

At this time, the limit speed is the speed of the other vehicle 2, which is estimated to have a collision risk when the distance between the host vehicle 1 and the other vehicle 2 and the relative speed between the two vehicles 1 and 2 are considered. At this time, the comparison of the relative speed with the limit speed is to consider the moving distance of the host vehicle 1 in addition to the above-described stopping distance. That is, if the own vehicle 1 is stopped, it is safe to consider only the speed of the other vehicle 20, but if the own vehicle 1 is moving, the own vehicle 1 moves while the other vehicle 20 is stopped. Since the distance to be carried out must also be considered, the concept of relative speed must be applied.

In an embodiment of the present invention, the limit speed can be derived inductively through an experiment performed in advance, similar to the above-described stopping distance. In other words, through experiments, these variables (size, speed, or distance to the own vehicle 1) are changed by varying the size, speed, or distance of the other vehicle (2), which may affect the risk of collision of the other vehicle (20). The correlation between (1) distance, etc.) and the risk of collision can be identified in advance. Based on this correlation, the risk of collision under individual driving conditions can be effectively determined.

The control unit 40 may compare the obtained limit speed with the relative speed of the other vehicle 2 with respect to the host vehicle 1 and determine that there is a risk of collision if the relative speed is greater than or equal to the limit speed.

In this case, when it is determined that there is a risk of collision, the control unit 40 may release the previously input braking command. In addition, if it is determined that there is no risk of collision, the braking command input in advance can be maintained.

Referring to FIG. 5, the controller 40 may differently set the limit speed according to the size of the vehicle. This is because, as described above, the stopping distance may vary depending on the size of the vehicle. At this time, since the stopping distance becomes longer as the size of the vehicle 2 increases, the limit speed may be conversely small. That is, if the size of the vehicle 2 is large, the stopping distance increases even at a small speed, and thus the limit speed, which is a criterion of a collision, decreases. In this case, the size of the vehicle may be sensed by the second sensor 20 and transmitted to the control unit 40.

As an example, the control unit 40 may divide the vehicle size into 3 grades and set the limit speeds (Cnl, CnM, CnS) for each size of the other vehicle 2. When the distance between the host vehicle 1 and the other vehicle 20 is Xn m, the largest other vehicle may have a limit speed of CnL, the medium-sized vehicle may have a limit speed of CnM, and the smallest other vehicle may have a limit speed of CnS. In this case, the relationship between the magnitude of each limit speed may be CnL <CnM <CnS.

However, in an embodiment of the present invention, the speed limit is not limited to being divided into three grades, and may be subdivided into various grades. In addition, the limit speed may be continuously determined for the size of the other vehicle 2 without subdividing by class.

Referring back to FIG. 5, the control unit 40 may set the limit speed differently according to the distance between the host vehicle 1 and the other vehicle 20 (hereinafter, referred to as “relative distance”) for a vehicle of a specific size.

For example, if the relative distance of a vehicle of size L is X1 m, the limit speed may be C1L, and if it is X2 m, it may be C2L, ??, and CnS if it is Xn m. In this case, the relationship between the magnitude of each limit speed may be C1L <C2L <C3L. The limit speed according to each relative distance (Xn m) may have a discontinuous value by being divided into sub-classes, and, unlike this, may have a continuous value.

The control unit 40 of the rear collision avoidance system 100 according to an embodiment of the present invention may additionally calculate the amount of impact due to the collision when it is determined that there is a collision risk. It is possible to release or maintain the braking command by comparing this with a preset limit impact amount.

At this time, the amount of impact is a physical quantity calculated by arithmetically calculating the amount of impact transmitted to the host vehicle 1 due to the rear impact of the other vehicle 2. Therefore, the greater the amount of impact, the greater the degree of impact applied to the host vehicle 1 may be. The amount of impact may have an individual value depending on the weight of the other vehicle 20 and the speed at the time of braking.

At this time, the limit impact amount is a value that becomes a reference value when determining the brake command release according to the impact amount, and may be differently determined according to the collision specification, size, speed, etc. of the host vehicle 1. It can also be set differently according to the driver's needs or preferences. That is, when the calculated impact amount is greater than the limit impact amount, the control unit 40 releases the previously input braking command, and when the calculated impulse amount is less than the limit impact amount, the control unit 40 maintains the braking command to allow the collision.

Considering the amount of impact as described above is because if the impact at the time of the collision is minor, it may be safer to collide through braking than to continue driving by releasing the braking command. That is, it is because more realistic and precise braking control may be possible when the amount of impact is considered.

The control unit 40 of the rear collision avoidance system 100 according to an embodiment of the present invention may be set in consideration of the weight according to the weather information received from the third sensor 30 when setting the above-described limit speed and limit impact amount. have.

For example, when rainfall during driving is confirmed by the third sensor 30, a weight less than 1 may be applied to the existing limit speed and limit impact amount. That is, since a longer braking distance is expected due to a decrease in road surface friction during rainfall, the control unit 40 can set the limit speed and the limit shock amount more conservatively accordingly.

The rainfall situation is only an example of weather information, and a reduction in frictional force due to fog (humidity), snowfall or ice-snow may be considered.

Hereinafter, a method of performing braking control of the host vehicle by determining the risk of a rear collision when the rear collision avoidance system 100 is inputting a braking command using the control unit 40 will be described with different drawings.

6 is a flowchart of a method for avoiding a rear collision according to an embodiment of the present invention. 7 is a flowchart of a method for avoiding a rear collision according to another embodiment of the present invention.

Referring to FIG. 6, a method for avoiding a rear collision according to an embodiment of the present invention includes the steps of detecting information on a driving environment in front (S10); Checking whether another vehicle is present in the rear of the host vehicle (S20); Checking the type of the meteorological environment (S30); Checking the size of the other vehicle (S40); It may include determining the risk of a rear collision (S50), releasing the braking command when there is a risk of collision and determining the driving (S71), and maintaining the braking command when there is no risk of collision (S72).

In this case, in the step S10 of detecting the driving environment information in the front, it is sensed through the first sensor 10 whether there is driving environment information that affects the driving of the host vehicle 1. For example, traffic signal information of an intersection traffic light 50 or speed information of a vehicle driving in front of the host vehicle 1 may be detected. The information sensed in this way is transmitted to the control unit 40 so that a braking command may be input.

In the step (S20) of checking whether another vehicle is present behind the host vehicle 1, if the braking command is maintained through the second sensor 20, it is sensed whether the vehicle 2, which is expected to crash, is present in the rear. In addition, information such as the speed and relative distance of the other vehicle 20 may be collected, as well as whether or not the other vehicle 2 exists. At this time, if the other vehicle 2 does not exist, the braking command is maintained without taking into account the risk of a rear collision (S72).

In the step S30 of checking the type of the weather environment, the type of the weather environment that may affect the stopping distance of the other vehicle 2 is detected through the third sensor 30. This is to consider the weight according to the weather environment when setting the limit speed or the limit impact amount of the control unit 40 as described above.

In the step S40 of checking the size of the other vehicle 2, the size of the other vehicle 2 is detected by the second sensor 20. At this time, a distance sensor or an image sensor may be used. The vehicle size information is used when the control unit 40 sets a limit speed for each distance.

In the step of determining the risk of collision (S50), the relative speed of the other vehicle (2) with respect to the host vehicle (1) is compared with a preset limit speed according to the distance between the host vehicle (1) and the other vehicle (2), It can be determined whether is above the limit speed. In this case, it goes without saying that the limit speed may be differently determined according to the size of the vehicle, the relative distance, or the type of weather environment.

In another embodiment of the present invention, the step of checking the size of the other vehicle 2 (S40) and the step of determining the risk of collision (S50) may be further subdivided according to the class of the vehicle. For example, by determining whether the size of the other vehicle is large (S41), and if it is not large, it is determined whether the size of the other vehicle is medium (S42). Can be compared (S51, S52, S53)

According to the determination of the risk of rear collision, if the relative speed is greater than or equal to the limit speed, the control unit 40 determines that there is a risk of collision, releases the braking command to avoid a rear collision, and determines driving (S71). If it is smaller than, the existing braking command is maintained (S72).

8 is a flowchart of a method for avoiding a rear collision according to another embodiment of the present invention.

Referring to FIG. 8, in the rear collision avoidance method according to an embodiment of the present invention, when it is determined that there is a collision risk, determining whether the estimated collision amount I2 is greater than or equal to the limit collision amount In (S60). It may further include.

Even when a collision is expected, the braking command is released only when the amount of impact is greater than or equal to the limit impact amount (S71), and when the amount of impact expected by the collision is minor, the braking command can be maintained. (S72) Through this, more specific braking control is possible Of course it is possible.

As described above, the rear collision avoidance system 100 according to an embodiment of the present invention considers a collision risk that may occur by other vehicles in the rear despite the brake command, and releases the braking command when a collision risk is expected. It has the advantage of avoiding the risk of collision.

In particular, even after the driver or driver assistance system of the host vehicle 1 detects the yellow signal in the front and inputs the braking command, it determines whether to maintain the braking command determination by additionally determining the risk of a rear collision or the amount of impact, so that more effective braking control is possible. Do.

In addition, in the process of calculating the collision risk, there is an advantage in that the collision risk can be more accurately determined by reflecting the size, relative speed, or relative distance of the other vehicle 2.

Although an embodiment of the present invention has been described above, the spirit of the present invention is not limited to the embodiment presented in the present specification, and those skilled in the art who understand the spirit of the present invention can add components within the scope of the same idea. It will be possible to easily propose other embodiments by changing, deleting, adding, etc., but it will be said that this is also within the scope of the present invention.

1 own vehicle 2 other vehicle
2L Other vehicles of the highest grade size 2M Other vehicles of the middle grade size
2S Other vehicles of the lowest class size 10 1st sensor
20 Second sensor 30 Third sensor
40 control section 50 traffic lights
100 Rear Collision Avoidance System Cn Limit Speed
V1 Own vehicle speed V2 Other vehicle speed

Claims (15)

As a rear collision avoidance system that performs braking control of the host vehicle by determining the risk of rear collision when a braking command is input,
A first sensor for sensing driving environment information in front of the host vehicle;
A second sensor for sensing information of another vehicle approaching the rear of the own vehicle, and
And a control unit configured to receive the driving environment information and the information of the other vehicle to determine the risk of collision between the host vehicle and the other vehicle, and to release or maintain the braking command. The method of claim 1,
The driving environment information includes a traffic signal, a rear collision avoidance system. The method of claim 1,
The information of the other vehicle includes at least one of a speed, a size of the other vehicle, and a distance between the host vehicle and the other vehicle. The method of claim 1,
The control unit compares the relative speed of the other vehicle to the host vehicle with a preset limit speed according to the distance between the host vehicle and the other vehicle, and when the relative speed is greater than the limit speed, the host vehicle and the other vehicle collide. A rear collision avoidance system that determines there is a risk. The method of claim 4,
The limit speed is a speed estimated to be a collision risk when considering a stopping distance due to braking of the other vehicle. The method of claim 4,
The limit speed is set differently according to the size of the other vehicle, a rear collision avoidance system. The method of claim 4,
The control unit, when it is determined that there is a risk of collision, cancels a braking command even if a yellow signal is detected by the first sensor. The method of claim 1,
The control unit, when it is determined that there is a risk of collision, additionally calculates the amount of impact according to the collision and then compares the amount with a preset limit shock amount to release or maintain the braking command. The method of claim 1,
Further comprising a third sensor for detecting weather information, rear collision avoidance system. The method of claim 9,
The control unit compares the relative speed of the other vehicle to the host vehicle with a preset limit speed according to the distance between the host vehicle and the other vehicle, and when the relative speed is greater than the limit speed, the host vehicle and the other vehicle collide. It is determined that there is a risk, but the limit speed is calculated in consideration of a weight according to the weather information. The method of claim 9,
If it is determined that there is a risk of collision, the control unit releases or maintains the braking command by comparing with a preset limit shock amount after calculating the amount of shock according to the collision additionally, but the limit shock amount is determined by considering the weight according to the weather information. Calculated, rear collision avoidance system. As a rear collision avoidance method for performing braking control of the host vehicle by determining the risk of rear collision when a braking command is input,
Detecting information about the driving environment in front;
Checking whether another vehicle is present at the rear of the own vehicle;
Checking the size of the other vehicle;
Comparing the relative speed of the other vehicle with respect to the host vehicle with a preset limit speed according to the distance between the host vehicle and the other vehicle, and determining whether the relative speed is greater than or equal to the limit speed; and
And releasing a braking command and making a driving decision when the relative speed is greater than or equal to the limit speed. The method of claim 14,
The method of avoiding a rear collision, further comprising the step of confirming the type of weather environment. The method of claim 14,
Checking the size of the other vehicle,
Checking whether the size of the other vehicle is large, and
And checking whether the size of the other vehicle is medium when the size of the other vehicle is not large. The method of claim 14,
When the relative speed is greater than or equal to the limit speed, the method further comprises the step of determining whether to release the braking command by comparing the amount of impact according to the collision with a preset limit amount of impact after calculating the amount of impact according to the collision.

Images