KR20210064457A - Apparatus for controlling backward driving of vehicle and method thereof - Google Patents

Abstract

The present invention relates to a device and a method for backward driving control of a vehicle, which comprises: a driving trajectory generation unit generating a driving trajectory for backward driving of a vehicle in a target path by using obtained sensing information during forward driving of the vehicle along the target path; and a control unit controlling the backward driving of the vehicle on the target path along the driving trajectory generated by the driving trajectory generation unit, preceding the vehicle on the target path to correct the driving trajectory by using driving information of the other backward driving vehicle when a change on the target path as compared to the forward driving of the vehicle is sensed in a process of controlling the backward driving of the vehicle, and controlling the backward driving of the vehicle along the corrected driving trajectory.

Description

Apparatus and method for controlling reverse driving of a vehicle {APPARATUS FOR CONTROLLING BACKWARD DRIVING OF VEHICLE AND METHOD THEREOF}

The present invention relates to an apparatus and method for controlling reverse travel of a vehicle, and more particularly, to an apparatus and method for controlling a reverse travel of a vehicle when the vehicle travels in reverse on a forward-traveled path.

In general, there are many drivers who complain of difficulties in driving because the moving trajectory of the vehicle is different from the forward driving when the vehicle is traveling in reverse. In other words, there is a blind spot even when the rearview mirror and side mirror are used when the vehicle is driving backwards, so the driver frequently needs to check the rear directly with the naked eye to check for obstacles and then step back by pressing the steering and acceleration or deceleration pedals again. .

In particular, it is often difficult to drive forward, such as when driving in a narrow alley or in a parking lot with a narrow parking space, such as a situation in which an oncoming vehicle is encountered. In this case, it is necessary to drive backwards on the path that has come, but in many cases, novice drivers or inexperienced drivers feel considerable difficulty in reverse driving in such a narrow space and cannot move forward or backward.

Currently, there are a rear monitor, a PAS (Parking Assist System), and a PGS (Parking Guide System) as systems for assisting backward driving when the vehicle is reversing.

In the case of the rear monitor, there is a limit to securing a field of view that can monitor the left and right sides, and in the case of PAS and PGS, continuous warning sounds are generated, which can create anxiety in the driver. In addition, when reversing on a narrow road, the steering wheel is slightly turned left/right and the vehicle is often pulled to the left or right. Systems such as PAS and PGS have limitations in solving this situation.

Furthermore, the rear side warning system is a system that alerts the presence or absence of a vehicle from the rear and side within a certain distance (for example, 7 m) when changing lanes while driving using a radar sensor. It is not suitable for use as a device to assist in reverse driving, and also has a disadvantage in that it is difficult to detect surrounding obstacles without a rear-side sensor such as a radar sensor.

The background technology of the present invention is disclosed in Korean Patent Publication No. 2015-0077823 (published on Jul. 8, 2015, automatic reverse path control system for a vehicle).

A rear driving assistance system (or autonomous reverse driving assistance system) is being developed in order to promote driving stability and improve the driver's convenience when driving the vehicle in reverse. The rear driving assistance system is a technology that enables the vehicle to automatically steer to achieve reverse driving without the driver operating the steering wheel when the vehicle needs to return to reverse. That is, the driving path when the vehicle is moving forward is It refers to a system that assists reverse driving by automatically performing steering by reversing the memory and reversing.

Since the conventional rear driving assistance system operates to calculate a driving trajectory for reverse driving based on a trajectory memorized during forward driving, it has a limitation in not being able to respond to changes in the driving environment occurring on a corresponding path during backward driving. For example, when an obstacle that was not present during forward driving occurs during backward driving, the reverse driving trajectory calculated based on the trajectory memorized during forward driving cannot bypass the obstacle and drive backward.

Furthermore, if there is a subsequent vehicle entering the corresponding path from the rear during backward driving, the situation in which the following vehicle cannot move forward on the corresponding path cannot be recognized, so that the relationship between the own vehicle traveling in reverse and the following vehicle entering the corresponding path is not recognized. Collision accidents or congestion may occur.

The present invention has been devised to solve the above-described problems, and an object according to an aspect of the present invention is to actively respond to changes in the driving environment on the corresponding path during reverse driving so that reverse driving on the corresponding path can be normally performed; At the same time, it is an object to provide an apparatus and method for controlling reverse travel of a vehicle that can prevent a collision or congestion between the own vehicle and the following vehicle by allowing a subsequent vehicle entering a corresponding path to recognize a situation in which it is impossible to move forward.

The apparatus for controlling reverse driving of a vehicle according to an aspect of the present invention generates a driving trajectory for backward driving of the host vehicle on the target path by using sensing information obtained while the host vehicle travels forward along the target path A driving trajectory generating unit and controlling the reverse driving of the host vehicle on the target path according to the driving trajectory generated by the driving trajectory generating unit, wherein the forward driving of the host vehicle in the process of controlling the reverse driving of the host vehicle When a change in the target path is detected from time to time, the driving trajectory is corrected using driving information of other vehicles that have traveled backwards ahead of the target path than the own vehicle, and the own vehicle according to the corrected driving trajectory It characterized in that it comprises a control unit for controlling the backward travel of.

In the present invention, the driving information of the other vehicle includes an actual driving trajectory in which the other vehicle travels backward on the target path, or a longitudinal displacement of the other vehicle in a process in which the other vehicle travels backward on the target path, and It is characterized in that it includes a transverse displacement.

In the present invention, the change in the target path may include an object causing an obstacle to the backward traveling of the host vehicle to enter the traveling trajectory.

In the present invention, the control unit corrects the driving trajectory so that the driving trajectory follows the actual driving trajectory in which the other vehicle travels backward on the target path in order for the host vehicle to bypass the object and travel backward. characterized in that

In the present invention, when controlling the reverse driving of the host vehicle on the target path, the control unit sends a notification for stopping the entry to the target path when a subsequent vehicle entering the target path is detected. It is characterized in that it is transmitted to a subsequent vehicle.

In the present invention, the host vehicle and the other vehicle, and the host vehicle and the subsequent vehicle are characterized in that the communication using V2X (Vehicle to Everything) communication.

In the present invention, the device for controlling reverse driving is applied to an autonomous reverse driving assistance system applied to the host vehicle.

In a method for controlling backward driving of a vehicle according to an aspect of the present invention, the driving trajectory generating unit uses sensing information obtained while the host vehicle travels forward along a target path for backward driving of the host vehicle on the target path. generating a driving trajectory; controlling, by a controller, backward driving of the host vehicle on the target path according to the driving trajectory generated by the driving trajectory generating unit, by the controller, controlling backward driving of the host vehicle detecting, by the control unit, a change in the target path compared to the forward driving of the host vehicle, when the change in the target path is detected, another vehicle that precedes the target path and travels backward than the own vehicle correcting the driving trajectory by using the driving information of , and controlling, by the controller, backward driving of the host vehicle according to the corrected driving trajectory.

According to one aspect of the present invention, when a change in the driving environment, such as an obstacle, is detected on the corresponding path during backward driving, the driving trajectory is corrected through the driving information of other vehicles that have traveled backward in advance of the corresponding path. It is possible to allow the own vehicle to complete reverse driving by bypassing the obstacle, and to prevent a collision or congestion between the own vehicle and the following vehicle by sending a notification to notify a subsequent vehicle entering the corresponding path that it is impossible to move forward.

1 is a block diagram illustrating an apparatus for controlling reverse travel of a vehicle according to an embodiment of the present invention.
2 is an exemplary diagram illustrating a process of correcting a driving trajectory in the apparatus for controlling reverse driving of a vehicle according to an embodiment of the present invention.
3 is an exemplary diagram illustrating a process of transmitting an entry stop notification to a subsequent vehicle in the apparatus for controlling reverse driving of a vehicle according to an embodiment of the present invention.
4 is a flowchart for explaining a method for controlling a reverse driving of a vehicle according to an embodiment of the present invention.

Hereinafter, an apparatus and method for controlling reverse travel of a vehicle 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 the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the 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 the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

1 is a block diagram for explaining an apparatus for controlling reverse driving of a vehicle according to an embodiment of the present invention, and FIG. 2 is a process of correcting a driving trajectory in the apparatus for controlling reverse driving of a vehicle according to an embodiment of the present invention. , and FIG. 3 is an exemplary view showing a process of delivering an entry stop notification to a subsequent vehicle in the apparatus for controlling the reverse driving of a vehicle according to an embodiment of the present invention.

Referring to FIG. 1 , an apparatus for controlling reverse driving of a vehicle according to an embodiment of the present invention includes a wheel speed sensor 100 , a steering angle sensor 200 , a yaw rate sensor 300 , a communication unit 400 , and a driving trajectory generating unit. 500 and the control unit 600 , and the apparatus for controlling reverse driving of a vehicle according to the present embodiment may be applied to the autonomous reverse driving assistance system (rear driving assistance system) described above.

The wheel speed sensor 100 may count the wheel pulses of the wheels (rear wheels in this embodiment), and the rear wheel speed, the left and right rear wheel speed difference, and the vehicle speed of the host vehicle may be recognized from the wheel pulse count value. The wheel pulse count of the rear wheel may mean, for example, an average value of the wheel pulse counts of the left and right rear wheels, and as will be described later, the longitudinal displacement of the vehicle is estimated in the process of generating a driving trajectory for backward driving of the own vehicle. can be used The left and right rear wheel speed difference may mean the difference between the left rear wheel speed and the right rear wheel speed, which will be used to estimate the lateral displacement of the vehicle in the process of generating the driving trajectory for the reverse driving of the host vehicle, as will be described later. can

The steering angle sensor 200 may detect a steering angle of a steering wheel. In the present embodiment, the steering angle may be used to estimate the lateral displacement of the vehicle in the process of generating the driving trajectory for the backward driving of the host vehicle.

The yaw rate sensor 300 may detect a yaw rate (yaw angular velocity) of the vehicle. The yaw rate is a ratio of a value that rotates left and right based on the Z-axis of the vehicle, and in the present embodiment, it may be used to estimate the lateral displacement of the vehicle in the process of generating a driving trajectory for backward driving of the host vehicle.

The communication unit 400 may be implemented as a V2X communication module for the own vehicle to communicate V2X (Vehicle to Everything) with other vehicles and subsequent vehicles, and the control unit 600 to be described later provides driving information of other vehicles through the communication unit 400 . may receive, and may transmit an entry stop notification to a subsequent vehicle.

The driving trajectory generator 500 may generate a driving trajectory for backward driving of the host vehicle on the target path by using sensing information obtained while the host vehicle travels forward along the target path. Here, the sensing information may include the above-described wheel pulse count of the rear wheels, a speed difference between the left and right rear wheels, a steering angle, and a yaw rate. Accordingly, the driving trajectory generator 500 estimates the longitudinal displacement of the own vehicle using the wheel pulse count, and estimates the lateral displacement of the own vehicle using the difference in the speed of the left and right rear wheels, the steering angle, and the yaw rate. It is possible to create a driving trajectory for backward driving. That is, the driving trajectory generating unit 500 estimates the longitudinal displacement of the vehicle by accumulating the wheel pulse count, and estimates the lateral displacement of the vehicle using the difference in the speed of the left and right rear wheels, the steering angle, and the change in the yaw rate. The estimated longitudinal and lateral displacements can be mapped over time to generate a driving trajectory.

The controller 600 may control the backward driving of the host vehicle on the target path according to the driving trajectory generated by the driving trajectory generating unit 500 . As described above, the reverse driving control apparatus of the present embodiment may be applied to an autonomous reverse driving assistance system (rear driving assistance system) applied to a vehicle, and accordingly, when the driver performs an operation for starting the autonomous reverse driving assistance function (eg, : In the stationary state, the reverse driving of the vehicle can be controlled according to the driving trajectory through the transmission P gear → function switch on → Transmission R gear), the driver's deceleration operation, and the automatic system steering by the control unit 600 .

On the other hand, since the driving trajectory generated by the driving trajectory generating unit 500 is a trajectory generated based on sensing information obtained while the own vehicle travels forward on the target path, the control unit 600 moves the own vehicle backward. During driving control, when a change in the driving environment occurs on a target path, a situation in which the reverse driving of the host vehicle cannot be completed may occur through a driving trajectory to which the change is not reflected. For example, when an obstacle that was not present during forward driving is detected during backward driving, it is necessary to correct the driving trajectory generated by the driving trajectory generating unit 500 in order to bypass the obstacle and travel backward.

To this end, in the present embodiment, when a change in the target path compared to the forward driving of the own vehicle is detected in the process of controlling the reverse driving of the own vehicle, the controller 600 performs the reverse driving ahead of the target path rather than the own vehicle. The driving trajectory may be corrected using the driving information of the vehicle, and the reverse driving of the host vehicle may be controlled according to the corrected driving trajectory. The change in the target path may include the entry of an object (eg, an obstacle such as a rockfall) that interferes with the backward travel of the host vehicle on the driving trajectory.

In this case, the controller 600 may correct the driving trajectory so that the driving trajectory follows the actual driving trajectory in which the other vehicle travels backward on the target path in order for the own vehicle to bypass the object and travel backward. 2, when the object OBJ is detected while the reverse driving is controlled according to the driving trajectory ①, the controller 600 determines that the driving trajectory is the actual driving trajectory ② of the other vehicle based on the current location. The driving trajectory ① can be corrected as the driving trajectory ③ to follow. The driving information of the other vehicle required to correct the driving trajectory ① may be received through the communication unit 400, and the driving information of the other vehicle is the actual driving trajectory of the other vehicle traveling backward on the target path, or the other vehicle It may include longitudinal displacement and lateral displacement of the other vehicle in the process of traveling backward on the target path. That is, when the object is detected, the control unit 600 directly corrects the driving trajectory of the own vehicle to the actual driving trajectory of the other vehicle, or sets the longitudinal and lateral displacements of the other vehicle to the driving trajectory of the own vehicle. The driving trajectory of the own vehicle can be corrected so that the driving trajectory follows the actual driving trajectory of the other vehicle through the applied and corrected method.

When the driving trajectory is corrected through the above-described process, the controller 600 may control the reverse driving of the host vehicle again according to the corrected driving trajectory. Accordingly, by controlling the reverse driving of the host vehicle according to the corrected driving trajectory ③ of FIG. 2 , the host vehicle bypasses the object OBJ and the reverse driving may be completed.

On the other hand, when a subsequent vehicle enters the target path from the rear while the reverse driving of the own vehicle is controlled, the following vehicle cannot recognize a situation in which it cannot move forward on the corresponding path, so the own vehicle driving in reverse And a collision accident or a congestion phenomenon may occur between subsequent vehicles entering the vehicle.

To this end, in the present embodiment, when controlling the reverse driving of the own vehicle on the target path as shown in FIG. 3 , the control unit 600 detects a subsequent vehicle entering the target path, and controls the entry into the target path. A notification for stopping may be transmitted to a subsequent vehicle through the communication unit 400 . The detection of the following vehicle utilizes a camera sensor (eg, rear camera sensor) or distance detection sensor (eg, rear ultrasonic sensor, rear radar sensor, rear lidar sensor, etc.) mounted on the own vehicle, or from the following vehicle. It may be performed in various ways, such as a method of receiving the location information through the communication unit 400 . By transmitting the entry stop notification as described above to the subsequent vehicle, it is possible to prevent the reverse path from being congested for the host vehicle, and for the subsequent vehicle, a path other than the target path A as shown in FIG. 3 . (B) can be driven.

In the above description, the driving trajectory generating unit 500 and the control unit 600 are described as separate configurations to help the understanding of the present embodiment. However, in some embodiments, the function of the driving trajectory generating unit 500 is integrated into the control unit 600 . and may be implemented. The driving trajectory generating unit 500 and the control unit 600 may be implemented as a processor or a system on chip (SoC) that processes and calculates various data, and may include instructions or data received from other components. may be designed to load and process the data into the memory and store various data in the memory.

4 is a flowchart for explaining a method for controlling a reverse driving of a vehicle according to an embodiment of the present invention. A method for controlling reverse driving of a vehicle according to the present embodiment will be described with reference to FIG. 4 , and descriptions overlapping with the above will be omitted and a time-series configuration will be mainly described.

First, the driving trajectory generating unit 500 generates a driving trajectory for backward driving of the host vehicle on the target path by using sensing information obtained while the host vehicle travels forward along the target path (S100).

Next, the controller 600 controls the backward driving of the host vehicle on the target path according to the driving trajectory generated in step S100 ( S200 ).

Then, in the process of controlling the backward driving of the own vehicle, the control unit 600 detects a change in the target path compared to the forward driving of the own vehicle ( S300 ). As described above, the change in the target path includes the entry of an object that causes an obstacle to the reverse driving of the host vehicle on the driving trajectory.

When a change in the target path is not detected in step S300 , the controller 600 maintains the reverse driving control of the host vehicle according to the driving trajectory generated in step S100 ( S600 ).

When a change in the target path is detected in step S300, the control unit 600 corrects the driving trajectory by using driving information of the other vehicle that has traveled backwards ahead of the target path rather than the own vehicle (S400). As described above, the driving information of the other vehicle includes the actual driving trajectory in which the other vehicle travels backward on the target path, or the longitudinal displacement and lateral displacement of the other vehicle in the process of the other vehicle traveling backward on the target path. Using this driving information of the other vehicle, in step S400 , the control unit 600 drives the actual driving trajectory of the other vehicle traveling backward on the target path so that the own vehicle bypasses the object detected in step S300 and travels backward. The driving trajectory is corrected so that the trajectory follows.

Then, the control unit 600 controls the reverse driving of the host vehicle according to the driving trajectory corrected in step S400 (S500).

Meanwhile, in the present embodiment, when the control unit 600 controls the reverse driving of the own vehicle on the target path, step S700 of detecting a subsequent vehicle entering the target path, and the control unit 600 the subsequent vehicle entering the target path When this is sensed, the method may further include a step S800 of delivering a notification for stopping the entry to the target route to the subsequent vehicle. Steps S700 and S800 are sequentially performed, and may be performed in a process in which the vehicle's reverse travel is controlled according to the driving trajectory generated in step S100 (that is, it may be implemented to be performed between steps S200 and S300) ), may be performed in the process of controlling the reverse driving of the vehicle according to the driving trajectory corrected in step S400 (that is, it may be implemented to be performed after step S500).

As described above, in the present embodiment, when a change in the driving environment such as an obstacle is detected on the corresponding path during the reverse driving, the host vehicle is the obstacle by correcting the driving trajectory through the driving information of the other vehicle that has traveled backwards ahead of the corresponding path. It is possible to complete the reverse driving by bypassing the , and it is possible to prevent a collision or congestion between the own vehicle and the following vehicle by sending a notification to notify a subsequent vehicle entering the route that it is impossible to move forward.

Implementations 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), implementations of the discussed features may also be implemented in other forms (eg, in an apparatus or a program). The apparatus may be implemented in suitable hardware, software and firmware, and the like. A method may be implemented in an apparatus such as, for example, a processor, which generally refers to a processing device, including a computer, microprocessor, integrated circuit or programmable logic device, or the like. Processors also include communication devices such as computers, cell phones, portable/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 embodiment shown in the drawings, this is merely an example, and it is understood that various modifications and equivalent other embodiments are possible by those of ordinary skill in the art. will understand Therefore, the true technical protection scope of the present invention should be defined by the following claims.

100: wheel speed sensor
200: steering angle sensor
300: yaw rate sensor
400: communication department
500: driving trajectory generating unit
600: control unit

Claims (12)

a driving trajectory generator for generating a driving trajectory for backward driving of the host vehicle on the target path by using sensing information obtained while the host vehicle travels forward along the target path; and
The reverse driving of the host vehicle is controlled on the target path according to the driving trajectory generated by the driving trajectory generating unit, but in the process of controlling the reverse driving of the host vehicle, on the target path compared to the forward driving of the host vehicle. When a change is detected, the driving trajectory is corrected by using driving information of another vehicle that has traveled backwards ahead of the target path than the own vehicle, and the reverse driving of the host vehicle is controlled according to the corrected driving trajectory. control unit;
A reverse travel control device for a vehicle, comprising:
According to claim 1,
The driving information of the other vehicle includes an actual driving trajectory in which the other vehicle travels backward on the target path, or longitudinal displacement and lateral displacement of the other vehicle in a process in which the other vehicle travels backward on the target path. A reverse travel control device for a vehicle, comprising:
According to claim 1,
The apparatus for controlling reverse travel of a vehicle according to claim 1, wherein the change in the target path includes the entry of an object that causes an obstacle to backward travel of the host vehicle on the travel trajectory.
4. The method of claim 3,
The control unit is configured to correct the driving trajectory so that the driving trajectory follows an actual driving trajectory in which the other vehicle travels backward on the target path in order for the host vehicle to bypass the object and travel backward. The vehicle's reverse travel control system.
According to claim 1,
The control unit, when controlling the reverse driving of the host vehicle on the target path, when a subsequent vehicle entering the target path is detected, transmits a notification for stopping the entry to the target path to the subsequent vehicle A reverse running control device for a vehicle, characterized in that
6. The method of claim 5,
The apparatus for controlling reverse travel of a vehicle, wherein the host vehicle and the other vehicle, and the host vehicle and the subsequent vehicle communicate using V2X (Vehicle to Everything) communication.
According to claim 1,
The reverse driving control device for a vehicle, characterized in that it is applied to an autonomous reverse driving assistance system applied to the host vehicle.
generating, by a driving trajectory generating unit, a driving trajectory for backward driving of the host vehicle on the target path by using sensing information obtained while the host vehicle travels forward along the target path;
controlling, by a controller, the backward travel of the host vehicle on the target path according to the driving trajectory generated by the driving trajectory generating unit;
detecting, by the control unit, a change in the target path compared to the forward driving of the host vehicle in a process of controlling the backward driving of the host vehicle;
correcting, by the controller, the driving trajectory by using driving information of another vehicle that has traveled backwards ahead of the target path rather than the own vehicle when a change in the target path is detected; and
controlling, by the controller, the reverse driving of the host vehicle according to the corrected driving trajectory;
A method for controlling reverse running of a vehicle, comprising:
9. The method of claim 8,
The driving information of the other vehicle includes an actual driving trajectory in which the other vehicle travels backward on the target path, or longitudinal displacement and lateral displacement of the other vehicle in a process in which the other vehicle travels backward on the target path. A method for controlling reverse running of a vehicle, comprising:
9. The method of claim 8,
The method of claim 1, wherein the change in the target path includes that an object causing backward travel obstruction of the host vehicle enters on the travel trajectory.
11. The method of claim 10,
In the step of correcting the driving trajectory, the control unit,
In order for the host vehicle to bypass the object and travel backward, the driving trajectory is corrected so that the driving trajectory follows an actual driving trajectory in which the other vehicle travels backward on the target path. control method.
9. The method of claim 8,
detecting, by the controller, a subsequent vehicle entering the target path when the control unit controls the reverse driving of the host vehicle on the target path; and
and, when a subsequent vehicle entering the target path is detected, by the control unit, transmitting a notification for stopping the entry into the target path to the subsequent vehicle; control method.

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