KR20210082303A - Warning apparatus and method of assisting forward collision prevention of slopes - Google Patents

Warning apparatus and method of assisting forward collision prevention of slopes Download PDF

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KR20210082303A
KR20210082303A KR1020190173944A KR20190173944A KR20210082303A KR 20210082303 A KR20210082303 A KR 20210082303A KR 1020190173944 A KR1020190173944 A KR 1020190173944A KR 20190173944 A KR20190173944 A KR 20190173944A KR 20210082303 A KR20210082303 A KR 20210082303A
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slope
preceding vehicle
warning
autonomous driving
driving controller
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KR1020190173944A
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Korean (ko)
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이도훈
장형수
김민철
이도현
김종민
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쌍용자동차 주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/60—Structural details of dashboards or instruments
    • B60K2360/65—Features of dashboards
    • B60K2360/652—Crash protection features
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R2021/0002—Type of accident
    • B60R2021/0004—Frontal collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B60W2420/52—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/25—Road altitude
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to an assistive function warning device for preventing a forward collision on a slope, capable of preventing the performance of a forward collision prevention assistance device from being deteriorated due to a disability to recognize a vehicle in the same lane of an uphill or downhill, and preventing a dangerous situation from occurring due to a rapid speed reduction when suddenly recognizing a vehicle ahead in a state in which warning and braking operations are performed, and a method thereof. In a state in which power is supplied, a high-precision navigation system receives altitude information in real time to transmit the same to an autonomous driving controller, a front radar module senses a vehicle ahead and detects sensing distance information to the vehicle ahead in real time to transmit the same the autonomous driving controller, and the autonomous driving controller determines whether there is a slope based on the altitude information acquired from the high-precision navigation system, and, when there is a slope as a result of the determination, the autonomous driving controller outputs a warning control signal to a dashboard if the slope is an area where the detection of the vehicle ahead within the object sensing distance of the front radar module is not possible, thereby issuing a warning about a deterioration in the forward collision prevention assistance function on the slope, which can lead to safe driving.

Description

경사길 전방충돌방지 보조기능 경고장치 및 방법{Warning apparatus and method of assisting forward collision prevention of slopes}Warning apparatus and method of assisting forward collision prevention of slopes

본 발명은 경사길 전방충돌방지 보조기능 경고장치 및 방법에 관한 것으로, 특히 오르막 또는 내리막과 같은 경사도로가 있는 도로의 차량을 인식하지 못해 전방충돌방지 보조장치의 성능이 저하되고, 불필요한 경고 및 제동을 하거나 경고 및 제동을 하지 않은 상태에서 선행차량을 갑자기 인식하여 속도를 빠르게 감속함으로써 발생하는 위험상황을 방지할 수 있도록 한 경사길 전방충돌방지 보조기능 경고장치 및 방법에 관한 것이다.The present invention relates to a warning device and method for an auxiliary function for preventing collision on a slope, in particular, the performance of the auxiliary device for preventing collision is reduced because it does not recognize a vehicle on a road with a slope such as an uphill or a downhill, and unnecessary warning and braking are provided. The present invention relates to a warning device and method for an assistive function for preventing collision on a slope, which can prevent a dangerous situation caused by rapidly decelerating the vehicle by suddenly recognizing the preceding vehicle without warning or braking.

차량에 장착된 전방충돌방지보조(FCA: Forward Collision Avoidance-Assist) 시스템은 전방감지센서와 카메라를 이용하여 선행 차량 및 보행자와의 추돌 위험을 감지하여 경고음을 발생하고, 필요에 따라 차량 스스로 브레이크를 작동하여 추돌을 방지하는 시스템이다. 업체에 따라 긴급제동시스템(AEB)이라고 불리기도 한다.The Forward Collision Avoidance-Assist (FCA) system installed on the vehicle detects the risk of a collision with a preceding vehicle and a pedestrian using a forward detection sensor and camera, generates a warning sound, and applies the brakes by itself if necessary. It is a system that works to prevent collisions. It is also called an emergency braking system (AEB) depending on the manufacturer.

그러나 이러한 일반적인 전방충돌방지 보조시스템은 도 1에 도시한 바와 같이, 오르막과 같은 경사도가 있는 도로에 차량이 주행 중일 경우 차로에 있는 근접한 전방 차량을 인식하지 못해 전방 출동방지 보조 시스템이 동작하지 않는 단점이 있다. 상기와 같이 경사길에서 근접한 전방 차량을 인식하지 못하면 결과적으로 전방충돌에 대한 기능을 수행할 수 없어 전방충돌방지 보조 시스템의 성능 저하를 유발한다. 또한, 상기와 같이 경사길에서 근접한 선행차량을 인식하지 못한 상태에서 내리막길로 전환되어 갑자기 선행차량이 인식되면 전방충돌방지 보조 시스템은 신속하게 감속을 하므로, 이 경우 탑승자가 놀라거나 기타 차량의 내부에서 충돌 등 위험 상황을 초래하기도 한다.However, as shown in FIG. 1, such a general forward collision avoidance assist system does not recognize a nearby front vehicle in the lane when the vehicle is driving on a road with a slope such as an uphill, so the forward anti-collision assist system does not operate. There is this. As described above, if an adjacent vehicle in front is not recognized on a slope, the function for a forward collision cannot be performed as a result, and thus the performance of the forward collision avoidance assist system is deteriorated. In addition, as described above, if the vehicle is switched to a downhill road without recognizing a preceding vehicle close to it as described above and a preceding vehicle is suddenly recognized, the forward collision avoidance assist system decelerates quickly, so in this case, the occupant is surprised or It can also cause dangerous situations such as collisions.

한편, 전방충돌방지 보조 시스템이 적용된 종래 기술이 하기의 <특허문헌 >들에 개시되어 있다.On the other hand, the prior art to which the forward collision avoidance assist system is applied is disclosed in the following <Patent Documents>.

<특허문헌 1> 은 차량 전방의 장애물을 검지해 충돌사고 발생을 미리 방지하기 위한 장애물 검출장치로서, 도로 경사를 고려하여 위험성 판단 기준을 정립함으로써, 도로 경사에 따라서도 정확한 충돌 위험성을 판정할 수 있다.<Patent Document 1> is an obstacle detection device for preventing collision accidents in advance by detecting obstacles in front of a vehicle. have.

<특허문헌 2> 는 곡선 도로에서 선행 차량과의 상대 속도 및 상대 거리를 산출하는 동시에 자차의 진행 방향을 검출하여 상대 속도 및 상대 거리가 보정되도록 하여 더욱 정확한 상대 속도 및 상대 거리를 산출하여 고성능의 경보 시스템을 구현한다.<Patent Document 2> calculates the relative speed and relative distance with a preceding vehicle on a curved road while simultaneously detecting the traveling direction of the own vehicle so that the relative speed and the relative distance are corrected to calculate more accurate relative speed and relative distance, resulting in high performance Implement an alarm system.

그러나 이러한 특허문헌들은 전방 차량의 인식이 가능한 범위에서는 전방 차량과의 충돌을 어느 정도는 방지할 수 있으나, 경사로에서 같은 차로의 근접한 전방 차량을 인식하지 못하여, 전방충돌에 대한 기능을 수행할 수 없는 단점이 있다.However, these patent documents can prevent a collision with a vehicle in front to some extent within the range in which the vehicle in front can be recognized, but cannot recognize a vehicle in front of the same lane on a slope, and thus cannot perform a function for a front collision. There are disadvantages.

일본 공개특허 특개평6-174848(1994.06.24. 공개)(장해물 검출장치)Japanese Patent Application Laid-Open No. 6-174848 (published on June 24, 1994) (obstacle detection device) 대한민국 등록특허 10-0801410(2008.01.29. 등록)(차량의 충돌 경보 시스템)Republic of Korea Patent 10-0801410 (Registered on January 29, 2008) (Vehicle Collision Warning System)

따라서 본 발명은 상기와 같은 일반적인 전방충돌경고시스템 및 종래기술에서 발생하는 제반 문제점을 해결하기 위해서 제안된 것으로서, 오르막 또는 내리막과 같은 경사도가 있는 도로상의 같은 차선에 위치한 차량을 인식하지 못해 전방충돌방지 보조장치의 성능이 저하되고, 불필요한 경고 및 제동을 하거나 경고 및 제동을 하지 않은 상태에서 선행차량을 갑자기 인식하여 속도를 빠르게 감속함으로써 발생하는 위험상황을 방지할 수 있도록 한 경사길 전방충돌방지 보조기능 경고장치 및 방법을 제공하는 데 그 목적이 있다.Therefore, the present invention has been proposed to solve the problems occurring in the general forward collision warning system and the prior art as described above, and prevents forward collision by not recognizing a vehicle located in the same lane on a road with an inclination such as an uphill or a downhill. A warning for the forward collision avoidance assist function on a slope to prevent a dangerous situation caused by a decrease in the performance of an auxiliary device and an unnecessary warning and braking, or by rapidly decelerating the vehicle by suddenly recognizing the preceding vehicle without warning or braking It is an object to provide an apparatus and method.

상기한 바와 같은 목적을 달성하기 위하여, 본 발명에 따른 "경사길 전방충돌방지 보조기능 경고장치"는, 고도 정보를 수집하는 고정밀 내비게이션 시스템; 선행차량의 존재 유무와 선행차량과의 감지 거리를 검출하는 프런트 레이더 모듈; 상기 고정밀 내비게이션 시스템으로부터 획득한 고도 정보를 기초로 경사길을 판단하고, 경사길에서 프런트 레이더 모듈의 물체 감지거리 이내에서 선행차량의 검출이 불가능한 영역이면 경고 제어신호를 발생하는 자율주행 제어기; 상기 자율주행 제어기에서 발생하는 경고 제어신호에 따라 선행차량 감지불능에 대해 경고해주는 계기판을 포함하는 것을 특징으로 한다.In order to achieve the object as described above, "a forward collision avoidance auxiliary function warning device" according to the present invention includes: a high-precision navigation system that collects altitude information; a front radar module for detecting the presence or absence of a preceding vehicle and a sensing distance to the preceding vehicle; an autonomous driving controller that determines a slope based on the altitude information obtained from the high-precision navigation system and generates a warning control signal when a preceding vehicle cannot be detected within an object detection distance of the front radar module on the slope; and an instrument panel for warning about the inability to detect a preceding vehicle according to a warning control signal generated from the autonomous driving controller.

상기에서 계기판은 경고 제어신호에 따라 시각 및 청각으로 선행차량 감지불능에 대해서 경고해주는 것을 특징으로 한다.In the above, the instrument panel is characterized in that it warns about the impossibility of detecting the preceding vehicle visually and aurally according to the warning control signal.

또한, 본 발명에 따른 "경사길 전방충돌방지 보조기능 경고방법"은, (a) 전원이 공급된 상태에서 고정밀 내비게이션 시스템은 실시간으로 고도 정보를 수신하여 자율주행제어기에 전송하는 단계; (b) 전원이 공급된 상태에서 프런트 레이더 모듈은 실시간으로 선행차량 감지와 선행차량과의 감지거리 정보를 검출하여 상기 자율주행제어기에 전송하는 단계; (c) 상기 자율주행제어기에서 상기 고정밀 내비게이션 시스템으로부터 획득한 고도 정보를 기초로 경사길 유무를 판단하고, 판단 결과 경사길이면 프런트 레이더 모듈의 물체 감지거리 이내에서 선행차량의 검출이 불가능한 영역이면 경고 제어신호를 계기판으로 출력하는 단계를 포함하는 것을 특징으로 한다.In addition, the "sloping road forward collision avoidance assistance function warning method" according to the present invention comprises the steps of: (a) receiving altitude information in real time by a high-precision navigation system in a state in which power is supplied and transmitting it to an autonomous driving controller; (b) in a state in which power is supplied, the front radar module detecting the preceding vehicle detection and sensing distance information with the preceding vehicle in real time and transmitting the information to the autonomous driving controller; (c) the autonomous driving controller determines whether there is a slope based on the altitude information obtained from the high-precision navigation system, and if it is a slope as a result of the determination, a warning control signal is issued if the detection of a preceding vehicle is not possible within the object detection distance of the front radar module It characterized in that it comprises the step of outputting to the instrument panel.

상기 (c)단계의 계기판은 경고 제어신호에 따라 시각 및 청각으로 선행차량 감지불능에 대해서 경고해주는 것을 특징으로 한다.The instrument panel of step (c) is characterized in that it warns about the impossibility of detecting the preceding vehicle visually and aurally according to the warning control signal.

본 발명에 따르면 오르막길이나 내리막길과 같은 경사길에서 같은 차로에 있는 차량을 인식하지 못하는 상황을 운전자에게 경고해주어, 운전자가 미리 안전 운전을 할 수 있도록 도모해주는 효과가 있다.According to the present invention, there is an effect of warning the driver of a situation in which a vehicle in the same lane is not recognized on a slope, such as an uphill road or a downhill road, so that the driver can drive safely in advance.

도 1은 일반적인 차량에 장착된 전방충돌방지 보조기능의 오동작 예시도,
도 2는 본 발명에 따른 경사길 전방충돌방지 보조기능 경고장치의 구성도,
도 3은 본 발명에 따른 경사길 전방충돌방지 보조기능 경고방법을 보인 흐름도이다.1 is an exemplary diagram of a malfunction of a forward collision avoidance assist function mounted on a general vehicle;
2 is a block diagram of an auxiliary function warning device for preventing collision on a slope in accordance with the present invention;
3 is a flowchart illustrating a method for warning an auxiliary function for preventing a collision on an inclined road according to the present invention.

이하 본 발명의 바람직한 실시 예에 따른 경사길 전방충돌방지 보조기능 경고장치 및 방법을 첨부된 도면을 참조하여 상세하게 설명한다.Hereinafter, with reference to the accompanying drawings, an apparatus and method for warning of an auxiliary function for preventing an inclined road ahead according to a preferred embodiment of the present invention will be described in detail.

이하에서 설명되는 본 발명에 사용된 용어나 단어는 통상적이거나 사전적인 의미로 한정해서 해석되어서는 안 되며, 발명자는 그 자신의 발명을 가장 최선의 방법으로 설명하기 위해 용어의 개념으로 적절하게 정의할 수 있다는 원칙에 입각하여 본 발명의 기술적 사상에 부합하는 의미와 개념으로 해석되어야만 한다.The terms or words used in the present invention described below should not be construed as being limited to conventional or dictionary meanings, and the inventor may appropriately define the concept of terms in order to best describe his invention. It should be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle that it can be

따라서 본 명세서에 기재된 실시 예와 도면에 도시된 구성은 본 발명의 바람직한 실시 예에 불과할 뿐이고, 본 발명의 기술적 사상을 모두 대변하는 것은 아니므로, 본 출원 시점에서 이들을 대체할 수 있는 다양한 균등물과 변형 예들이 있을 수 있음을 이해하여야 한다.Therefore, the embodiments described in this specification and the configurations shown in the drawings are only preferred embodiments of the present invention, and do not represent all of the technical spirit of the present invention, so various equivalents and It should be understood that there may be variations.

도 2는 본 발명의 바람직한 실시 예에 따른 경사길 전방충돌방지 보조기능 경고장치의 구성도로서, 고정밀 내비게이션 시스템(101), 프런트 레이더 모듈(102), 계기판(103), 자율주행 제어기(104), 엔진제어모듈(105), 차량제어시스템(106), 바디 제어기(107), 브레이크 램프(108)를 포함한다.2 is a configuration diagram of an auxiliary function warning device for preventing collision on a slope according to a preferred embodiment of the present invention, and is a high-precision navigation system 101, a front radar module 102, an instrument panel 103, an autonomous driving controller 104, It includes an engine control module 105 , a vehicle control system 106 , a body controller 107 , and a brake lamp 108 .

고정밀 내비게이션 시스템(101)은 실시간으로 고도 정보를 수집하여 상기 자율주행 제어기(104)에 전달하는 역할을 한다.The high-precision navigation system 101 collects altitude information in real time and transmits it to the autonomous driving controller 104 .

프런트 레이더 모듈(102)은 선행차량의 존재 유무와 선행차량과의 감지 거리를 검출하여 상기 자율주행 제어기(104)에 전달하는 역할을 한다.The front radar module 102 detects the presence or absence of a preceding vehicle and a sensing distance to the preceding vehicle, and transmits it to the autonomous driving controller 104 .

자율주행 제어기(104)는 상기 고정밀 내비게이션 시스템(101)으로부터 획득한 고도 정보를 기초로 경사길을 판단하고, 경사길에서 프런트 레이더 모듈(102)의 물체 감지거리 이내에서 선행차량의 검출이 불가능한 영역이면 경고 제어신호를 발생하는 역할을 한다.The autonomous driving controller 104 determines a slope based on the altitude information obtained from the high-precision navigation system 101, and warns if a preceding vehicle cannot be detected within the object detection distance of the front radar module 102 on the slope. It plays a role in generating a control signal.

계기판(103)은 상기 자율주행 제어기(104)에서 발생하는 경고 제어신호에 따라 선행차량 감지불능에 대해 경고해주는 역할을 한다. 이러한 계기판(103)은 경고 제어신호에 따라 시각 및 청각으로 선행차량 감지불능에 대해서 경고해줄 수 있다.The instrument panel 103 serves to warn of the inability to detect a preceding vehicle according to a warning control signal generated by the autonomous driving controller 104 . The instrument panel 103 may give a warning about the inability to detect a preceding vehicle visually and aurally according to a warning control signal.

차량제어시스템(106)은 상기 자율주행 제어기(104)와 연동하여 충돌방지 기능이 동작하면 브레이크 시스템을 통해 브레이크 제어 동작을 수행하는 역할을 한다.The vehicle control system 106 serves to perform a brake control operation through the brake system when the collision avoidance function operates in conjunction with the autonomous driving controller 104 .

엔진제어모듈(105)은 상기 차량제어시스템(106)의 제어에 따라 엔진의 동작을 제어하는 역할을 하며, 바디 제어기(107)는 상기 차량제어 시스템(106)과 연동하여 브레이크 램프(108)의 점등 또는 소등을 제어하는 역할을 한다.The engine control module 105 serves to control the operation of the engine according to the control of the vehicle control system 106 , and the body controller 107 interworks with the vehicle control system 106 to control the brake lamp 108 . It plays a role in controlling the on or off.

이와 같이 구성된 본 발명에 따른 경사길 전방충돌방지 보조기능 경고장치의 동작을 구체적으로 설명하면 다음과 같다.The operation of the warning device for the auxiliary function for preventing a collision ahead of an inclined road according to the present invention configured as described above will be described in detail as follows.

먼저, 차량에 구동용 전원이 공급되면, 고정밀 내비게이션 시스템(101)은 실시간으로 고도 정보를 수집하여 이더넷 또는 캔 통신 등을 통해 상기 자율주행 제어기(104)에 전달한다.First, when driving power is supplied to the vehicle, the high-precision navigation system 101 collects altitude information in real time and transmits it to the autonomous driving controller 104 through Ethernet or CAN communication.

아울러 구동 전원이 공급되고 주행이 이루어지면 프런트 레이더 모듈(102)은 선행차량의 존재 유무와 선행차량과의 거리를 검출하고, 선행차량 감지신호 및 선행차량과의 감지 거리를 상기 자율주행 제어기(104)에 전달한다. 여기서 프런트 레이더 모듈(102)은 UHF 대역의 주파수 또는 SHF 대역의 주파수를 이용하며, 통상 24GHz 이상의 높은 주파수대를 이용하여 물체(선행차량)를 검출하는 일반적인 차량용 레이더 모듈을 의미한다.In addition, when driving power is supplied and driving is performed, the front radar module 102 detects the presence or absence of a preceding vehicle and the distance to the preceding vehicle, and sets the preceding vehicle detection signal and the detected distance to the preceding vehicle to the autonomous driving controller 104 . ) is transmitted to Here, the front radar module 102 uses a frequency of the UHF band or the frequency of the SHF band, and usually refers to a general vehicle radar module that detects an object (preceding vehicle) using a high frequency band of 24 GHz or higher.

상기 자율주행 제어기(104)는 상기 고정밀 내비게이션 시스템(101)으로부터 실시간 획득한 고도 정보를 확인하여, 현재 차로가 평지인지, 오르막길에서 내리막길로 가는 것인지, 내리막길에서 오르막길로 가는 것인지를 판단한다. 고도 정보를 이용하면 차로 정보를 쉽게 확인할 수 있으며, 이는 차량 시스템에서 고도를 이용하여 차로 정보를 획득하는 일반적인 차량 기술이므로, 그에 대한 구체적인 설명은 생략하기로 한다.The autonomous driving controller 104 checks the altitude information obtained in real time from the high-precision navigation system 101 to determine whether the current lane is on a flat road, going from an uphill road to a downhill road, or going from a downhill road to an uphill road. By using altitude information, lane information can be easily checked, and since this is a general vehicle technology that acquires lane information using altitude in a vehicle system, a detailed description thereof will be omitted.

고도 정보를 이용하여 차로 형태를 확인한 결과, 경사길이라고 판단이 되면, 프런트 레이더 모듈(102)에서 출력되는 검출신호를 확인하여, 감지거리 이내에서 선행차량이 감지되는지를 확인한다. 이때, 선행차량이 감지되면 선행차량과의 거리도 확인할 수 있다.As a result of checking the shape of the lane using the altitude information, if it is determined that the road is inclined, the detection signal output from the front radar module 102 is checked to determine whether a preceding vehicle is detected within the detection distance. In this case, when the preceding vehicle is detected, the distance to the preceding vehicle may also be checked.

상기 확인 결과, 프런트 레이더 모듈(102)의 물체 감지거리 이내에서 선행차량이 감지되지 않으며, 차로가 경사길이면 선행차량 감지 불가능 영역이라고 판단을 하고, 선행차량 감지불능 영역의 표시를 위한 제어신호를 발생하여 계기판(103)에 전달한다.As a result of the above confirmation, the preceding vehicle is not detected within the object detection distance of the front radar module 102, and if the lane is a slope, it is determined that the preceding vehicle cannot be detected area, and a control signal for displaying the preceding vehicle undetectable area is generated. and transmitted to the instrument panel 103 .

계기판(103)은 자율주행 제어기(104)로부터 선행차량 감지 불가능 영역의 표시를 위한 표시 제어신호가 수신되면, 시각적으로 선행차량 감지불능영역을 표시해주고, 경고음을 출력한다.When a display control signal is received from the autonomous driving controller 104 for displaying the undetectable area of the preceding vehicle, the instrument panel 103 visually displays the undetectable area of the preceding vehicle and outputs a warning sound.

계기판(103)으로부터 경고음이 발생하면 운전자는 계기판(103)을 확인하여 선행차량 감지불능 영역임을 인지하고, 차량 속도를 줄이거나 전방 주시에 집중하여 경사길에서 갑자기 선행차량이 보일 때 발생할 수 있는 사고를 미리 방지하게 된다.When a warning sound is generated from the instrument panel 103, the driver checks the instrument panel 103 to recognize that the preceding vehicle cannot be detected, and reduces the vehicle speed or concentrates on forward gaze to avoid accidents that may occur when a preceding vehicle is suddenly seen on a slope. prevent in advance.

즉, 본 발명은 경사길에서 선행차량의 검출이 불가능한 상황이 되면 이를 운전자에게 알려주어, 같은 차로에 선행차량이 존재하는데도 이를 인지하지 못하여 전방충돌방지 보조기능이 동작하지 않음으로써 발생할 수 있는 사고를 미리 방지하게 되는 것이다.That is, the present invention notifies the driver of a situation in which it is impossible to detect a preceding vehicle on a slope, and prevents an accident that may occur because the forward collision avoidance assist function does not operate because a preceding vehicle is not recognized even though there is a preceding vehicle in the same lane. it will be prevented

도 3은 본 발명에 따른 "경사길 전방충돌방지 보조기능 경고방법"을 보인 흐름도로서, (a) 전원이 공급된 상태에서 고정밀 내비게이션 시스템(101)은 실시간으로 고도 정보를 수신하여 자율주행제어기(104)에 전송하는 단계(S11 - S12), (b) 전원이 공급된 상태에서 프런트 레이더 모듈(102)은 실시간으로 선행차량 감지와 선행차량과의 감지거리 정보를 검출하여 상기 자율주행제어기(104)에 전송하는 단계(S13), (c) 상기 자율주행제어기(104)에서 상기 고정밀 내비게이션 시스템(101)으로부터 획득한 고도 정보를 기초로 경사길 유무를 판단하고, 판단 결과 경사길이면 프런트 레이더 모듈(102)의 물체 감지거리 이내에서 선행차량의 검출이 불가능한 영역이면 경고 제어신호를 계기판(103)으로 출력하는 단계(S15 - S16)를 포함한다.FIG. 3 is a flowchart showing a "warning method for an assistive function for preventing collision on a slope" according to the present invention. (a) In a state in which power is supplied, the high-precision navigation system 101 receives altitude information in real time, and the autonomous driving controller 104 ), (S11 - S12), (b) in a state in which power is supplied, the front radar module 102 detects the preceding vehicle detection and the detection distance information with the preceding vehicle in real time, and the autonomous driving controller 104 (S13), (c) the autonomous driving controller 104 determines whether there is a slope based on the altitude information obtained from the high-precision navigation system 101, and if the determination result is a slope, the front radar module 102 and outputting a warning control signal to the instrument panel 103 (S15 - S16) if the preceding vehicle cannot be detected within the object detection distance of .

상기 (c)단계의 계기판(103)은 경고 제어신호에 따라 시각 및 청각으로 선행차량 감지불능에 대해서 경고해주는 것이 바람직하다.It is preferable that the instrument panel 103 in step (c) warns about the inability to detect the preceding vehicle visually and aurally according to the warning control signal.

이와 같이 구성된 본 발명에 따른 경사길 전방충돌방지 보조기능 경고방법을 구체적으로 설명하면 다음과 같다.A detailed description of the warning method for the auxiliary function for preventing a collision ahead of an inclined road according to the present invention configured as described above is as follows.

먼저, 단계 S11에서 차량에 구동용 전원이 공급되면, 단계 S12에서 고정밀 내비게이션 시스템(101)은 실시간으로 고도 정보를 수집하여 인터넷 또는 캔 통신 등을 통해 상기 자율주행 제어기(104)에 전달한다.First, when driving power is supplied to the vehicle in step S11, the high-precision navigation system 101 collects altitude information in real time in step S12 and transmits it to the autonomous driving controller 104 through the Internet or CAN communication.

아울러 구동 전원이 공급되고 주행이 이루어지면 단계 S13에서 프런트 레이더 모듈(102)은 선행차량의 존재 유무와 선행차량과의 거리를 검출하고, 선행차량 감지신호 및 선행차량과의 감지 거리를 상기 자율주행 제어기(104)에 전달한다. 여기서 프런트 레이더 모듈(102)은 UHF 대역의 주파수 또는 SHF 대역의 주파수를 이용하며, 통상 24GHz 이상의 높은 주파수대를 이용하여 물체(선행차량)를 검출하는 일반적인 차량용 레이더 모듈을 의미한다.In addition, when driving power is supplied and driving is performed, the front radar module 102 detects the presence or absence of a preceding vehicle and the distance to the preceding vehicle in step S13, and sets the preceding vehicle detection signal and the detected distance to the preceding vehicle for the autonomous driving transmitted to the controller 104 . Here, the front radar module 102 uses a frequency of the UHF band or the frequency of the SHF band, and refers to a general vehicle radar module that detects an object (preceding vehicle) using a high frequency band of 24 GHz or more.

상기 자율주행 제어기(104)는 단계 S14에서 상기 고정밀 내비게이션 시스템(101)으로부터 실시간 획득한 고도 정보를 확인하여, 현재 차로가 평지인지, 오르막길에서 내리막길로 가는 것인지, 내리막길에서 오르막길로 가는 것인지를 판단한다.The autonomous driving controller 104 checks the altitude information obtained in real time from the high-precision navigation system 101 in step S14 to determine whether the current lane is flat, going from an uphill road to a downhill road, or going from a downhill road to an uphill road. judge

고도 정보를 이용하여 차로 형태를 확인한 결과, 경사길이라고 판단이 되면, 프런트 레이더 모듈(102)에서 출력되는 검출신호를 확인하여, 감지거리 이내에서 선행차량이 감지되는지를 확인한다. 이때, 선행차량이 감지되면 선행차량과의 거리도 확인할 수 있다.As a result of checking the shape of the lane using the altitude information, if it is determined that the road is inclined, the detection signal output from the front radar module 102 is checked to determine whether a preceding vehicle is detected within the detection distance. In this case, when the preceding vehicle is detected, the distance to the preceding vehicle may also be checked.

상기 확인 결과, 프런트 레이더 모듈(102)의 물체 감지거리 이내에서 선행차량이 감지되지 않으며, 차로가 경사길이면 선행차량 감지 불가능 영역이라고 판단을 하고, 단계 S15에서 선행차량 감지불능 영역의 표시를 위한 제어신호를 발생하여 계기판(103)에 전달한다. 계기판(103)은 자율주행 제어기(104)로부터 선행차량 감지 불가능 영역의 표시를 위한 표시 제어신호가 수신되면, 시각적으로 선행차량 감지불능영역을 표시해주고, 경고음을 출력한다.As a result of the check, the preceding vehicle is not detected within the object detection distance of the front radar module 102, and if the lane is a slope, it is determined that the preceding vehicle cannot be detected area, and in step S15, control for displaying the preceding vehicle undetectable area A signal is generated and transmitted to the instrument panel 103 . When a display control signal is received from the autonomous driving controller 104 for displaying the undetectable area of the preceding vehicle, the instrument panel 103 visually displays the undetectable area of the preceding vehicle and outputs a warning sound.

계기판(103)으로부터 경고음이 발생하면 운전자는 계기판(103)을 확인하여 선행차량 감지불능 영역임을 인지하고, 차량 속도를 줄이거나 전방 주시에 집중하여 경사길에서 갑자기 선행차량이 보일 때 발생할 수 있는 사고를 미리 방지하게 된다.When a warning sound is generated from the instrument panel 103, the driver checks the instrument panel 103 to recognize that the preceding vehicle cannot be detected, and reduces the vehicle speed or concentrates on forward gaze to avoid accidents that may occur when a preceding vehicle is suddenly seen on a slope. prevent in advance.

이후, 단계 S16과 같이 차량의 전원이 오프되면 선행차량 감지불능 영역의 표시 기능을 종료한다.Thereafter, when the power of the vehicle is turned off as in step S16, the display function of the undetectable area of the preceding vehicle is terminated.

즉, 본 발명은 경사길에서 선행차량의 검출이 불가능한 상황이 되면 이를 운전자에게 알려주어, 같은 차로에 선행차량이 존재하는데도 이를 인지하지 못하여 전방충돌방지 보조기능이 동작하지 않음으로써 발생할 수 있는 사고를 미리 방지하게 되는 것이다.That is, the present invention notifies the driver of a situation in which it is impossible to detect a preceding vehicle on a slope, and prevents an accident that may occur because the forward collision avoidance assist function does not operate because a preceding vehicle is not recognized even though there is a preceding vehicle in the same lane. it will be prevented

이상 본 발명자에 의해서 이루어진 발명을 상기 실시 예에 따라 구체적으로 설명하였지만, 본 발명은 상기 실시 예에 한정되는 것은 아니고 그 요지를 이탈하지 않는 범위에서 여러 가지로 변경 가능한 것은 이 기술분야에서 통상의 지식을 가진 자에게 자명하다.Although the invention made by the present inventor has been described in detail according to the above embodiment, the present invention is not limited to the above embodiment, and it is common knowledge in the art that various changes can be made without departing from the gist of the present invention. self-evident to those who have

101: 고정밀 내비게이션 시스템 102: 프런트 레이더 모듈
103: 계기판 104: 자율주행 제어기
105: 엔진제어모듈 106; 차량제어시스템
107: 바디제어기 108; 브레이크 램프 101: high-precision navigation system 102: front radar module
103: instrument panel 104: autonomous driving controller
105: engine control module 106; vehicle control system
107: body controller 108; brake lamp

Claims (4)

경사길에서 전방충돌방지 보조기능의 감지불능영역을 경고해주는 장치로서,
고도 정보를 수집하는 고정밀 내비게이션 시스템;
선행차량의 존재 유무와 선행차량과의 감지 거리를 검출하는 프런트 레이더 모듈;
상기 고정밀 내비게이션 시스템으로부터 획득한 고도 정보를 기초로 경사길을 판단하고, 경사길에서 프런트 레이더 모듈의 물체 감지거리 이내에서 선행차량의 검출이 불가능한 영역이면 경고 제어신호를 발생하는 자율주행 제어기; 및
상기 자율주행 제어기에서 발생하는 경고 제어신호에 따라 선행차량 감지불능에 대해 경고해주는 계기판을 포함하는 것을 특징으로 하는 경사길 전방충돌방지 보조기능 경고장치.
It is a device that warns of the undetectable area of the forward collision avoidance assist function on a slope.
a high-precision navigation system that collects altitude information;
a front radar module for detecting the presence or absence of a preceding vehicle and a sensing distance to the preceding vehicle;
an autonomous driving controller that determines a slope based on the altitude information obtained from the high-precision navigation system and generates a warning control signal when a preceding vehicle cannot be detected within an object detection distance of the front radar module on the slope; and
and an instrument panel that warns of the inability to detect a preceding vehicle according to a warning control signal generated by the autonomous driving controller.
 청구항 1에서, 상기 계기판은 경고 제어신호에 따라 시각 및 청각으로 선행차량 감지불능에 대해서 경고해주는 것을 특징으로 하는 경사길 전방충돌방지 보조기능 경고장치.
The warning device for an assistive function for preventing collision on a slope according to claim 1, wherein the instrument panel warns about the impossibility of detecting a preceding vehicle visually and aurally according to a warning control signal.
 청구항 1 내지 청구항 2중 어느 하나의 청구항에 기재된 경사길 전방충돌방지 보조기능 경고장치를 이용하여 경사길에서 전방충돌방지 보조기능의 감지불능영역을 경고해주는 방법으로서,
(a) 전원이 공급된 상태에서 고정밀 내비게이션 시스템은 실시간으로 고도 정보를 수신하여 자율주행제어기에 전송하는 단계;
(b) 전원이 공급된 상태에서 프런트 레이더 모듈은 실시간으로 선행차량 감지와 선행차량과의 감지거리 정보를 검출하여 상기 자율주행제어기에 전송하는 단계; 및
(c) 상기 자율주행제어기에서 상기 고정밀 내비게이션 시스템으로부터 획득한 고도 정보를 기초로 경사길 유무를 판단하고, 판단 결과 경사길이면 프런트 레이더 모듈의 물체 감지거리 이내에서 선행차량의 검출이 불가능한 영역이면 경고 제어신호를 계기판으로 출력하는 단계를 포함하는 것을 특징으로 하는 경사길 전방충돌방지 보조기능 경고방법.
A method of warning an undetectable area of the forward collision avoidance assist function on a slope by using the warning device for the forward collision avoidance assist function on a slope according to any one of claims 1 to 2,
(a) in a state in which power is supplied, the high-precision navigation system receives altitude information in real time and transmits it to the autonomous driving controller;
(b) in a state in which power is supplied, the front radar module detecting the preceding vehicle and detecting distance information with the preceding vehicle in real time and transmitting the information to the autonomous driving controller; and
(c) the autonomous driving controller determines whether there is a slope based on the altitude information obtained from the high-precision navigation system, and if it is a slope as a result of the determination, a warning control signal A warning method for an assistive function for preventing collisions ahead of a slope, characterized in that it includes the step of outputting to the instrument panel.
 청구항 3에서, 상기 (c)단계의 계기판은 경고 제어신호에 따라 시각 및 청각으로 선행차량 감지불능에 대해서 경고해주는 것을 특징으로 하는 경사길 전방충돌방지 보조기능 경고방법.The method of claim 3, wherein the instrument panel in step (c) warns about the impossibility of detecting a preceding vehicle visually and aurally according to a warning control signal.
KR1020190173944A 2019-12-24 2019-12-24 Warning apparatus and method of assisting forward collision prevention of slopes KR20210082303A (en)

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CN114435388A (en) * 2022-02-23 2022-05-06 一汽解放汽车有限公司 Safety control system, method, device and equipment of vehicle and vehicle

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Publication number Priority date Publication date Assignee Title
JPH06174848A (en) 1992-12-04 1994-06-24 Kansei Corp Obstacle detecting device
KR100801410B1 (en) 2003-07-14 2008-02-05 주식회사 현대오토넷 Crash warning system for vehicle

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
JPH06174848A (en) 1992-12-04 1994-06-24 Kansei Corp Obstacle detecting device
KR100801410B1 (en) 2003-07-14 2008-02-05 주식회사 현대오토넷 Crash warning system for vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114435388A (en) * 2022-02-23 2022-05-06 一汽解放汽车有限公司 Safety control system, method, device and equipment of vehicle and vehicle
CN114435388B (en) * 2022-02-23 2023-09-12 一汽解放汽车有限公司 Safety control system, method, device and equipment for vehicle and vehicle

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