KR20210114683A - Vehicle and method of controlling the same - Google Patents

Abstract

The present invention provides a vehicle and a control method thereof. According to one aspect, the vehicle comprises: an input unit receiving set speed of a driver; a sensor unit detecting driving information of at least one vehicle near the vehicle; and a control unit computing speed which is target speed of at least the vehicle by using the driving information of at least the vehicle near the vehicle and varying target control speed by using the computed target speed and the set speed of the driver.

Description

Vehicle and its control method

The present invention relates to a vehicle that performs autonomous driving and a method for controlling the same.

Recently, various advanced driver assistance systems (ADAS) have been developed to deliver driving information of a vehicle to a driver in order to prevent accidents caused by driver negligence and to facilitate autonomous driving for the driver's convenience.

Adaptive cruise control (ACC), which is one of these driver assistance systems, is a system that allows the vehicle to drive while maintaining the target speed without the driver's manipulation when the driver sets a desired target speed.

The constant speed driving system (ACC) controls the speed to drive at a target speed set by the driver when there is no target control target vehicle in front, and when there is a target control target vehicle, a distance measuring sensor (eg, a camera, Through radar, lidar, etc.), distance control is performed to maintain the target inter-vehicle distance and drive.

On a highway or automobile-only road to which the cruise control system (ACC) is applied, there is a point where it merges with other roads (junction point) or diverges (junction point), such as an interchange (IC) or a junction (JC). . In addition, there is a point where the road ends (end point), and when there is road construction, there is a bottleneck point where the lane is reduced. In such a congested section, lanes of vehicles change very frequently. That is, when looking at the vehicle itself (own vehicle) as a reference, a cut-in situation in which a neighboring vehicle in the next lane intervenes frequently occurs.

Therefore, there is a possibility that a risk of collision with a nearby vehicle intervening may occur in a congested section where cut-in situations frequently occur.

One aspect provides a vehicle capable of varying a target control speed in consideration of driving conditions of surrounding vehicles in a congested section in which a cut-in situation frequently occurs, and a control method thereof.

According to one aspect, a vehicle includes: an input unit for receiving a driver's set speed; a sensor unit configured to detect driving information of at least one surrounding vehicle around the vehicle; and a control unit that calculates a target cut-in speed of the at least one surrounding vehicle using the driving information of the at least one surrounding vehicle, and varies the target control speed using the calculated target cut-in speed and the driver set speed; include

The sensor unit detects driving information of the at least one surrounding vehicle using at least one of a camera, a radar, and a corner radar.

The control unit determines whether the at least one neighboring vehicle exists by using the driving information of the at least one neighboring vehicle, and checks the number of the neighboring vehicles.

The control unit obtains the vehicle speed and the cut-in probability of each of the surrounding vehicles, calculates the cut-in speed of each of the surrounding vehicles using the obtained vehicle speed and the cut-in probability of each of the surrounding vehicles, and the calculated The target cut-in speed is calculated using the cut-in speed of each of the surrounding vehicles.

The control unit receives the signal transmitted from the sensor unit, detects a lateral acceleration generated during cut-in of the at least one surrounding vehicle, and obtains the cut-in probability.

The controller calculates the target cut-in speed as a minimum value among the calculated cut-in speeds of each of the surrounding vehicles.

The control unit calculates the variable target control speed as a minimum value among the calculated target cut-in speed and the driver set speed.

The control unit checks the surrounding vehicles that are stopped according to the vehicle speed of each of the surrounding vehicles, and selects surrounding vehicles other than the stopped surrounding vehicles as target control speed calculation targets.

The control unit obtains a vehicle speed and a cut-in probability of each of the surrounding vehicles selected as the target control speed calculation target, and uses the obtained vehicle speed and a cut-in probability of each of the surrounding vehicles to obtain a cut-in of each of the surrounding vehicles The speed is calculated, and the target cut-in speed is calculated as a minimum value among the calculated cut-in speeds of each of the surrounding vehicles.

The control unit calculates the variable target control speed as a minimum value among the calculated target cut-in speed and the driver set speed.

And, the control method of the vehicle according to another aspect, receives a driver set speed input; detecting driving information of at least one surrounding vehicle around the vehicle; determining whether the at least one neighboring vehicle exists by using the driving information of the at least one neighboring vehicle; if the at least one surrounding vehicle exists, obtain a vehicle speed and a cut-in probability of each of the surrounding vehicles; calculating a cut-in speed of each of the surrounding vehicles using the obtained vehicle speed and a cut-in probability of each of the surrounding vehicles; calculating the target cut-in speed as a minimum value among the calculated cut-in speeds of each of the surrounding vehicles; and varying the target control speed to a minimum value among the calculated target cut-in speed and the driver set speed.

The obtaining of the cut-in probability is obtaining the cut-in probability by receiving a signal transmitted from the sensor unit and detecting a lateral acceleration generated during cut-in of the at least one surrounding vehicle.

In addition, the control method of the vehicle may include: identifying a stopped nearby vehicle according to a vehicle speed of each of the surrounding vehicles; and selecting, as targets for calculating the target control speed, driving surrounding vehicles other than the stopped surrounding vehicle.

In addition, the control method of the vehicle may include: acquiring a vehicle speed and a cut-in probability of each of the surrounding vehicles selected as the target control speed calculation target; calculating a cut-in speed of each of the surrounding vehicles using the obtained vehicle speed and a cut-in probability of each of the surrounding vehicles; and calculating the target cut-in speed as a minimum value among the calculated cut-in speeds of each of the surrounding vehicles.

The method of controlling the vehicle further includes calculating the variable target control speed as a minimum value among the calculated target cut-in speed and the driver set speed.

According to a vehicle and a control method thereof according to one aspect, it is possible to prevent a collision with a nearby vehicle intervening by varying the target control speed in consideration of the driving condition of the surrounding vehicle in a congested section where a cut-in situation frequently occurs.

1 is a configuration diagram of a vehicle according to an exemplary embodiment.
2 is a diagram illustrating a control configuration of a vehicle according to an exemplary embodiment.
3 is a diagram illustrating a cut-in situation of surrounding vehicles while driving in a congested section according to an exemplary embodiment.
4 is an operation flowchart illustrating a method of controlling a vehicle according to an exemplary embodiment.
5 is a diagram illustrating a congestion section for calculating a target control speed in the control method of FIG. 4 .
6A and 6B are operation flowcharts illustrating a vehicle control method according to another exemplary embodiment.
7 is a diagram illustrating a congestion section for calculating a target control speed in the control method of FIGS. 6A and 6B.

Like reference numerals refer to like elements throughout. This specification does not describe all elements of the embodiments, and general content in the technical field to which the disclosed invention pertains or content overlapping between the embodiments is omitted.

The term 'part, module, member, block' used in the specification may be implemented in software or hardware, and according to embodiments, a plurality of 'part, module, member, block' may be implemented as one component, or one It is also possible that a 'part, module, member, block' of

Throughout the specification, when a part is "connected" with another part, it includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

In addition, when a part "includes" a certain component, this means that other components may be further included, rather than excluding other components, unless otherwise stated.

Throughout the specification, when a member is said to be located “on” another member, this includes not only a case in which a member is in contact with another member but also a case in which another member is present between the two members.

Terms such as 1st, 2nd, etc. are used to distinguish one component from another component, and the component is not limited by the above-mentioned terms.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of description, and the identification code does not describe the order of each step, and each step may be performed differently from the specified order unless the specific order is clearly stated in the context. have.

Hereinafter, the working principle and embodiments of the disclosed invention will be described with reference to the accompanying drawings.

1 is a configuration diagram of a vehicle according to an exemplary embodiment.

In FIG. 1 , a vehicle 1 includes an engine 10 , a transmission 20 , a braking device 30 , and a steering device 40 .

The engine 10 includes a cylinder and a piston, and may generate power for driving the vehicle 1 .

The transmission 20 includes a plurality of gears, and may transmit power generated by the engine 10 to the wheels.

The braking device 30 may decelerate the vehicle 1 or stop the vehicle 1 through friction with the wheels.

The steering device 40 may change the driving direction of the vehicle 1 .

The vehicle 1 may include a plurality of electrical components.

For example, the vehicle 1 includes an Engine Management System (EMS) 11, a Transmission Control Unit (TCU) 21, and an Electronic Brake Control Module ( 31), an Electronic Power Steering (EPS) 41, a Body Control Module (BCM), and a Driver Assistance System (DAS).

The engine management system 11 may control the engine 10 in response to a driver's will to accelerate through an accelerator pedal or a request from the driver assistance system 100 . For example, the engine management system 11 may control the torque of the engine 10 .

The transmission control unit 21 may control the transmission 20 in response to a driver's shift command through the shift lever and/or the driving speed of the vehicle 1 . For example, the transmission control unit 21 may adjust a shift ratio from the engine 10 to the wheel.

The electronic brake control module 31 may control the brake device 30 in response to the driver's will to brake through the brake pedal and/or slip of the wheels. For example, the electronic brake control module 31 may temporarily release the brake of the wheel in response to the slip of the wheel detected when the vehicle 1 is braked (Anti-lock Braking Systems, ABS). The electronic brake control module 31 may selectively release braking of the wheel in response to oversteering and/or understeering sensed when the vehicle 1 is steered (Electronic stability control, ESC). ). In addition, the electronic brake control module 31 may temporarily brake the wheel in response to the slip of the wheel detected when the vehicle 1 is driven (Traction Control System, TCS).

The electronic steering device 41 may assist the operation of the steering device 40 so that the driver can easily manipulate the steering wheel in response to the driver's will to steer through the steering wheel. For example, the electronic steering device 41 may assist the operation of the steering device 40 to decrease the steering force during low-speed driving or parking and increase the steering force for high-speed driving.

The body control module 51 may control the operation of electronic components that provide convenience to the driver or ensure the driver's safety. For example, the body control module 51 may control a head lamp, a wiper, a cluster, a multi-function switch, and a direction indicator lamp.

The driver assistance system 100 may assist a driver to operate (drive, brake, and steer) the vehicle 1 . For example, the driver assistance system 100 detects the environment around the vehicle 1 (eg, other vehicles, pedestrians, cyclists, lanes, road signs, etc.), and responds to the sensed environment to the vehicle (1) can control driving and/or braking and/or steering.

The driver assistance system 100 may provide various functions to the driver. For example, the driver assistance system 100 includes a lane departure warning (LDW), a lane keeping assist (LKA), a high beam assist (HBA), an automatic emergency braking ( Autonomous Emergency Braking (AEB), Traffic Sign Recognition (TSR), Smart Cruise Control (SCC), Blind Spot Detection (BSD), Adaptive Cruise Control (Adaptive) Cruise Control, ACC), etc. may be provided.

The driver assistance system 100 includes a camera module 101 that acquires image data around the vehicle 1 and a radar module 102 that acquires object data around the vehicle 1 .

The camera module 101 includes a camera 101a and a controller (Electronic Control Unit, ECU) 101b.

The radar module 102 includes a radar 102a and a controller 102b.

The above electronic components may communicate with each other through the vehicle communication network NT. For example, electronic components transmit data through Ethernet, MOST (Media Oriented Systems Transport), Flexray, CAN (Controller Area Network), and LIN (Local Interconnect Network). can give and receive For example, the driver assistance system 100 provides the engine management system 11 , the electronic brake control module 31 , and the electronic steering device 41 through the vehicle communication network NT, respectively, for a drive control signal, a brake signal, and a steering signal can be transmitted.

2 is a diagram illustrating a control configuration of a vehicle according to an exemplary embodiment.

In FIG. 2 , a vehicle 1 according to an embodiment may further include a sensor unit 200 , an input unit 210 , a control unit 220 , and a driving unit 230 in addition to the components shown in FIG. 1 .

The sensor unit 200 is mounted on the vehicle 1 to detect driving information of the vehicle 1 and at least one surrounding vehicle 2 (see FIG. 3 ) around the vehicle 1, and includes a camera 101a, It may include a radar 102a, a corner radar 201, a steering angle sensor 203, a yaw rate sensor 204, an acceleration sensor 205, a speed sensor 206, and a GPS sensor 207.

The camera 101a may capture an image around the vehicle 1 and acquire image data around the vehicle 1 . The image data around the vehicle 1 may recognize at least one surrounding vehicle 2 located in the vicinity of the vehicle 1 (a preceding vehicle and a following vehicle traveling in the same lane, and vehicles traveling in the next lane). .

The radar 102a irradiates a laser beam in the forward direction of the vehicle 1, that is, to detect an obstacle existing on the road, and detects the presence of an obstacle including the surrounding vehicle 2 by reflecting the obstacle and returning it. It is possible to measure the distance between vehicles by measuring the time difference between the reflection and return.

The radar 102a may include a transmission antenna (or a transmission antenna array) that radiates a transmission wave toward the front of the vehicle 1 and a reception antenna (or a reception antenna array) that receives a reflected wave reflected by an object. .

The radar 102a may acquire radar data from the transmitted radio wave transmitted by the transmitting antenna and the reflected radio wave received by the receiving antenna.

The radar data may include distance information and speed degree regarding the surrounding vehicle 2 located in the vicinity of the vehicle 1 .

The radar 102a calculates the state distance to the object based on the phase difference (or time difference) between the transmitted and reflected waves, and calculates the relative velocity of the object based on the frequency difference between the transmitted and reflected waves. can

The radar 102a may be connected to the controller 220 through, for example, a vehicle communication network (NT) or a hard wire or a printed circuit board. The radar 102a may transmit radar data to the controller 220 .

Here, the camera 101a and the radar 102a are distance measuring sensors that detect external information (specifically, surrounding vehicles) around the vehicle 1 , and the distance measuring sensor may include a lidar or the like.

The corner radar 201 includes a plurality of corner radars installed on the front right, front left, rear right, and rear left of the vehicle 1 .

The plurality of corner radars includes a detection field of view facing the front right of the vehicle 1 , a detection field of view facing the front left of the vehicle 1 , a detection field of view facing the rear right of the vehicle 1 , and a detection field facing the rear left of the vehicle 1 . It may have a sensing field of view.

Each of the plurality of corner radars includes a transmit antenna and a receive antenna, and may acquire corner radar data.

Each of the plurality of corner radars may be connected to the controller 220 through, for example, a vehicle communication network (NT) or a hard wire or a printed circuit board. Each of the plurality of corner radars may transmit corner radar data to the controller 220 .

The steering angle sensor 203 may be installed on a steering column to detect a steering angle adjusted by the steering wheel and transmit it to the controller 220 .

The yaw rate sensor 204 may detect and transmit a yaw moment generated when the vehicle 1 turns (eg, when turning in a right or left direction) to the controller 220 . The yaw rate sensor 204 has a celium crystal element inside the sensor, and when the vehicle 1 rotates while moving, the celium crystal element itself rotates and generates a voltage. The yaw rate of the vehicle 1 may be measured based on the voltage generated in this way. Thereafter, the measured yaw rate value may be transmitted to the controller 220 .

The acceleration sensor 205 measures the acceleration of the vehicle 1 , and may include a lateral acceleration sensor and a longitudinal acceleration sensor.

The lateral acceleration sensor may measure the acceleration in the lateral direction when the moving direction of the vehicle 1 is referred to as the X-axis, and the vertical axis (Y-axis) direction of the moving direction is referred to as the lateral direction.

Accordingly, the lateral acceleration sensor may detect and transmit the lateral acceleration generated when the vehicle 1 turns (eg, when turning to the right) to the controller 220 .

The longitudinal acceleration sensor may measure acceleration in the X-axis direction, which is the moving direction of the vehicle 1 .

The acceleration sensor 205 is an element that detects a change in speed per unit time, and detects dynamic forces such as acceleration, vibration, and shock, and measures it using the principles of inertial force, electric deformation, and gyro. Thereafter, the measured acceleration value may be transmitted to the controller 220 .

The speed sensor 206 may be installed on a front wheel and a rear wheel of the vehicle 1 , respectively, to detect a vehicle speed of each wheel while driving, and transmit information on the driving vehicle speed to the controller 220 .

The GPS sensor 207 is for detecting location information (GPS information) of the vehicle 1 , and may transmit the detected location information to the controller 220 using telematics communication. The GPS sensor 207 may be configured as a GPS receiver.

In addition, the sensor unit 200 may further include various sensors mounted on the vehicle 1 .

The input unit 210 receives a target speed (hereinafter, referred to as a 'driver set speed') set by the driver. The driver set speed is used as data for calculating the target control speed of the vehicle 1 .

The controller 220 is a processor that controls overall operations of the vehicle 1 , and may be a processor of an Electronic Control Unit (ECU) that controls overall operations of the power system. In addition, the controller 220 may control the operation of various modules and devices built in the vehicle 1 . According to an embodiment, the controller 220 may generate a control signal for controlling various modules, devices, etc. built in the vehicle 1 to control the operation of each component.

In addition, the control unit 220 includes a memory storing a program and various data related thereto for performing operations to be described above and below, a processor for executing a program stored in the memory, a hydraulic control unit (HCU), a hydraulic control unit (HCU), and a micro controller (MCU) for executing the program stored in the memory. unit) may be included. Also, the controller 220 may be integrated in a system on chip (SOC) built into the vehicle 1 and may be operated by a processor. However, since there is not only one system-on-chip embedded in the vehicle 1, but may be plural, integration is not limited to only one system-on-chip.

The controller 220 is a memory type (flash memory type), a hard disk type (hard disk type), a multimedia card micro type (multimedia card micro type), card type memory (for example, SD or XD memory, etc.), RAM ( Random Access Memory: RAM), SRAM (Static Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic memory, magnetic disk , may be implemented through at least one type of storage medium among optical disks. However, the present invention is not limited thereto, and may be implemented in any other form known in the art.

According to an embodiment, the control unit 220 receives a signal transmitted from the sensor unit 200 and receives driving information of at least one neighboring vehicle 2 located in the vicinity of the vehicle 1 and the own vehicle of the vehicle 1 . You can get speed information.

Through this, the control unit 220 can determine whether at least one surrounding vehicle 2 exists, and check the number of surrounding vehicles 2 ,

When it is determined that at least one surrounding vehicle 2 exists, the control unit 220 may vary and calculate the target control speed according to the vehicle speed and cut-in probability of the surrounding vehicles 2 .

This is because, when there are a plurality of surrounding vehicles 2 , it is not known which surrounding vehicle 2 will be cut in among the plurality of surrounding vehicles 2 , so the control unit 220 controls all surrounding vehicles located in the vicinity of the vehicle 1 . The number of (2) should be checked.

In addition, the control unit 220 may vary and calculate the target control speed according to the checked vehicle speed and cut-in probability for each of the surrounding vehicles 2 . This is to vary the target control speed for stable autonomous driving in a congested section where cut-in situations frequently occur.

In addition, the control unit 220 receives the signal transmitted from the sensor unit 200 to check the vehicle speed of the surrounding vehicles 2 , and includes the surrounding vehicle 2 as the target control speed calculation target according to the check result. You can decide whether to do it.

That is, the controller 220 calculates the vehicle speeds V1, V2, V3, ??, Vn of all the surrounding vehicles 2 positioned around the vehicle 1 to determine whether the surrounding vehicles 2 are stopped or driven. Determine whether or not

When the surrounding vehicle 2 is driving, the control unit 220 may select the corresponding surrounding vehicle 2 as a target vehicle for calculating the target control speed in consideration of that the surrounding vehicle 2 being driven may cut-in. have.

3 is a diagram illustrating a cut-in situation of surrounding vehicles while driving in a congested section according to an exemplary embodiment.

지점)이 발생함을 알 수 있다.As shown in FIG. 3 , while the vehicle 1 is driving in the lane, a cut-in situation (

point) can be seen.

Accordingly, the control unit 220 considers the driving situation of the neighboring vehicle 2 intervening in the driving lane of the vehicle 1 to prevent a collision with the neighboring vehicle 2 and control the target in order to improve the stability of autonomous driving. The speed should be variable.

To this end, the controller 220 may recognize the position of the vehicle 1 and recognize the relative position between the vehicle 1 and the surrounding vehicle 2 .

That is, the controller 220 calculates the absolute position (map reference) of the vehicle 1 by using the GPS information received from the GPS sensor 207, and additionally measures the distance of the camera 101a and the radar 102a. The vertical/horizontal position of the vehicle 1 may be corrected using the sensor.

Also, the controller 220 may convert the relative position of the surrounding vehicle 2 received from the distance measuring sensor into an absolute position. This means that if the relative positions of the vehicle 1 and the surrounding vehicle 2 are known, the absolute position of the surrounding vehicle 2 can be calculated using the absolute position of the vehicle 1 .

In addition, the controller 220 may calculate the lateral speed based on the lane in which the surrounding vehicle 2 travels. That is, the distance between the position of the neighboring vehicle 2 and the lane reference may be calculated, and the speed may be estimated using the Kalman filter.

The control unit 220 predicts the location of the surrounding vehicle 2, predicts a driving lane based on the predicted location, determines whether the driving lane of the vehicle 1 and the surrounding vehicle 2 coincides with the surrounding vehicle 2 can judge the cut-in situation of

In order to determine the cut-in situation, the control unit 220 uses the camera 101a, the radar 102a, and the plurality of corner radars 201 of the sensor unit 200 to control the vehicle speed V1 of the surrounding vehicles 2, V2, V3, ??, Vn) and cut-in probability can be obtained.

More specifically, when the moving direction of the surrounding vehicle 2 is referred to as the X axis, the vertical axis (Y axis) direction of the moving direction is referred to as the transverse direction, so that the lateral acceleration of the surrounding vehicle 2 can be measured. .

Accordingly, the control unit 220 receives the signals transmitted from the camera 101a, the radar 102a, and the plurality of corner radars 201 of the sensor unit 200 and cut-in the surrounding vehicle 2 (for example, A cut-in probability can be obtained by detecting the lateral acceleration generated during a turn in the Y-axis direction).

When looking at the vehicle 1 as a reference, if the surrounding vehicle 2 travels in the X-axis direction, the probability of cut-in of the surrounding vehicle 2 is 0% (=0), and the surrounding vehicle 2 travels in the Y-axis direction. If the cut-in probability of the surrounding vehicle 2 is 100% (=1).

Accordingly, the control unit 220 may obtain a cut-in probability of 0-100% from the X-axis direction to the Y-axis direction according to the moving direction of the surrounding vehicle 2 , and set the cut-in constant value from 0 to 1 according to the cut-in probability. can be converted to

Accordingly, the control unit 220 calculates the cut-in speed of each of the surrounding vehicles 2 using the vehicle speeds V1, V2, V3, ??, and Vn of the surrounding vehicles 2 and the cut-in constant value. can

In addition, the control unit 220 checks the vehicle speeds V, V2, V3, ??, Vn of all the surrounding vehicles 2 positioned around the vehicle 1 to determine whether the surrounding vehicles 2 are stopped or driven. Determine whether or not

When the surrounding vehicle 2 is driving, the control unit 220 may select the corresponding surrounding vehicle 2 as a target vehicle for calculating the target control speed in consideration of that the surrounding vehicle 2 being driven may cut-in. have.

Also, the controller 220 may check whether the vehicle 1 is traveling in a congested section using the camera 101a, the radar 102a, and the plurality of corner radars 201 of the sensor unit 200 .

The driving unit 230 may include all components involved in driving and braking of the vehicle 1 .

Specifically, the driving unit 230 may include an engine 10 , a motor, a braking device 30 , and a steering device 40 of the vehicle 1 , and is directly or indirectly involved in the driving of the vehicle 1 . If it is a device, the type is not limited.

Accordingly, the controller 220 controls the driving of the vehicle 1 through the driving unit 230 based on the driving information of the at least one surrounding vehicle 2 and the positional relationship between the vehicle 1 and the surrounding vehicles 2 . can be controlled

The control unit 100 controlling the driving unit 120 includes controlling the speed gradually. Specifically, it may include controlling the driving of the motor or engine 10 , controlling the braking device 30 to brake the vehicle 1 , and controlling the steering device 40 to control steering. .

Hereinafter, an operation process and effect of a vehicle and a control method thereof according to an exemplary embodiment will be described.

First, a method of varying the target control speed in consideration of all surrounding vehicles 2 positioned in the vicinity of the vehicle 1 will be described with reference to FIGS. 4 and 5 .

4 is an operation flowchart illustrating a vehicle control method according to an exemplary embodiment, and FIG. 5 is a diagram illustrating a congestion section for calculating a target control speed in the control method of FIG. 4 .

In FIG. 4 , the controller 220 receives a driver set speed V1s set by the driver through the input unit 210 ( 300 ).

Subsequently, the controller 220 may obtain the own vehicle speed V of the vehicle 1 by using the speed sensor 206 of the sensor unit 200 while the vehicle 1 is driving ( 302 ).

In addition, the control unit 220 may receive the signal transmitted from the sensor unit 200 to obtain driving information of at least one neighboring vehicle 2 located in the vicinity of the vehicle 1 ( 304 ).

Through this, the controller 220 may determine whether the surrounding vehicle 2 exists by using the acquired driving information of the at least one surrounding vehicle 2 ( 306 ).

As a result of the determination in step 306 , if the surrounding vehicle 2 does not exist, the controller 220 feeds back to step 300 to proceed with the subsequent operation.

Meanwhile, as a result of the determination in step 306 , if there is a surrounding vehicle 2 , the controller 220 may check the number n of at least one surrounding vehicle 2 located in the vicinity of the vehicle 1 ( 308 ). ).

When the number n of the at least one surrounding vehicle 2 is checked, the control unit 220 receives a signal transmitted from the sensor unit 200 to each of the surrounding vehicles 2 positioned around the vehicle 1 . As shown in FIG. 5 , the vehicle speeds V1, V2, V3, ??, Vn and the cut-in probability may be obtained (310).

Specifically, the control unit 220 receives signals transmitted from the camera 101a, the radar 102a, and the plurality of corner radars 201 of the sensor unit 200, and generates when the surrounding vehicle 2 is cut-in. The cut-in probability can be obtained by detecting the lateral acceleration.

As shown in FIG. 3 , when the vehicle 1 is viewed as a reference, when the surrounding vehicle 2 travels in the X-axis direction, the cut-in probability of the surrounding vehicle 2 is 0% (= 0), and the surrounding vehicle 2 runs in the X-axis direction. If 2) is driven in the Y-axis direction, the probability of cut-in of the surrounding vehicle 2 is 100% (=1).

Accordingly, the control unit 220 may obtain a cut-in probability from 0 to 100% in the X-axis direction in the Y-axis direction according to the moving direction of the surrounding vehicle 2, and the obtained cut-in probability (0 to 100%) is Accordingly, the cut-in constant values (m1, m2, m3, ..., mn) can be converted to 0~1.

Accordingly, the controller 220 uses the vehicle speeds V1, V2, V3, ??, Vn and the cut-in constant values m1, m2, m3, ..., mn of the surrounding vehicles 2 respectively. As shown in [Equation 1] below, the cut-in speeds V1cut, V2cut, V3cut, ..., Vncut of each of the surrounding vehicles 2 may be calculated (312).

[Equation 1]

cut-in speed (V1cut) = vehicle speed (V1) / cut-in constant value (m1),

Cut-in speed (V2cut) = vehicle speed (V2) / cut-in constant value (m2), ??

Cut-in speed (Vncut) = vehicle speed (Vn) / cut-in constant value (mn)

Next, the control unit 220 sets the smallest minimum value (min) among the calculated cut-in speeds V1cut, V2cut, V3cut, ..., Vncut as shown in [Equation 2] below, the target cut-in speed of the surrounding vehicle 2 (V1t) can be calculated (314).

[Equation 2]

Target cut-in speed (V1t) = min(V1cut, V2cut, V3cut, ..., Vncut)

Accordingly, the controller 220 may vary and calculate the target control speed V1target of the vehicle 1 to the smallest minimum value min among the driver set speed V1s and the target cut-in speed V1t ( 316 ).

Accordingly, the control unit 220 controls the vehicle 1 using the calculated target control speed V1targeter, thereby preventing a collision with a neighboring vehicle 2 intervening in a congestion section in which a cut-in situation frequently occurs. .

Next, referring to FIGS. 6A, 6B, and 7 for a method of varying the target control speed in consideration of the driving situation of the stopped nearby vehicle 2 among the surrounding vehicles 2 located in the vicinity of the vehicle 1 . to explain

6A and 6B are operational flowcharts illustrating a vehicle control method according to another embodiment, and FIG. 7 is a diagram illustrating a congestion section for calculating a target control speed in the control method of FIGS. 6A and 6B .

6A and 6B , the controller 220 receives the driver set speed V2s set by the driver through the input unit 210 ( 400 ).

Subsequently, the controller 220 may obtain the own vehicle speed V of the vehicle 1 using the speed sensor 206 of the sensor unit 200 while the vehicle 1 is driving ( 402 ).

In addition, the control unit 220 may receive the signal transmitted from the sensor unit 200 to obtain driving information of at least one neighboring vehicle 2 located in the vicinity of the vehicle 1 ( 404 ).

Through this, the controller 220 may determine whether the surrounding vehicle 2 exists by using the acquired driving information of the at least one surrounding vehicle 2 ( 406 ).

As a result of the determination in step 406 , if the surrounding vehicle 2 does not exist, the controller 220 feeds back to step 400 to proceed with the subsequent operation.

Meanwhile, as a result of the determination in step 406 , if there is a surrounding vehicle 2 , the controller 220 may check the number n of at least one surrounding vehicle 2 located in the vicinity of the vehicle 1 ( 408 ). ).

When the number n of at least one surrounding vehicle 2 is confirmed, the control unit 220 sets a constant value k of the surrounding vehicle 2 to 0 in order to check the stopped surrounding vehicle 2 ( 410).

Next, the control unit 220 compares the number n of the surrounding vehicles 2 with the constant value k of the surrounding vehicles 2 , so that the number n of the surrounding vehicles 2 is that of the surrounding vehicles 2 . It is determined whether it is greater than the constant value k (412).

As a result of the determination in step 412 , if the number n of the surrounding vehicles 2 is not greater than the constant value k of the surrounding vehicles 2 , the controller 220 controls the surrounding vehicles 2 located in the vicinity of the vehicle 1 ( 2) is fed back to step 400 to continuously confirm the subsequent operation.

As a result of the determination in step 412 , if the number n of the surrounding vehicles 2 is greater than the constant value k of the surrounding vehicles 2 , the controller 220 increases the constant value k of the surrounding vehicles 2 by +1 increases by (414). This is to confirm the driving information of the first surrounding vehicle 2 among the surrounding vehicles 2 located in the vicinity of the vehicle 1 .

Accordingly, the control unit 220 receives the signal transmitted from the sensor unit 200 and determines whether the k-th (specifically, the first) surrounding vehicle 2 is stopped ( 416 ).

As a result of the determination in step 416, if the k-th (specifically, the first) surrounding vehicle 2 is stopped, the controller 220 feeds back to step 414 to increase the constant value k of the surrounding vehicle 2 by +1. increase as much as This is to confirm the driving information of the second surrounding vehicle 2 among the surrounding vehicles 2 located in the vicinity of the vehicle 1 .

Through this method, the control unit 220 may identify the stopped neighboring vehicle 2 among the neighboring vehicles 2 located in the vicinity of the vehicle 1 .

Meanwhile, as a result of the determination in step 416, if the k-th (specifically, first) surrounding vehicle 2 is not stopped, the control unit 220 targets the k-th (specifically, first) surrounding vehicle 2 A target vehicle for calculating the control speed may be selected ( 418 ).

Next, the controller 220 determines whether the constant value k of the surrounding vehicles 2 is equal to the number n of the surrounding vehicles 2 ( 420 ).

As a result of the determination in step 420 , if the constant value k of the surrounding vehicles 2 is not equal to the number n of the surrounding vehicles 2 , the controller 220 feeds back to step 414 to provide the constant value of the surrounding vehicles 2 . Increase (k) by +1. This is to determine whether all surrounding vehicles 2 positioned in the vicinity of the vehicle 1 are being stopped.

On the other hand, as a result of the determination in step 420 , if the constant value k of the surrounding vehicle 2 is equal to the number n of the surrounding vehicle 2 , the Since it is determined that the stopped state for may (422).

Accordingly, tj, the controller 220 uses the vehicle speed (eg, V2, V3, V4, V6) of each of the surrounding vehicles 2 and the cut-in constant value (eg, m2, m3, m4, m6) Thus, as shown in [Equation 3] below, the cut-in speeds V2cut, V3cut, V4cut, and V6cut of each of the surrounding vehicles 2 can be calculated ( 424 ).

[Equation 3]

Cut-in speed (V2cut) = Vehicle speed (V2) / Cut-in constant value (m2)

Cut-in speed (V3cut) = Vehicle speed (V3) / Cut-in constant value (m3)

Cut-in speed (V4cut) = Vehicle speed (V4) / Cut-in constant value (m4)

Cut-in speed (V6cut) = Vehicle speed (V6) / Cut-in constant value (m6)

Next, the control unit 220 sets the smallest minimum value (min) among the calculated cut-in speeds V2cut, V3cut, V4cut, and V6cut as the target cut-in speed V2t of the surrounding vehicle 2 as shown in [Equation 4] below. can be calculated (426).

[Equation 4]

Target cut-in speed (V2t) = min(V2cut, V3cut, V4cut, V6cut)

Accordingly, the controller 220 may vary and calculate the target control speed V2target of the vehicle 1 to the smallest minimum value min among the driver set speed V2s and the target cut-in speed V2t ( 428 ).

Accordingly, the control unit 220 controls the vehicle 1 using the calculated target control speed V2targeter, thereby preventing a collision with a neighboring vehicle 2 intervening in a congestion section where a cut-in situation frequently occurs. .

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may generate program modules to perform the operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

The computer-readable recording medium includes any type of recording medium in which instructions readable by the computer are stored. For example, there may be a read only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like.

The disclosed embodiments have been described with reference to the accompanying drawings as described above. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be practiced in other forms than the disclosed embodiments without changing the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

1: Vehicle (own vehicle)
2: Nearby vehicles
100: driver assistance system
101a: camera
102a: radar
200: sensor unit
201: Corner Radar
203: steering angle sensor
204: yaw rate sensor
205: acceleration sensor
206: speed sensor
207: GPS sensor
210: input unit
220: control unit
230: driving unit

Claims (15)

an input unit for receiving the driver's set speed;
a sensor unit configured to detect driving information of at least one surrounding vehicle around the vehicle; and
a control unit that calculates a target cut-in speed of the at least one surrounding vehicle by using the driving information of the at least one surrounding vehicle, and varies the target control speed using the calculated target cut-in speed and the driver set speed; vehicle that does. According to claim 1,
The sensor unit,
A vehicle that detects driving information of the at least one surrounding vehicle using at least one of a camera, a radar, and a corner radar. 3. The method of claim 2,
The control unit is
A vehicle for determining whether the at least one surrounding vehicle exists by using the driving information of the at least one surrounding vehicle, and confirming the number of the surrounding vehicles. 4. The method of claim 3,
The control unit is
Obtaining a vehicle speed and a cut-in probability of each of the surrounding vehicles, calculating a cut-in speed of each of the surrounding vehicles using the obtained vehicle speed and a cut-in probability of each of the surrounding vehicles, and calculating each of the calculated surrounding vehicles A vehicle for calculating the target cut-in speed by using the cut-in speed of . 5. The method of claim 4,
The control unit is
A vehicle for obtaining the cut-in probability by receiving a signal transmitted from the sensor unit and detecting a lateral acceleration generated when the at least one surrounding vehicle is cut-in. 5. The method of claim 4,
The control unit is
A vehicle for calculating the target cut-in speed as a minimum value among the calculated cut-in speeds of each of the surrounding vehicles. 7. The method of claim 6,
The control unit is
and calculating the variable target control speed as a minimum value among the calculated target cut-in speed and the driver set speed. 5. The method of claim 4,
The control unit is
A vehicle for checking a stopped nearby vehicle according to the vehicle speed of each of the surrounding vehicles, and selecting surrounding vehicles other than the stopped surrounding vehicle as target control speed calculation targets. 9. The method of claim 8,
The control unit is
Obtaining the vehicle speed and the cut-in probability of each of the surrounding vehicles selected as the target control speed calculation target, and calculating the cut-in speed of each of the surrounding vehicles using the obtained vehicle speed and the cut-in probability of each of the surrounding vehicles, , a vehicle for calculating the target cut-in speed as a minimum value among the calculated cut-in speeds of each of the surrounding vehicles. 10. The method of claim 9,
The control unit is
and calculating the variable target control speed as a minimum value among the calculated target cut-in speed and the driver set speed. receiving input of driver set speed;
detecting driving information of at least one surrounding vehicle around the vehicle;
determining whether the at least one neighboring vehicle exists by using the driving information of the at least one neighboring vehicle;
if the at least one surrounding vehicle exists, obtain a vehicle speed and a cut-in probability of each of the surrounding vehicles;
calculating a cut-in speed of each of the surrounding vehicles using the obtained vehicle speed and a cut-in probability of each of the surrounding vehicles;
calculating the target cut-in speed as a minimum value among the calculated cut-in speeds of each of the surrounding vehicles; and
and varying the target control speed to a minimum value among the calculated target cut-in speed and the driver set speed. 12. The method of claim 11,
To obtain the cut-in probability is,
A method of controlling a vehicle to obtain the cut-in probability by receiving a signal transmitted from a sensor unit and detecting a lateral acceleration generated when the at least one surrounding vehicle is cut-in. 12. The method of claim 11,
check a stopped nearby vehicle according to the vehicle speed of each of the surrounding vehicles; and
The control method of a vehicle further comprising a; selecting the target control speed calculation target surrounding vehicles other than the stopped surrounding vehicle. 14. The method of claim 13,
obtaining a vehicle speed and a cut-in probability of each of the surrounding vehicles selected as the target control speed calculation target;
calculating a cut-in speed of each of the surrounding vehicles using the obtained vehicle speed and a cut-in probability of each of the surrounding vehicles; and
and calculating the target cut-in speed as a minimum value among the calculated cut-in speeds of each of the surrounding vehicles. 15. The method of claim 14,
and calculating the variable target control speed as a minimum value among the calculated target cut-in speed and the driver set speed.

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