KR20220060523A - Apparatus and method for avoiding vehicle collision - Google Patents

Abstract

The present invention relates to a device and a method for avoiding a collision of a vehicle. According to an embodiment of the present invention, the device for avoiding a collision of a vehicle comprises: a means for collecting driving information of a vehicle, wherein the driving information includes a direction value, a route history, a predicted route, and a vehicle position; a V2X communication module for collecting the driving information of peripheral vehicles from the peripheral vehicles; and a control means specifying the peripheral vehicles having the same road and the same driving direction with the vehicle and specifying the peripheral vehicles driving on a driving lane of the vehicle and the peripheral vehicles driving on an adjacent lane adjacent to the driving lane of the vehicle by using the driving information of the vehicle and the peripheral vehicles.

Description

Apparatus and method for avoiding vehicle collision

The present invention relates to a vehicle collision avoidance apparatus and method, and more particularly, to a vehicle collision avoidance apparatus and method using sensor information obtained through a sensor and communication between vehicles.

In general, the vehicle-to-vehicle collision avoidance technology is divided into a vehicle-only technology and a vehicle-to-vehicle cooperation technology.

A vehicle-only technology is a technology for predicting a collision between vehicles using information detected by the sensors using various sensors. However, since this vehicle's exclusive technology uses only limited information sensed by the current vehicle, only limited vehicle collision accidents can be prevented. Since various vehicle collisions cannot be predicted, there is a problem in that it is difficult to prevent secondary and tertiary multi-vehicle collisions during vehicle-to-vehicle collisions.

In addition, the vehicle-to-vehicle cooperation technology uses a communication technology such as V2X (Vehicle to Everything) communication that encompasses vehicle-to-vehicle (V2V) communication and vehicle-to-infrastructure (V2I) communication. The vehicle-to-vehicle cooperation technology is a technology that can predict collisions between vehicles by collecting various information from vehicles or infrastructure around the own vehicle. However, when an accident has already occurred, in most cases, the conventional technology for cooperation between vehicles is focused on the study of a network structure for the purpose of notifying nearby vehicles of accident occurrence information in order to prevent additional accidents.

In addition, the aforementioned conventional vehicle-specific technology and inter-vehicle cooperation technology are somewhat insufficient in presenting a specific method for avoiding collision between vehicles after determining a lane-changing vehicle.

Therefore, an object of the present invention is to determine the lane change intention of another vehicle through V2X (Vehicle to Everything) communication, and to confirm the actual lane change behavior through the sharing of sensor information such as a camera, thereby improving the accuracy in determining the lane change of another vehicle. An object of the present invention is to provide a vehicle collision avoidance device and method for facilitating collision avoidance control based on this.

A vehicle collision avoidance device according to an aspect of the present invention for achieving the above object communicates with each surrounding vehicle in order to receive a measuring unit measuring a direction value of the own vehicle, and a plurality of direction values of the vehicle surrounding the own vehicle a communication unit, a photographing unit for photographing the front of the road on which the own vehicle is traveling, and a direction value of the own vehicle and a direction value of the surrounding vehicle, and the surrounding vehicle using an image photographing the front of the road on which the own vehicle is traveling and a control unit for determining a lane change of the vehicle and controlling the speed of the subject vehicle to avoid collision.

The control unit receives information from the measurement unit, the communication unit, and the photographing unit, calculates a radius of curvature of the own vehicle using the direction value of the own vehicle, and calculates the calculated radius of curvature of the own vehicle and received Through the information processing unit that transmits the information to the determination processing unit, and the received vehicle's radius of curvature, it is confirmed whether the surrounding vehicle is in the same lane with respect to the own vehicle, and the difference between the direction value of the own vehicle and the surrounding vehicle It determines the intention to change the lane of the surrounding vehicle by checking the change, and when the surrounding vehicle is present in the image taken in front of the own vehicle, it is checked whether the surrounding vehicle has invaded a part of the lane of the own vehicle A determination processing unit that determines a lane change of the vehicle, and when the surrounding vehicle changes lanes, calculates a stopping distance of the own vehicle, calculates a collision avoidance request speed based on the calculated stopping distance of the own vehicle, and a speed controller configured to control the speed of the host vehicle at the calculated collision avoidance request speed.

When the lane change vehicle is outside the photographing range of the photographing unit or is obscured by an intermediate vehicle between the lane change vehicle and the subject vehicle, the lane change determination result from the intermediate vehicle and the calculated lane change from the intermediate vehicle A lane change of the lane-changing vehicle is determined by receiving the stopping distance.

The speed control unit calculates a safety distance of the own vehicle by accumulating a delay time in the received stopping distance of the intermediate vehicle, and a collision avoidance request speed between the own vehicle and the immediately preceding vehicle based on the calculated safety distance of the own vehicle is calculated, and the speed of the host vehicle is controlled by the calculated collision avoidance request speed.

The collision avoidance apparatus of the vehicle further includes a warning unit for warning the driver of the own vehicle of a lane change situation of the neighboring vehicle through video and audio when it is determined by the determination processing unit that the neighboring vehicle has a lane change intention do.

The measuring unit measures a direction value of the own vehicle including a heading, a yaw rate, and a steering angle, and includes sensors that measure a direction value of the own vehicle.

The communication unit performs communication between the own vehicle and the surrounding vehicle through V2X communication including V2V communication and V2I communication, or between the own vehicle and the infrastructure previously built around the road on which the own vehicle is traveling, and provides information exchange

A vehicle collision avoidance method according to another aspect of the present invention for achieving the above object includes measuring a direction value of the own vehicle, and communicating with each surrounding vehicle to receive a plurality of direction values of the vehicle surrounding the own vehicle. Steps, photographing the front of the road on which the own vehicle is traveling, and the lane of the surrounding vehicle using the direction value of the own vehicle, the direction value of the surrounding vehicle, and an image captured by the front of the road on which the own vehicle is traveling and determining the change and controlling the speed of the own vehicle to avoid collision.

The controlling may include calculating and calculating a radius of curvature of the own vehicle using the direction value of the own vehicle, and through the calculated radius of curvature of the own vehicle, the neighboring vehicle is in the same lane with respect to the own vehicle , determine the intention to change the lane of the surrounding vehicle by checking a change in the difference in the direction value between the own vehicle and the surrounding vehicle, and when the surrounding vehicle is present in the image taken in front of the own vehicle, the determining a lane change of the neighboring vehicle by checking whether a neighboring vehicle has invaded a part of the lane of the own vehicle, and calculating a stopping distance of the own vehicle when the neighboring vehicle changes lane, and calculating the calculated self and calculating a collision avoidance request speed based on a stopping distance of the vehicle, and controlling the speed of the host vehicle with the calculated collision avoidance request speed.

The determining may include calculating a lane change determination result from the intermediate vehicle and the intermediate vehicle when the lane change vehicle is outside the photographing range of the photographing unit or is obscured by an intermediate vehicle between the lane change vehicle and the subject vehicle and determining a lane change of the lane change vehicle by receiving the determined stopping distance.

The controlling of the speed may include calculating a safety distance of the own vehicle by accumulating a delay time in the received stopping distance of the intermediate vehicle, and between the own vehicle and the immediately preceding vehicle based on the calculated safety distance of the own vehicle. calculating a collision avoidance request speed; and controlling the speed of the subject vehicle at the calculated collision avoidance request speed.

The method of avoiding collision of a vehicle further includes, when it is determined that the neighboring vehicle has a lane change intention, alerting a driver of the own vehicle to a lane change situation of the neighboring vehicle through video and audio.

The measuring includes measuring a direction value of the own vehicle including a heading, a yaw rate, and a steering angle, and sensors for measuring a direction value of the own vehicle.

In the communicating step, communication between the own vehicle and the surrounding vehicle through V2X communication, including V2V communication and V2I communication, or communication between the own vehicle and the infrastructure previously built around the road on which the own vehicle is traveling is performed. exchange information

According to the present invention, lane change determination of surrounding vehicles is possible in a wide area through V2X communication, and the accuracy of lane change determination can be improved by checking whether an actual lane change has occurred through an image captured by the camera.

In addition, according to the present invention, it is possible to facilitate the collision avoidance control of the vehicle by calculating an appropriate holding distance based on the determination result.

1 is a block diagram of an apparatus for avoiding collision of a vehicle according to an embodiment of the present invention;
2 is a first reference diagram for explaining collision avoidance according to an embodiment of the present invention.
3 is a second reference diagram for explaining collision avoidance according to an embodiment of the present invention.
4 is a third reference diagram for explaining collision avoidance according to an embodiment of the present invention.
5 is a flowchart of a method for avoiding collision of a vehicle according to another embodiment of the present invention.
6 is a flowchart of a method for avoiding collision of a vehicle when an intermediate vehicle exists according to another embodiment of the present invention;

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the technical field to which the present invention belongs It is provided to fully inform the possessor of the scope of the invention, and the present invention is defined by the description of the claims. On the other hand, the terms used herein are for the purpose of describing the embodiments and are not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” or “comprising” refers to the presence or absence of one or more other components, steps, operations and/or elements other than the stated elements, steps, acts and/or elements. addition is not excluded.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to the components of each drawing, the same components are given the same reference numerals as much as possible even if they are shown in different drawings, and in explaining the present invention, detailed information about the related known components or functions If the description may obscure the gist of the present invention, the detailed description thereof will be omitted.

Hereinafter, an apparatus for avoiding collision of a vehicle according to an embodiment of the present invention will be described in detail with reference to FIG. 1 .

1 is a block diagram of an apparatus for avoiding collision of a vehicle according to an embodiment of the present invention.

1 , the apparatus 100 for avoiding collision of a vehicle according to an embodiment of the present invention includes a measurement unit 110 , a communication unit 120 , a photographing unit 130 , a control unit 140 , and a warning unit. (150). In this case, the components of the vehicle collision avoidance apparatus 100 may be mounted at a predetermined position inside the vehicle as each individual module or as one integrated module.

Prior to a detailed description of the device, in an embodiment of the present invention, it is assumed that vehicles on the road are equipped with the vehicle collision avoidance apparatus 100 having the same or equivalent function.

In addition, in an embodiment of the present invention, the own vehicle and other nearby vehicles have the same road and the same driving direction based on GPS (Global Positioning System)-based path history and path prediction. It will be described by limiting them to To this end, each vehicle may include a GPS receiver for receiving a GPS coordinate value from a satellite, and a calculation device for calculating a route history and predicted route.

The measuring unit 110 measures the direction value of the own vehicle. In this case, the direction value includes a heading, a yaw rate, a steering angle, and the like.

The heading refers to the deviation between the direction of the North Star, which is always invariant, and the direction of the vehicle's course. The yaw rate refers to the angular velocity of a yaw value that occurs about a vertical axis of the vehicle when the vehicle's course direction is left or right. Also, the steering angle refers to an angle at which a spindle of a steering wheel pivots when the vehicle changes a course direction.

The measuring unit 110 includes sensors that measure heading, yaw rate, steering angle, and the like, and may be mounted at a predetermined position in the vehicle. The measurement unit 110 transmits the measured direction value of the vehicle to the control unit 140 .

The communication unit 120 receives a direction value of another vehicle through vehicle-to-vehicle (V2V) communication. In addition, the communication unit 120 may perform communication between the vehicle and the infrastructure previously built around the road on which the vehicle is traveling through vehicle to infrastructure (V2I) communication. Accordingly, the communication unit 120 may have a built-in V2X (Vehicle to Everything) communication module encompassing V2V communication and V2I communication. Representative V2X communication standards include Wireless Access in Vehicular Environments (WAVE) and Communication Access in Land Mobile (CALM). It may include a communication method.

The communication unit 120 may receive the direction value of the other vehicle and transmit the direction value of the own vehicle to the other vehicle. The communication unit 120 transmits the received direction value of the other vehicle to the control unit 140 .

The photographing unit 130 photographs the front of the own vehicle. The photographing unit 130 includes a camera module, and the camera module includes at least one pair of cameras (eg, a stereo camera) installed at a horizontal distance on the same plane and on the same central axis of the vehicle. camera), or a stereoscopic camera), or a single camera. In this case, the horizontal interval may be set in consideration of the distance between both eyes of a general person.

The photographing unit 130 transmits the photographed image of the front of the subject vehicle to the control unit 140 .

The control unit 140 includes an information processing unit 141 , a determination processing unit 142 , and a speed control unit 143 . The control unit 140 may be implemented by more or fewer components than the above components.

The information processing unit 141 uses the information of the own vehicle and surrounding vehicles received through the measurement unit 110 , the communication unit 120 , and the photographing unit 130 , the radius of curvature of the own vehicle, GPS-based path history and prediction It is processed into information such as route. The information processing unit 141 transmits the received information of the own vehicle and surrounding vehicles along with information such as the processed radius of curvature of the own vehicle, GPS-based path history and predicted path, to the determination processing unit 142 .

The determination processing unit 142 receives information such as the radius of curvature of the own vehicle, the GPS-based path history and predicted path, and the direction values of the own vehicle and other vehicles from the information processing unit 141 . Here, the radius of curvature may be used to check whether surrounding vehicles are in the same lane with respect to the own vehicle. Also, the route history and predicted route can be used to define vehicles that communicate with vehicles having the same road and the same direction of travel, as described above.

The determination processing unit 142 determines a lane change using the information. Hereinafter, collision avoidance according to an embodiment of the present invention will be described with reference to FIGS. 2, 3, and 4 . 2 is a first reference diagram for explaining collision avoidance according to an embodiment of the present invention, FIG. 3 is a second reference diagram for explaining collision avoidance according to an embodiment of the present invention, and FIG. 4 is a diagram of the present invention A third reference diagram for explaining collision avoidance according to an embodiment.

2, 3, and 4, each vehicle is considered to be located within the V2X communication range, and the shaded area in front of each vehicle is the photographing range of the camera included in the photographing unit 130 of each vehicle.

For example, the determination processing unit 142 may determine the lane change of the other vehicle by using the direction value of the recipient vehicle and the direction value of the other vehicle.

The determination processing unit 142 checks a change in a difference between the direction value of the own vehicle and the other vehicle. As a result of the check, the determination processing unit 142 determines that the other vehicle has an intention to change lanes when the difference in the direction values occurs more than a predetermined number of times within a predetermined time. The lane change determination using only the direction value will be referred to as a first determination hereinafter.

According to the first determination, the determination processing unit 142 may increase the cognitive effect of the driver of the own vehicle by warning the warning unit 150 of a lane change situation through video and audio according to the first determination. Accordingly, the warning unit 150 provides a display device such as a liquid crystal display (LCD), an organic light emitting diode (OLED), a flexible display, and a voice guidance function for warning. It may include an audio device such as a built-in car audio device.

As another example, the determination processing unit 142 may add reliability to the lane change determination by using additional information (eg, an image captured by the photographing unit 130 ) to determine the lane change based on the direction value.

FIG. 2A illustrates a situation in which another vehicle A invades a part of a lane in which the own vehicle is traveling while it is within the photographing range of the photographing unit 130 . At this time, the determination processing unit 142 confirms that the other vehicle A has invaded a part of the lane in which the own vehicle is traveling through the image photographed in front of the own vehicle by the photographing unit 130, and the first determination is made in common. In this case, it is determined that the other vehicle A is changing lanes.

Meanwhile, FIG. 2(b) shows a situation in which another vehicle B is entering a curved road while being within the photographing range of the photographing unit 130, and the own vehicle is driving in a straight line. In this case, if only the direction value is used to determine the lane change as in the first determination, the determination processing unit 142 may determine the lane change as a lane change even though the other vehicle B has not actually changed the lane. Accordingly, as shown in (b) of FIG. 2 , the determination processing unit 142 determines that the other vehicle B is within the photographing range of the photographing unit 130 , but the road on which the own vehicle or the other vehicle B is traveling is a curved road. In this case, the image captured by the photographing unit 130 may be used to determine the lane change. In this way, the lane change determination using the direction value and the image captured by the photographing unit 130 will be referred to as a second determination hereinafter.

When the determination processing unit 142 determines that the lane-changing vehicle exists as the second determination, the speed controller 143 calculates a stopping distance for avoiding collision between the own vehicle and the lane-changing vehicle. The stopping distance is calculated as the product of the vehicle's speed and the stopping time. In this case, the stop time may be expressed as the sum of the reaction time and the braking time. Here, the reaction time is the time until the driver recognizes an obstacle in the driving direction and starts braking, and is less than about 2 seconds. In addition, the braking time is the time from starting braking until the vehicle is stopped. The braking time may be different depending on the current speed of the vehicle and brake performance of the vehicle.

The speed controller 143 may calculate a required speed for maintaining a safe distance between lane-changing vehicles based on the calculated stopping time. In addition, the speed controller 143 may avoid a collision between the own vehicle and the lane changing vehicle by controlling the speed of the own vehicle at the calculated required speed. Accordingly, the speed controller 143 may include an Electronic Control Unit (ECU) including an electronically controlled braking device.

As another example, when the lane change vehicle is outside the photographing range of the photographing unit 130 or is obscured by an intermediate vehicle between own vehicles, the determination processing unit 142 captures from the intermediate vehicle immediately after the lane change vehicle through V2X communication. It is possible to determine a lane change by receiving the received video. In this way, the lane change determination using the image photographed from the other vehicle is hereinafter referred to as a third determination.

3 illustrates a situation in which another vehicle D, which is trying to change a lane, is outside the photographing range of the photographing unit 130, and the other vehicle D is obscured by the other vehicle C. As shown in FIG. In addition, the other vehicle D is a situation in which the other vehicle C is within the photographing possible range. In this case, the other vehicle C may determine the lane change of the other vehicle D through the captured image as in the second determination.

FIG. 4 illustrates a situation in which another vehicle I to change a lane exists outside the photographing range of the photographing unit 130, and the other vehicle I is obscured by other vehicles E, F, G, and H. Referring to FIG.

The other vehicles G and H of FIG. 4 may determine the lane change of the other vehicle I through the captured image as in the second determination, and the own vehicle and the other vehicles E and F are images taken from the other vehicles G and H. can be transmitted and the lane change of the other vehicle I can be determined as a third determination.

At this time, as shown in FIG. 4 , the vehicle on the lane to be changed by the other vehicle I, that is, the own vehicle and the other vehicles F and H, may calculate each accumulated safety distance for collision avoidance control of the vehicle. Here, the determination processing unit 142 may determine whether the vehicle is on the same lane by using the GPS coordinate value together with the aforementioned radius of curvature. For example, the determination processing unit 142 may determine that a vehicle having a difference in GPS coordinate values of about 1.75 m, which is half of a general road width of 3.5 m, exists in the next lane.

Another vehicle H calculates a stopping distance for collision avoidance between other vehicles I and transmits the calculated stopping distance to other vehicles through V2X communication. Each vehicle performing the collision avoidance control may calculate a safety distance by accumulating a distance in consideration of a delay in the received stopping distance of the other vehicle H by the number of vehicles in front. Here, the accumulated distance is due to the delay due to the broadcasting period of V2X communication and the delay due to the calculation of the distance of each vehicle. For example, as shown in FIG. 4 , the own vehicle may calculate a final safety distance as much as the accumulated distance in consideration of the delay through other vehicles F and H in order to avoid collision with another vehicle F, which is the previous vehicle.

The speed controller 143 calculates the calculated required speed for maintaining the safe distance, and controls the speed of the own vehicle at the calculated required speed, thereby avoiding a collision between the own vehicle and the lane changing vehicle.

As described above, according to the present invention, it is possible to determine the lane change of surrounding vehicles in a wide area through V2X communication, and the accuracy of lane change determination can be improved by checking whether the actual lane change has occurred through the image captured by the camera. .

In addition, according to the present invention, it is possible to facilitate the collision avoidance control of the vehicle by calculating an appropriate holding distance based on the determination result.

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

The vehicle collision avoidance apparatus 100 measures the direction value of the own vehicle through a sensor (S501). In this case, the direction value includes a heading, a yaw rate, a steering angle, and the like.

The heading refers to the deviation between the direction of the North Star, which is always invariant, and the direction of the vehicle's course. The yaw rate refers to the angular velocity of a yaw value that occurs about a vertical axis of the vehicle when the vehicle's course direction is left or right. Also, the steering angle refers to an angle at which a spindle of a steering wheel pivots when the vehicle changes a course direction.

Meanwhile, the vehicle collision avoidance apparatus 100 receives a direction value of another vehicle through vehicle to vehicle (V2V) communication ( S502 ). Also, the vehicle collision avoidance apparatus 100 may perform communication between the vehicle and the infrastructure previously built around the road on which the vehicle is traveling through vehicle to infrastructure (V2I) communication. Accordingly, the vehicle collision avoidance apparatus 100 may incorporate a V2X (Vehicle to Everything) communication module that encompasses V2V communication and V2I communication.

The vehicle collision avoidance apparatus 100 checks the change in the difference in the direction value between the own vehicle and the other vehicle obtained in steps S501 and S502 (S503), and as a result of the check, the direction value difference within a certain time occurs more than a predetermined number of times, It is determined that the other vehicle has an intention to change lanes (S504). In this way, a case in which the intention to change the lane of another vehicle is determined using only the direction value will be referred to as a first determination hereinafter.

If it is determined in step S504 that there is no intention to change the lane of the other vehicle, the vehicle collision avoidance apparatus 100 restarts the operation from the process of measuring the direction value of the own vehicle in step S501.

According to the first determination, the vehicle collision avoidance apparatus 100 warns of a lane change situation through video and audio (S505).

After the warning, the vehicle collision avoidance apparatus 100 photographs the front of the own vehicle (S507). At this time, the collision avoidance apparatus 100 of the vehicle determines that another vehicle A is present in the image taken in front of the own vehicle (S507), and that the other vehicle A has invaded a part of the lane in which the own vehicle is driving (S508) , when the first determination is made in common, it is determined that the other vehicle A is changing lanes (S509). In this way, the lane change determination using the direction value and the captured image will be referred to as a second determination hereinafter.

If it is not confirmed that the other vehicle A does not exist in the image taken in front of the own vehicle in steps S507 and S508 or that the other vehicle A has invaded a part of the lane in which the own vehicle is traveling, the vehicle collision avoidance device ( 100) re-performs the operation from the process of measuring the direction value of the own vehicle in step S501.

When it is determined as the second determination that the lane-changing vehicle exists, the vehicle collision avoidance apparatus 100 calculates a stopping distance for avoiding collision between the own vehicle and the lane-changing vehicle ( S510 ). The stopping distance is calculated as the product of the vehicle's speed and the stopping time. In this case, the stop time may be expressed as the sum of the reaction time and the braking time. Here, the reaction time is the time until the driver recognizes an obstacle in the driving direction and starts braking, and is less than about 2 seconds. In addition, the braking time is the time from starting braking until the vehicle is stopped. The braking time may be different depending on the current speed of the vehicle and brake performance of the vehicle.

The vehicle collision avoidance apparatus 100 calculates a required speed for maintaining a safe distance between lane-changing vehicles based on the calculated stopping time, and controls the speed of the own vehicle at the calculated required speed between the own vehicle and the lane-changing vehicle. Collision can be avoided (S511).

Meanwhile, while driving, a situation in which a lane-changing vehicle exists outside the photographing range or is obscured by an intermediate vehicle between own vehicles may also occur. Hereinafter, a method for avoiding collision of a vehicle when an intermediate vehicle exists will be described with reference to FIG. 6 .

6 is a flowchart of a method for avoiding collision of a vehicle when an intermediate vehicle exists according to another exemplary embodiment of the present invention.

The vehicle collision avoidance apparatus 100 receives a lane change determination (second determination) result and a stop distance calculated by the intermediate vehicle from the intermediate vehicle immediately after the lane change vehicle through V2X communication (S601).

The vehicle collision avoidance apparatus 100 may calculate the safety distance by accumulating the delay distance in the received intermediate vehicle stopping distance ( S602 ). Here, the delay distance is caused by the delay due to the broadcasting period of V2X communication and the delay due to the calculation of the distance of each vehicle, and may be accumulated by the number of vehicles between the own vehicle and the lane change vehicle.

The vehicle collision avoidance apparatus 100 calculates a required speed based on the calculated safety distance (S603), and controls the speed of the own vehicle with the calculated required speed, thereby avoiding a collision between the own vehicle and the lane changing vehicle. (S604).

As described above, according to the present invention, it is possible to determine the lane change of surrounding vehicles in a wide area through V2X communication, and the accuracy of lane change determination can be improved by checking whether the actual lane change has occurred through the image captured by the camera. .

In addition, according to the present invention, it is possible to facilitate the collision avoidance control of the vehicle by calculating an appropriate holding distance based on the determination result.

As mentioned above, although the configuration of the present invention has been described in detail through preferred embodiments of the present invention, those of ordinary skill in the art to which the present invention pertains will appreciate the content disclosed in the present specification without changing the technical spirit or essential features of the present invention It will be understood that the present invention may be implemented in a specific form other than the above. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. The scope of protection of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the claims and their equivalent concepts should be construed as being included in the scope of the present invention.

100: collision avoidance device for vehicle 110: measurement unit
120: communication unit 130: photographing unit
140: control unit 141: information processing unit
142: judgment processing unit 143: speed control unit
150: warning part

Claims (16)

A collision avoidance device mounted on a vehicle, comprising:
means for collecting driving information of the vehicle, wherein the driving information includes a direction value, a route history, a predicted route, and a vehicle location;
V2X communication module for collecting driving information of surrounding vehicles from surrounding vehicles; and
Using the driving information of the vehicle and the surrounding vehicle, specifying a neighboring vehicle having the same road and the same driving direction as the vehicle, and driving in a neighboring vehicle traveling in the driving lane of the vehicle and in an adjacent lane adjacent to the driving lane of the vehicle Control means for specifying a nearby vehicle in operation and calculating at least one of a time or a distance for collision avoidance control with the surrounding vehicle
including,
The collision avoidance control is
and at least one of driver warning or speed control. The method of claim 1,
The control means is
A collision avoidance apparatus characterized by specifying a neighboring vehicle having the same road and the same traveling direction as the vehicle, based on the path history and predicted path of the vehicle and the surrounding vehicle. The method of claim 1,
wherein the direction value comprises at least one of a heading, a yaw rate and a steering angle. The method of claim 1,
The control means is
Based on the radius of curvature calculated from the direction value of the vehicle and the vehicle position of each vehicle, a neighboring vehicle traveling in the driving lane of the vehicle and a neighboring vehicle traveling in an adjacent lane adjacent to the driving lane of the vehicle are specified, A collision avoidance device. The method of claim 1,
The control means is
A collision avoidance apparatus characterized by detecting a neighboring vehicle attempting to change a lane to the driving lane of the vehicle. 6. The method of claim 5,
Detecting a nearby vehicle attempting to change the lane includes:
The collision avoidance apparatus further comprising receiving information about a neighboring vehicle attempting to change a lane to the driving lane of the vehicle from a preceding vehicle traveling in the driving lane of the vehicle through the V2X communication module. 7. The method of claim 6,
The information about the surrounding vehicle received from the preceding vehicle,
and a stopping distance of the preceding vehicle depending on the current speed of the preceding vehicle. 8. The method of claim 7,
The control means is
A collision avoidance apparatus comprising: calculating a required speed for maintaining a safe distance with the preceding vehicle based on a stopping distance of the preceding vehicle, and controlling the speed of the vehicle at the requested speed. A collision avoidance method performed by a vehicle, comprising:
collecting driving information of the vehicle, the driving information including a direction value, a route history, a predicted route, and a vehicle location;
collecting driving information of the surrounding vehicles from the surrounding vehicles;
Using the driving information of the vehicle and the surrounding vehicle, specifying a neighboring vehicle having the same road and the same driving direction as the vehicle, and driving in a neighboring vehicle traveling in the driving lane of the vehicle and in an adjacent lane adjacent to the driving lane of the vehicle specifying the surrounding vehicle being operated; and
Calculating at least one of a time and a distance for collision avoidance control with a neighboring vehicle
including,
The collision avoidance control is
A collision avoidance method, comprising at least one of driver warning or speed control. 10. The method of claim 9,
A neighboring vehicle having the same road and the same driving direction as the vehicle,
A collision avoidance method, characterized in that it is specified based on a path history and a predicted path of the vehicle and surrounding vehicles. 10. The method of claim 9,
wherein the direction value comprises at least one of a heading, a yaw rate and a steering angle. 10. The method of claim 9,
A neighboring vehicle traveling in the driving lane of the vehicle and a neighboring vehicle traveling in an adjacent lane adjacent to the driving lane of the vehicle are:
A collision avoidance method, characterized in that it is specified based on a radius of curvature calculated from a direction value of the vehicle and a vehicle position of each vehicle. 10. The method of claim 9,
Detecting a neighboring vehicle attempting to change a lane to the driving lane of the vehicle
Further comprising a, collision avoidance method. 14. The method of claim 13,
The step of detecting a nearby vehicle attempting to change the lane comprises:
A collision avoidance method comprising the step of receiving information about a neighboring vehicle attempting to change a lane to the driving lane of the vehicle from a preceding vehicle traveling in the driving lane of the vehicle through a V2X communication module. 15. The method of claim 14,
The information about the surrounding vehicle received from the preceding vehicle,
and a stopping distance of the preceding vehicle that is dependent on the current speed of the preceding vehicle. 16. The method of claim 15,
Calculating a required speed for maintaining a safe distance with the preceding vehicle based on the stopping distance of the preceding vehicle, and controlling the speed of the vehicle at the required speed.

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