KR20220071559A - System for Emergency Braking and Method therefor - Google Patents

System for Emergency Braking and Method therefor Download PDF

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KR20220071559A
KR20220071559A KR1020200158837A KR20200158837A KR20220071559A KR 20220071559 A KR20220071559 A KR 20220071559A KR 1020200158837 A KR1020200158837 A KR 1020200158837A KR 20200158837 A KR20200158837 A KR 20200158837A KR 20220071559 A KR20220071559 A KR 20220071559A
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South Korea
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unit
braking
emergency braking
warning
collision time
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KR1020200158837A
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Korean (ko)
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유창희
황정규
장진수
김승엽
박영남
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상신브레이크주식회사
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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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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—Arrangement of adaptations of instruments
    • B60K35/22—
    • B60K35/28—
    • 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
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • 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
    • B60K2370/00—Details of arrangements or adaptations of instruments specially adapted for vehicles, not covered by groups B60K35/00, B60K37/00
    • B60K2370/15—Output devices or features thereof
    • B60K2370/152—Displays
    • 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
    • B60K2370/00—Details of arrangements or adaptations of instruments specially adapted for vehicles, not covered by groups B60K35/00, B60K37/00
    • B60K2370/16—Type of information
    • B60K2370/178—Warnings
    • 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
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/08—Predicting or avoiding probable or impending collision

Abstract

The present invention relates to a system and a method for performing an emergency braking control on a braking unit of a vehicle. The emergency braking control system of the present invention comprises: a recognition unit recognizing a front obstacle; a collision time calculation unit calculating a collision time with the obstacle based on recognition results of the recognition unit; a warning unit displaying a warning according to the collision time; and an emergency braking control unit controlling the warning unit and the braking unit step by step according to the collision time. According to the present invention, the emergency braking is controlled by reflecting a driver's will to prevent unnecessary emergency braking.

Description

긴급제동 제어 시스템 및 그 방법{System for Emergency Braking and Method therefor}Emergency braking control system and method therefor

본 발명은 긴급제동 제어 시스템 및 그 방법에 관한 것으로, 보다 상세하게는 운전자의 의지를 반영하여 긴급제동을 제어하는 긴급제동 제어 시스템 및 그 방법에 관한 것이다. The present invention relates to an emergency braking control system and method, and more particularly, to an emergency braking control system and method for controlling emergency braking by reflecting a driver's will.

긴급제동(Autonomous Emergency Braking : AEB) 장치는 첨단 주행보조장치의 일종으로서, 전방 추돌 상황이 감지되는 상황에서 운전자가 부주의 하거나 반응을 못해 브레이크를 잡지 못하더라도 차량이 스스로 경고를 울리며 제동하도록 하는 기능을 한다.Autonomous Emergency Braking (AEB) is a type of advanced driving assistance system. It has a function that allows the vehicle to automatically generate a warning and brake even if the driver is negligent or unresponsive and fails to apply the brake when a forward collision is detected. do.

종래 일본 특개2003-205804호에 개시되어 있는 차량용 충돌 피해 경감 장치는 차량간 거리, 차량간 상대속도 등에 근거해 충돌 확률을 계산하고, 충돌 확률이 소정 값을 넘으면 제동부를 작동시켜 충돌을 회피하도록 한다. 하지만 긴급제동 장치는 운전자의 의사에 무관하게 제동부를 작동시키므로 오히려 불필요한 제동을 일으킬 수 있다. Conventionally, the collision damage reduction device for vehicles disclosed in Japanese Patent Laid-Open No. 2003-205804 calculates the collision probability based on the distance between vehicles, the relative speed between vehicles, etc., and operates the brake when the collision probability exceeds a predetermined value to avoid the collision. do. However, since the emergency braking device operates the brake regardless of the driver's intention, unnecessary braking may be caused.

본 발명은 상술한 문제를 해결하기 위해 제안된 것으로서, 운전자의 의지를 반영하는 긴급제동 제어 시스템 및 그 방법을 제공함에 목적이 있다.The present invention has been proposed to solve the above-described problem, and an object of the present invention is to provide an emergency braking control system that reflects the driver's will and a method therefor.

본 발명의 일 측면은 자동차의 제동부에 긴급제동 제어를 수행하는 시스템에 있어서, 전방의 장애물을 인식하는 인식부; 상기 인식부에서 인식한 결과를 토대로 상기 장애물과의 충돌시간을 산출하는 충돌시간 산출부; 상기 충돌시간에 따라 경고 표시를 수행하는 경고부; 및 상기 충돌시간에 따라 단계적으로 상기 경고부 및 상기 제동부를 제어하는 긴급제동 제어부를 포함한다.One aspect of the present invention provides a system for performing emergency braking control on a braking unit of a vehicle, comprising: a recognition unit for recognizing an obstacle in front; a collision time calculation unit for calculating a collision time with the obstacle based on the result recognized by the recognition unit; a warning unit configured to display a warning according to the collision time; and an emergency braking control unit for controlling the warning unit and the braking unit in stages according to the collision time.

바람직하게 긴급제동 제어부는 상기 충돌시간에 따라 상기 경고부를 통해 디스플레이 표시를 수행하는 제1 단계와, 디스플레이 표시 및 경고음 생성을 수행하고 제동면 바이어싱을 수행하는 제2 단계와, 부분 제동을 수행하는 제3 단계와, 완전 제동을 수행하는 제4 단계를 수행한다.Preferably, the emergency braking control unit includes a first step of displaying a display through the warning unit according to the collision time, a second step of displaying a display and generating a warning sound and performing braking surface biasing, and partial braking. A third step and a fourth step of performing complete braking are performed.

바람직하게 긴급제동 제어부는 운전자의 제동, 가속, 조향 중 적어도 어느 하나로 표시되는 운전자 의지에 대해 상기 제1 내지 제3 단계에서는 긴급제동을 해제하고, 상기 제4 단계에서는 긴급제동을 해제하지 않는다.Preferably, the emergency braking controller releases the emergency braking in the first to third steps in response to the driver's will, which is indicated by at least one of braking, acceleration, and steering, and does not release the emergency braking in the fourth step.

한편, 자동차의 제동부에 긴급제동 제어를 수행하는 방법에 있어서, 전방의 장애물을 인식하는 과정; 상기 인식 과정에서 인식한 결과를 토대로 상기 장애물과의 충돌시간을 산출하는 충돌시간 산출 과정; 상기 충돌시간에 따라 경고부에서 경고 표시를 수행하는 경고 과정; 및 상기 충돌시간에 따라 단계적으로 상기 경고부 및 상기 제동부를 제어하는 전자제어 제동 과정을 포함한다.On the other hand, a method of performing emergency braking control in a braking unit of a vehicle, the method comprising: recognizing an obstacle in front; a collision time calculation process of calculating a collision time with the obstacle based on a result recognized in the recognition process; a warning process of displaying a warning in the warning unit according to the collision time; and an electronically controlled braking process of controlling the warning unit and the braking unit in stages according to the collision time.

바람직하게 전자제어 제동 과정은 상기 충돌시간에 따라 상기 경고부를 통해 디스플레이 표시를 수행하는 제1 단계와, 디스플레이 표시 및 경고음 생성을 수행하고 제동면 바이어싱을 수행하는 제2 단계와, 부분 제동을 수행하는 제3 단계와, 완전 제동을 수행하는 제4 단계를 수행한다.Preferably, the electronically controlled braking process includes a first step of displaying a display through the warning unit according to the collision time, a second step of displaying a display and generating a warning sound and performing braking surface biasing, and partial braking. A third step of performing the first step and a fourth step of performing complete braking are performed.

바람직하게 전자제어 제동 과정은 운전자의 제동, 가속, 조향 중 적어도 어느 하나로 표시되는 운전자 의지에 대해 상기 제1 내지 제3 단계에서는 긴급제동을 해제하고, 상기 제4 단계에서는 긴급제동을 해제하지 않는다.Preferably, in the electronically controlled braking process, emergency braking is released in the first to third steps, and emergency braking is not released in the fourth step with respect to the driver's will, which is indicated by at least one of braking, acceleration, and steering.

본 발명에 따르면, 장애물과의 충돌시간과 함께 운전자의 의지를 긴급제동 제어에 반영하여 불필요한 제동을 방지하는 효과가 있다. 또한, 본 발명은 운전자의 운전 패턴, 운전 능력 등을 긴급제동에 반영하여 좀더 안전한 긴급제동이 이루어지도록 할 수 있다. According to the present invention, there is an effect of preventing unnecessary braking by reflecting the driver's will in the emergency braking control along with the collision time with the obstacle. In addition, according to the present invention, the driver's driving pattern, driving ability, etc. may be reflected in the emergency braking to enable safer emergency braking.

도 1은 본 발명의 일 실시예에 따른 긴급제동 제어 시스템을 설명하기 위한 도면이다.
도 2는 도 1에 도시된 긴급제동 제어 시스템에서의 긴급제동 제어부의 제어과정을 나타낸 도면이다.
도 3은 본 발명의 다른 실시예에 따른 긴급제동 제어 시스템의 긴급제동 제어부 구성을 나타낸 도면이다.
도 4는 본 발명의 일 실시예에 따른 긴급제동 제어 시스템의 긴급제동 제어를 설명하기 위한 도면이다.1 is a view for explaining an emergency braking control system according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating a control process of an emergency braking controller in the emergency braking control system shown in FIG. 1 .
3 is a diagram illustrating the configuration of an emergency braking control unit of an emergency braking control system according to another exemplary embodiment of the present invention.
4 is a diagram for explaining emergency braking control of an emergency braking control system according to an embodiment of the present invention.

본 발명의 실시예에서 제시되는 특정한 구조 내지 기능적 설명들은 단지 본 발명의 개념에 따른 실시예를 설명하기 위한 목적으로 예시된 것으로, 본 발명의 개념에 따른 실시예들은 다양한 형태로 실시될 수 있다. 또한, 본 명세서에 설명된 실시예들에 한정되는 것으로 해석되어서는 아니되며, 본 발명의 사상 및 기술 범위에 포함되는 모든 변경물, 균등물 내지 대체물을 포함하는 것으로 이해되어야 한다.Specific structural or functional descriptions presented in the embodiments of the present invention are only exemplified for the purpose of describing embodiments according to the concept of the present invention, and the embodiments according to the concept of the present invention may be implemented in various forms. In addition, it should not be construed as limited to the embodiments described herein, but should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

한편, 본 발명에서 제1 및/또는 제2 등의 용어는 다양한 구성요소들을 설명하는데 사용될 수 있지만, 상기 구성요소들은 상기 용어들에 한정되지는 않는다. 상기 용어들은 하나의 구성요소를 다른 구성요소들과 구별하는 목적으로만, 예컨대 본 발명의 개념에 따른 권리 범위로부터 벗어나지 않는 범위 내에서, 제1 구성요소는 제2 구성요소로 명명될 수 있고, 유사하게 제2 구성요소는 제1 구성요소로도 명명될 수 있다.Meanwhile, in the present invention, terms such as first and/or second may be used to describe various components, but the components are not limited to the terms. The above terms are used only for the purpose of distinguishing one component from other components, for example, within the scope without departing from the scope of the rights according to the concept of the present invention, the first component may be named as the second component, Similarly, the second component may also be referred to as the first component.

이하 첨부된 도면을 참조하여 본 발명의 실시예를 설명한다. 본 발명의 실시예를 설명함에 있어서, 관련된 공지기능 혹은 구성에 대한 설명이 본 발명의 요지를 불필요하게 흐릴 수 있다고 판단되는 경우 그 설명을 생략하였다.Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In describing the embodiment of the present invention, if it is determined that the description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the description thereof is omitted.

도 1은 본 발명의 일 실시예에 따른 긴급제동 제어 시스템을 설명한다. 도 1에 도시된 바와 같이, 본 실시예에 따른 긴급제동 제어 시스템은 인식부(100), 충돌시간 산출부(200), 긴급제동 제어부(300), 경고부(400)를 포함한다.1 illustrates an emergency braking control system according to an embodiment of the present invention. 1 , the emergency braking control system according to the present embodiment includes a recognition unit 100 , a collision time calculation unit 200 , an emergency braking control unit 300 , and a warning unit 400 .

인식부(100)는 카메라, 라이다(LiDAR), 레이더(Radar) 등으로 구현되며, 전방의 장애물을 인식하는 기능을 수행한다. 악천후 시의 카메라 시인성이 저하될 때 레이더가 카메라를 보조하고, 사람, 자전거, 동물과 같은 레이더 반사파가 적은 물체들을 감지할 때 카메라가 레이더를 보조하는 식의 운영을 통해 정확성을 높일 수 있다.The recognition unit 100 is implemented with a camera, a lidar (LiDAR), a radar, etc., and performs a function of recognizing an obstacle in front. Accuracy can be improved by operating the radar to assist the camera when the camera's visibility in bad weather decreases, and the camera to assist the radar when detecting objects with low radar reflections, such as people, bicycles, and animals.

충돌시간 산출부(200)는 인식부(100)에서 인식한 결과를 토대로 장애물과의 충돌시간을 산출하는 구성이다. 이러한 충돌시간 산출부(200)는 통상 AEB-ECU에 해당하는 구성으로, 인식부(100)에서 인식한 결과를 토대로 장애물(보행자, 차량 등)을 감지한 뒤에 충돌시간을 산출한다. 충돌시간(Time To Collision : TTC)은 차간거리/상대속도이다.The collision time calculation unit 200 is configured to calculate a collision time with an obstacle based on the result recognized by the recognition unit 100 . The collision time calculation unit 200 has a configuration corresponding to the normal AEB-ECU, and calculates the collision time after detecting an obstacle (a pedestrian, a vehicle, etc.) based on the result recognized by the recognition unit 100 . Time To Collision (TTC) is the inter-vehicle distance/relative speed.

긴급제동 제어부(300)는 충돌시간에 따라 단계적으로 제어신호를 생성하여 경고부(400) 또는 제동부(500)가 동작하도록 한다.The emergency braking control unit 300 generates a control signal in stages according to the collision time so that the warning unit 400 or the braking unit 500 operates.

경고부(400)는 긴급제동 제어부(300)의 제어신호에 따라 디스플레이에서의 해당 정보 표시, 디스플레이 또는 알람등의 깜빡임, 경고음 생성 등을 수행할 수 있다. The warning unit 400 may display corresponding information on a display, blink a display or an alarm, generate a warning sound, etc. according to a control signal of the emergency braking control unit 300 .

도 2는 도 1에 도시된 긴급제동 제어 시스템에서의 긴급제동 제어부(300)의 제어 방법을 설명하는 도면이다. 도 2에 도시된 바와 같이, 긴급제동 제어부(300)는 충돌시간(TTC)을 기준으로 위험 단계별로 설정되는 임계값(T1, T2, T3, T4)에 따라 긴급제동을 4개의 단계로 제어한다. FIG. 2 is a view for explaining a control method of the emergency braking controller 300 in the emergency braking control system shown in FIG. 1 . As shown in FIG. 2 , the emergency braking control unit 300 controls the emergency braking in four steps according to the threshold values T1, T2, T3, and T4 set for each danger step based on the collision time (TTC). .

먼저 긴급제동 제어부(300)는 충돌시간 산출부(200)로부터 충돌시간(TTC) 정보를 수신한다(202). 긴급제동 제어부(300)는 TTC가 T1보다 크면 긴급제동이 필요하지 않은 상황으로 판단한다(204). First, the emergency braking control unit 300 receives collision time (TTC) information from the collision time calculation unit 200 ( 202 ). When the TTC is greater than T1, the emergency braking control unit 300 determines that emergency braking is not required ( 204 ).

긴급제동 제어부(300)는 TTC가 T1 이하이고 T2보다 크면 긴급제동 제1 단계 수행을 위한 제어신호를 생성한다(206, 208). 긴급제동 제1 단계에서는 예를 들어, 경고부(400)를 통해 운전자 또는 보행자(자전거 탑승자 포함)에게 1차 경고를 수행한다. 1차 경고는 디스플레이에 해당 정보를 표시함으로 수행될 수 있다. 긴급제동 제1 단계 수행 후에 운전자의 제동, 가속, 조향 등의 형태로 운전자 의지가 파악되면 긴급제동을 해제하고, 운전자 의지가 없는 것으로 파악되면 긴급제동 제1 단계를 계속해서 수행한다(210, 212). When the TTC is less than or equal to T1 and greater than T2, the emergency braking controller 300 generates a control signal for performing the first emergency braking step (206, 208). In the first step of emergency braking, for example, a primary warning is issued to a driver or a pedestrian (including a bicycle occupant) through the warning unit 400 . The primary warning may be performed by displaying the corresponding information on the display. After the first stage of emergency braking, if the driver's will is detected in the form of braking, acceleration, steering, etc., emergency braking is released. If it is determined that the driver has no will, the first stage of emergency braking is continuously performed (210, 212) ).

회피 조향을 고려해 가속은 조향과 함께 발생한 경우에 운전자 의지로 파악하는 것이 바람직하다. 제동은 제동부 페달에 설치된 센서에서의 신호 발생 여부로 판단하고, 가속은 가속 페달에 설치된 센서에서의 신호 발생 여부로 판단할 수 있다. 조향은 조향축에 설치된 센서에서의 신호 발생 여부로 판단할 수 있다. Considering avoidance steering, it is desirable to grasp the driver's will when acceleration occurs along with steering. Braking may be determined by whether a signal is generated from a sensor installed in the brake pedal, and acceleration may be determined by whether a signal is generated from a sensor installed in the accelerator pedal. Steering can be determined by whether a signal is generated from a sensor installed on the steering shaft.

긴급제동 제어부(300)는 TTC가 T2 이하이고 T3보다 크면 긴급제동 제2 단계 수행을 위한 제어신호를 생성한다(214, 216). 긴급제동 제2 단계에서는 예를 들어, 경고부(400)에서 운전자 또는 보행자에게 2차 경고를 수행하고 제동부에서 제동면 바이어싱을 수행한다. 2차 경고는 구체적으로 디스플레이를 이용한 깜빡임, 경고음 생성 등을 통해 수행될 수 있다. 긴급제동 제2 단계 수행 후에 제동, 가속, 조향 등의 형태로 운전자 의지가 파악되면 긴급제동을 해제하고, 운전자 의지가 없는 것으로 파악되면 긴급제동 제2 단계를 계속해서 수행한다(218, 212).When the TTC is less than or equal to T2 and greater than T3, the emergency braking controller 300 generates a control signal for performing the second emergency braking step (214, 216). In the second step of emergency braking, for example, the warning unit 400 performs a secondary warning to the driver or pedestrian, and the braking unit performs braking surface biasing. The secondary warning may be specifically performed by blinking using a display, generating a warning sound, and the like. After the second step of emergency braking is performed, if the driver's will in the form of braking, acceleration, steering, etc. is detected, emergency braking is released.

보행자에게 과도한 경고를 하지 않기 위해 2차 경고에서만 운전자 및 보행자의 모두에게 경고하고, 1차 경고에서는 운전자에게만 경고할 수 있다. In order not to give excessive warning to pedestrians, both the driver and pedestrians are warned only at the secondary warning, and only the driver can be warned at the primary warning.

긴급제동 제어부(300)는 TTC가 T3 이하이고 T4보다 크면 긴급제동 제3 단계 수행을 위한 제어신호를 생성한다(220, 222). 긴급제동 제3 단계에서는 예를 들어, 제동부에서 부분 제동을 수행한다. 긴급제동 제3 단계 수행 후에 제동, 가속, 조향 등의 형태로 운전자 의지가 파악되면 긴급제동을 해제하고, 운전자 의지가 없는 것으로 파악되면 긴급제동 제3 단계를 계속해서 수행한다(224, 212).When the TTC is less than or equal to T3 and greater than T4, the emergency braking control unit 300 generates a control signal for performing the third emergency braking step (220, 222). In the third step of emergency braking, for example, the braking unit performs partial braking. After performing the third step of emergency braking, if the driver's will in the form of braking, acceleration, steering, etc. is detected, emergency braking is released.

긴급제동 제어부(300)는 TTC가 T4 이하이면 긴급제동 제4 단계 수행을 위한 제어신호를 생성한다(220, 224). 긴급제동 제4 단계에서는 예를 들어, 제동부에서 완전 제동을 수행한다. 긴급제동 제4 단계에서는 운전자 의지를 표시하는 신호를 수신하더라도 긴급제동을 해제하지 않는다. 즉, 긴급제동 제4 단계에서는 운전자 의지를 반영하지 않는다.When the TTC is less than or equal to T4, the emergency braking control unit 300 generates a control signal for performing the fourth emergency braking step (220, 224). In the fourth step of emergency braking, for example, the braking unit performs complete braking. In the fourth step of emergency braking, emergency braking is not released even when a signal indicating the driver's will is received. That is, the driver's will is not reflected in the fourth stage of emergency braking.

도 3은 본 발명의 다른 실시예에 따른 긴급제동 제어 시스템의 긴급제동 제어부 구성을 나타낸 도면이다. 도 3에 도시된 바와 같이, 이를 위해 긴급제동 제어부(300)는 상황별 운전자 제동 패턴을 학습하는 제동 패턴모듈(310)을 포함한다. 제동 패턴모듈(310)은 학습부(312), 제동거리 유지부(314), 전방 상황별 제동부(316), 인식결과 데이터베이스(318)를 포함한다. 제동 패턴모듈(310)은 상황별 운전자 제동 패턴을 학습하여 운전자 의지를 제동 전략에 반영함으로써, 불필요한 긴급제동을 방지할 수 있다.3 is a diagram illustrating the configuration of an emergency braking control unit of an emergency braking control system according to another exemplary embodiment of the present invention. As shown in FIG. 3 , for this purpose, the emergency braking control unit 300 includes a braking pattern module 310 that learns a driver braking pattern for each situation. The braking pattern module 310 includes a learning unit 312 , a braking distance maintaining unit 314 , a braking unit for each forward situation 316 , and a recognition result database 318 . The braking pattern module 310 may prevent unnecessary emergency braking by learning the driver's braking pattern for each situation and reflecting the driver's will in the braking strategy.

상술하면, 학습부(312)는 사전에 차량의 크기와 생김새를 비롯하여 인식부의 인식 결과에 따라 거리, 각도, 제동부 등의 운전자의 제동 패턴을 인식결과 데이터베이스(318)로 저장한다. 제동거리 유지부(314)는 차간 거리가 가까운 상황에서는 전방의 차량이 급하게 감속할 수 있어 차간 거리에 제동거리를 갖도록 전방 차량과의 거리를 유지하도록 한다. 전방 상황별 제동부(316)는 전방 차량의 각도가 틀어지거나 교차되는 상황인 경우, 운전자의 제동 패턴에 따라 전방 상황별로 제동하도록 한다.In detail, the learning unit 312 stores the driver's braking patterns such as distance, angle, and braking unit according to the recognition result of the recognition unit as well as the size and shape of the vehicle in advance in the recognition result database 318 . The braking distance maintaining unit 314 maintains a distance from the vehicle in front so that the vehicle in front can decelerate rapidly in a situation where the inter-vehicle distance is close, so that the vehicle in front has a braking distance in the inter-vehicle distance. The brake unit 316 for each forward situation brakes for each forward situation according to the driver's braking pattern when the angle of the vehicle in front is twisted or crossed.

본 실시예에 따른 전방 상황별 제동부(316)는 전방의 대상물이 정지, 등속 운전, 등감속도 운전 상황에 따라 적합한 TTC 기준으로 제어하도록 상황별 제동을 수행한다. 이러한 전방 상황별 제동부(316)는 각 상황에 따라 CCRs/CCRm/CCRb의 3가지가 있다. The braking unit 316 for each forward situation according to the present embodiment performs braking for each situation so that the front object is controlled according to a suitable TTC standard according to the stopping, constant speed driving, and constant deceleration driving situations. The braking unit 316 for each forward situation has three types of CCRs/CCRm/CCRb according to each situation.

예를 들어 전방 차량 상태에 따라, CCRs는 전방의 Target Vehicle이 정지해있는 상황에서 적합한 TTC 기준으로 제어하도록 하고, CCRm은 전방의 Target Vehicle이 등속 운전하고 있는 상황에서 적합한 TTC 기준으로 제어하도록 한다. 마지막으로 CCRb는 전방의 Target Vehicle이 등감속도 운전을 하고 있는 상황에 적합한 TTC 기준으로 제어하도록 상황별 제동을 수행한다. For example, depending on the state of the vehicle in front, CCRs are controlled based on a suitable TTC standard when the target vehicle in front is stationary, and CCRm is controlled based on the appropriate TTC standard when the target vehicle in front is driving at constant speed. Finally, the CCRb performs situation-specific braking so that the target vehicle in front is controlled according to the TTC standard suitable for the situation in which the vehicle is driving at constant deceleration.

도 4는 본 발명의 일 실시예에 따른 긴급제동 제어 시스템의 긴급제동 제어를 설명하기 위한 도면이다. 도 4에 도시된 바와 같이, 자차 차선을 기준으로 하여 인접 차선의 차량과의 상대거리, 상대속도를 이용하여 차선별로 TTC를 산출하되, 차선을 기준으로 위험도가 높은 차선의 차량에 대한 TTC를 우선 순위로 하여 단계별 경고를 수행한다. 예를 들면, TTC_01 부터 TTC_10까지 경고 표시를 한다. 이때, 가장 우선 순위가 높은 즉, 자차 차선을 기준으로 인접하는 차선으로부터 넘어오는 차량을 TTC_01로 표시하고, 앞서 기술한 긴급제동 제1 내지 제4 단계까지 임계값(T1, T2, T3, T4) 도달수준에 따라 긴급제동 상황 판단을 수행한다. 도 4에서는 자차 차선을 기준으로 차선을 넘어오는 인접차선을 우선 순위로 TTC_01로 추적하여 인식하면서 임계값 도달수준에 따라 긴급제동 상황으로 제어할 수 있다. 여기에 인접차선이지만 TTC_03으로 설정한 차량이 자차가 위치하고 있는 차선으로 넘어오는 경우 TTC_01에 해당하는 차량과의 상대속도, 상대거리를 비교하여 우선순위를 재설정하여 긴급제동 단계를 수행할 수도 있다. 4 is a diagram for explaining emergency braking control of an emergency braking control system according to an embodiment of the present invention. As shown in FIG. 4 , TTC is calculated for each lane using the relative distance and relative speed with the vehicle in the adjacent lane based on the own lane, but the TTC for the vehicle in the high-risk lane based on the lane is prioritized Perform step-by-step warnings by ranking. For example, a warning is displayed from TTC_01 to TTC_10. At this time, the vehicle having the highest priority, i.e., crossing from the adjacent lane with respect to the own vehicle lane, is displayed as TTC_01, and the threshold values T1, T2, T3, T4 until the first to fourth stages of emergency braking described above. The emergency braking situation is judged according to the level of arrival. In FIG. 4 , an emergency braking situation can be controlled according to the level of reaching a threshold while tracking and recognizing an adjacent lane crossing the lane with priority as TTC_01 in FIG. 4 . If the vehicle set to TTC_03 is located in the adjacent lane but the vehicle is located in the lane where the host vehicle is located, the emergency braking step can be performed by comparing the relative speed and distance with the vehicle corresponding to TTC_01 and resetting the priority.

이러한 상황별 제동을 수행하는데 있어 인식결과 데이터베이스(318)의 운전자 제동 패턴(사전에 차량의 크기와 생김새를 비롯하여 인식부의 인식결과에 따라 거리, 각도, 제동부 등의 운전자의 제동 패턴)을 토대로 TTC의 차간 거리와 운전자의 제동 패턴을 고려하여 경고를 생성함으로써, 운전자의 의지를 제동 전략에 반영하여 불필요한 긴급제동을 방지하는 효과가 있다.In performing the braking for each situation, the TTC based on the driver's braking pattern of the recognition result database 318 (the driver's braking pattern such as distance, angle, and braking unit according to the recognition result of the recognition unit as well as the size and shape of the vehicle in advance) By generating a warning in consideration of the inter-vehicle distance and the driver's braking pattern, the driver's will is reflected in the braking strategy to prevent unnecessary emergency braking.

이상에서 설명한 본 발명은 전술한 실시예 및 첨부된 도면에 의해 한정되는 것이 아니고, 본 발명의 기술적 사상을 벗어나지 않는 범위 내에서 여러 가지 치환, 변형 및 변경이 가능함은 당업자에게 명백할 것이다.The present invention described above is not limited by the above-described embodiments and the accompanying drawings, and it will be apparent to those skilled in the art that various substitutions, modifications and changes are possible without departing from the technical spirit of the present invention.

100 : 인식부
200 : 충돌시간 산출부
300 : 긴급제동 제어부
400 : 경고부
500 : 제동부
310 : 제동 패턴모듈
312 : 학습부
314 : 제동거리 유지부
316 : 전방 상황별 제동부
318 : 인식결과 데이터베이스100: recognition unit
200: collision time calculation unit
300: emergency braking control unit
400: warning part
500: brake
310: braking pattern module
312: study department
314: braking distance maintaining part
316: brake for each forward situation
318: recognition result database

Claims (4)

자동차의 제동부에 긴급제동 제어를 수행하는 시스템에 있어서,
전방의 장애물을 인식하는 인식부;
상기 인식부에서 인식한 결과를 토대로 상기 장애물과의 충돌시간을 산출하는 충돌시간 산출부;
상기 충돌시간에 따라 경고 표시를 수행하는 경고부; 및
상기 충돌시간에 따라 단계적으로 상기 경고부 및 상기 제동부를 제어하는 긴급제동 제어부를
포함하는 것을 특징으로 하는 긴급제동 제어 시스템.A system for performing emergency braking control in a braking unit of a vehicle, the system comprising:
Recognition unit for recognizing obstacles in front;
a collision time calculation unit for calculating a collision time with the obstacle based on the result recognized by the recognition unit;
a warning unit configured to display a warning according to the collision time; and
an emergency braking control unit for controlling the warning unit and the braking unit in stages according to the collision time;
Emergency braking control system comprising a. 제1항에 있어서,
상기 긴급제동 제어부는 상기 충돌시간에 따라 상기 경고부를 통해 디스플레이 표시를 수행하는 제1 단계와, 디스플레이 표시 및 경고음 생성을 수행하고 제동면 바이어싱을 수행하는 제2 단계와, 부분 제동을 수행하는 제3 단계와, 완전 제동을 수행하는 제4 단계를 수행하는 것을 특징으로 하는 긴급제동 제어 시스템.According to claim 1,
The emergency braking control unit includes a first step of displaying a display through the warning unit according to the collision time, a second step of displaying a display and generating a warning sound and performing braking surface biasing, and a second step of performing partial braking. The emergency braking control system, characterized in that the third step and the fourth step of performing complete braking are performed. 자동차의 제동부에 긴급제동 제어를 수행하는 방법에 있어서,
전방의 장애물을 인식하는 과정;
상기 인식 과정에서 인식한 결과를 토대로 상기 장애물과의 충돌시간을 산출하는 충돌시간 산출 과정;
상기 충돌시간에 따라 경고부에서 경고 표시를 수행하는 경고 과정 ; 및
상기 충돌시간에 따라 단계적으로 경고부 및 제동부를 제어하는 전자제어 제동 과정을
포함하는 것을 특징으로 하는 긴급제동 제어 방법.A method for performing emergency braking control in a braking unit of a vehicle, the method comprising:
the process of recognizing obstacles ahead;
a collision time calculation process of calculating a collision time with the obstacle based on a result recognized in the recognition process;
a warning process of displaying a warning in the warning unit according to the collision time; and
The electronically controlled braking process of controlling the warning unit and the brake unit step by step according to the collision time
Emergency braking control method comprising the. 제3항에 있어서,
상기 전자제어 제동 과정은 상기 충돌시간에 따라 상기 경고부를 통해 디스플레이 표시를 수행하는 제1 단계와, 디스플레이 표시 및 경고음 생성을 수행하고 제동면 바이어싱을 수행하는 제2 단계와, 부분 제동을 수행하는 제3 단계와, 완전 제동을 수행하는 제4 단계를 수행하는 것을 특징으로 하는 긴급제동 제어 방법.4. The method of claim 3,
The electronically controlled braking process includes a first step of displaying a display through the warning unit according to the collision time, a second step of displaying a display and generating a warning sound and performing braking surface biasing, and partial braking. An emergency braking control method comprising performing a third step and a fourth step of performing complete braking.
KR1020200158837A 2020-11-24 2020-11-24 System for Emergency Braking and Method therefor KR20220071559A (en)

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