KR20220145971A - Driver assistance apparatus and method thereof - Google Patents

Abstract

The present invention relates to a driver assistance system and a control method thereof. The driver assistance system according to one aspect comprises: a sensor unit which performs adaptive cruise control (ACC) by following a surrounding vehicle, is installed in the vehicle, has peripheral vision of the vehicle, and acquires surrounding data for following the surrounding vehicle; a communication unit receiving road data to identify a road type on a driving route of the vehicle; and a control unit including a processor which processes the surrounding data and the road data. The control unit deactivates the ACC when the road type of an area into which the vehicle has entered corresponds to a predetermined area, and controls speed of the vehicle based on the road type.

Description

DRIVER ASSISTANCE APPARATUS AND METHOD THEREOF

The disclosed invention relates to a driver assistance system, and more particularly, to a driver assistance system to which an adaptive cruise control (ACC) system using V2X information is applied and a control method thereof.

The Adaptive Cruise Control (ACC) system is a system that maintains the inter-vehicle distance from a target vehicle to a certain distance or more to drive semi-autonomously. to follow

At this time, the ACC system can cause serious safety problems when the target vehicle ahead is not detected, a detection error occurs, or the target vehicle has an anomalous movement. necessitated means.

One aspect of the disclosed invention is to provide a driver assistance system equipped with an ACC system using V2X information and a control method thereof.

A driver assistance system according to an aspect of the disclosed invention performs ACC (Adaptive Cruise Control) by following a surrounding vehicle, is installed in the vehicle, has a peripheral view of the vehicle, and acquires surrounding data for following the surrounding vehicle sensor unit; a communication unit configured to receive road data to determine a road type on the driving route of the vehicle; and a control unit including a processor for processing the surrounding data and the road data, wherein the control unit deactivates the ACC when the road type of the area into which the vehicle enters corresponds to a predetermined area, and based on the road type to perform speed control of the vehicle.

The communication unit may receive the location information of the surrounding vehicle and the road type using Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) communication.

The control unit may perform deceleration control so that the predetermined area is an area adjacent to a traffic light, and when a stop signal of the traffic light is detected, the vehicle stops at a stop line at the traffic light.

The controller may perform deceleration control so that the vehicle stops at the stop line at the traffic light when a surrounding vehicle is not detected in the front view of the vehicle.

When the predetermined area is a slow-moving section, the controller may perform acceleration control or deceleration control so that the speed of the vehicle reaches a speed limit of the slow-moving section.

When the predetermined area is a slow-moving section, the controller calculates an average speed of a plurality of surrounding vehicles traveling in the slow-down section, and performs acceleration control or deceleration control so that the speed of the vehicle reaches the average speed. .

When the predetermined area is an intersection, the controller may perform acceleration control or deceleration control so that the speed of the vehicle reaches a speed limit of the intersection.

When the predetermined area is an intersection, the controller may perform acceleration control or deceleration control based on location information and speed information of a plurality of surrounding vehicles obtained through V2V communication of the communication unit.

When the control unit enters the predetermined area and the following vehicle is not detected in the front view of the vehicle, the control unit performs acceleration control or Deceleration control can be performed.

The predetermined area may include a hill section, a sharp curve section, and a fog section.

A method of controlling a driver assistance system according to an aspect of the disclosed subject matter includes: performing adaptive cruise control (ACC) by following a surrounding vehicle, and acquiring surrounding data for following the surrounding vehicle in a peripheral view of the vehicle; receiving road data to determine a road type on a driving route of the vehicle; and inactivating the ACC when the road type of the area into which the vehicle enters corresponds to a predetermined area, and controlling the speed of the vehicle based on the road type.

Receiving the road data may include receiving location information of the surrounding vehicles and the road type using Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) communication.

The controlling of the speed of the vehicle may include performing deceleration control such that the predetermined area is an area adjacent to a traffic light, and when a stop signal of the traffic light is detected, the vehicle stops at a stop line at a traffic light.

The controlling of the speed of the vehicle may include performing deceleration control so that the vehicle stops at the stop line at the traffic light when a surrounding vehicle is not detected in the front view of the vehicle.

The controlling of the speed of the vehicle may include performing acceleration control or deceleration control so that the speed of the vehicle reaches a speed limit of the slow section when the predetermined area is a slow-moving section.

The controlling of the speed of the vehicle may include calculating an average speed of a plurality of surrounding vehicles traveling in the slow section if the predetermined area is a slow-moving section, and controlling or decelerating the acceleration so that the speed of the vehicle reaches the average speed. It may include the step of performing control.

The controlling of the speed of the vehicle may include, if the predetermined area is an intersection, performing acceleration control or deceleration control so that the speed of the vehicle reaches a speed limit of the intersection.

If the predetermined area is an intersection, the controlling the speed of the vehicle includes performing acceleration control or deceleration control based on location information and speed information of a plurality of surrounding vehicles obtained through V2V communication of the communication unit. can do.

In the controlling of the speed of the vehicle, when the vehicle enters the predetermined area and a nearby vehicle following is not detected in the front view of the vehicle, the location information and speed information of the surrounding vehicle obtained through the V2V communication of the communication unit It may include performing acceleration control or deceleration control based on the .

The predetermined area may include a hill section, a sharp curve section, and a fog section.

According to one aspect of the disclosed invention, an autonomous driving system capable of adapting to various driving environments without completely depending on a target vehicle may be implemented.

1 shows a configuration of a vehicle according to an embodiment.
2 is a control block diagram of a driver assistance system according to an exemplary embodiment.
3 illustrates a camera and radar included in a driver assistance system according to an exemplary embodiment.
4 is a flowchart of a method for controlling a driver assistance system according to an exemplary embodiment.
5 is a view for explaining a control process of a driver assistance system according to an embodiment in an area adjacent to a traffic light.
6 is a view for explaining a control process of a driver assistance system according to an exemplary embodiment in a slow speed section.
7 is a view for explaining a control process of a driver assistance system according to an exemplary embodiment at an intersection.
8 is a view for explaining a control process of a driver assistance system according to an exemplary embodiment in a hill section.
9 is a view for explaining a control process of a driver assistance system according to an exemplary embodiment in a sharp curve section.

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 a single component, It is also possible for one 'part, module, member, block' to include a plurality of components.

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

Also, when a part "includes" a certain component, it 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 exists between the two members.

Terms such as first, second, etc. are used to distinguish one component from another, 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 shows a configuration of a vehicle according to an embodiment.

As shown 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 the driver's will to accelerate through the 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 the 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 detected 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 the 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 may include 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), and Blind Spot Detection (BSD) 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, photographing the front of the vehicle 1 and recognizing other vehicles, pedestrians, cyclists, lanes, road signs, etc. can

The radar module 102 includes a radar 102a and a controller 102b, and can acquire the relative position, relative speed, etc. of objects (eg, other vehicles, pedestrians, cyclists, etc.) around the vehicle 1 . have.

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 illustrates a configuration of a driver assistance system according to an exemplary embodiment. 3 illustrates a camera and radar included in a driver assistance system according to an exemplary embodiment.

As shown in FIG. 2 , the vehicle 1 may include a braking system 32 , a steering system 42 , and a driver assistance system 100 .

The braking system 32 includes the electronic braking control module 31 (see FIG. 1 ) and the braking device 30 (see FIG. 1 ) described in conjunction with FIG. 1 , and the steering system 42 includes the electronic steering system 41 ( FIG. 1 ). 1) and a steering device 40 (refer to FIG. 1).

The driver assistance system 100 may include a front camera 110 , a front radar 120 , and a plurality of corner radars 130 .

The front camera 110 may have a field of view 110a facing the front of the vehicle 1 as shown in FIG. 3 . The front camera 110 may be installed, for example, on a front windshield of the vehicle 1 .

The front camera 110 may photograph the front of the vehicle 1 and obtain image data of the front of the vehicle 1 . The image data in front of the vehicle 1 may include location information about other vehicles or pedestrians or cyclists or lanes located in front of the vehicle 1 .

The front camera 110 may include a plurality of lenses and an image sensor. The image sensor may include a plurality of photodiodes that convert light into an electrical signal, and the plurality of photodiodes may be arranged in a two-dimensional matrix.

The front camera 110 may be electrically connected to the controller 140 . For example, the front camera 110 is connected to the control unit 140 through the vehicle communication network (NT), connected to the control unit 140 through a hard wire (hard wire), or a printed circuit board (Printed Circuit Board, PCB) may be connected to the controller 140 .

The front camera 110 may transmit image data of the front of the vehicle 1 to the controller 140 .

The front radar 120 may have a field of sensing 120a facing the front of the vehicle 1 as shown in FIG. 3 . The front radar 120 may be installed, for example, on a grille or a bumper of the vehicle 1 .

The front radar 120 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 the reflected wave reflected by an object. have. The front radar 120 may acquire front radar data from the transmitted radio wave transmitted by the transmitting antenna and the reflected wave received by the receiving antenna. The forward radar data may include distance information and speed degrees about other vehicles or pedestrians or cyclists located in front of the vehicle 1 . The forward radar 120 calculates the state distance to the object based on the phase difference (or time difference) between the transmitted wave and the reflected wave, and calculates the relative speed of the object based on the frequency difference between the transmitted wave and the reflected wave can do.

The front radar 120 may be connected to the control unit 140 through, for example, a vehicle communication network (NT) or a hard wire or a printed circuit board. The forward radar 120 may transmit forward radar data to the controller 140 .

The plurality of corner radars 130 include a first corner radar 131 installed on the front right side of the vehicle 1 , a second corner radar 132 installed on a front left side of the vehicle 1 , and the vehicle 1 . ) includes a third corner radar 133 installed on the rear right side of the vehicle, and a fourth corner radar 134 installed on the rear left side of the vehicle 1 .

The first corner radar 131 may have a detection field of view 131a toward the front right side of the vehicle 1 as shown in FIG. 3 . The front radar 120 may be installed, for example, on the right side of the front bumper of the vehicle 1 . The second corner radar 132 may have a detection field of view 132a facing the front left side of the vehicle 1 , and may be installed, for example, on the left side of the front bumper of the vehicle 1 . The third corner radar 133 may have a detection field of view 133a facing the rear right of the vehicle 1 , and may be installed, for example, on the right side of the rear bumper of the vehicle 1 . The fourth corner radar 134 may have a detection field of view 134a facing the rear left of the vehicle 1 , and may be installed, for example, on the left side of the rear bumper of the vehicle 1 .

Each of the first, second, third, and fourth corner radars 131 , 132 , 133 , and 134 may include a transmit antenna and a receive antenna. The first, second, third and fourth corner radars 131 , 132 , 133 and 134 acquire first corner radar data, second corner radar data, third corner radar data, and fourth corner radar data, respectively. can do. The first corner radar data may include distance information and speed degree about another vehicle or pedestrian or cyclist (hereinafter referred to as an “object”) located on the right front side of the vehicle 1 . The second corner radar data may include distance information and speed degree of an object located on the left front of the vehicle 1 . The third and fourth corner radar data may include distance information and speed information of objects located on the rear right side of the vehicle 1 and the rear left side of the vehicle 1 .

Each of the first, second, third and fourth corner radars 131 , 132 , 133 , 134 may be connected to the control unit 140 through, for example, a vehicle communication network (NT) or a hard wire or a printed circuit board. have. The first, second, third, and fourth corner radars 131 , 132 , 133 , and 134 may transmit first, second, third, and fourth corner radar data to the controller 140 , respectively.

The controller 140 is a controller 101b (refer to FIG. 1) of the camera module 101 (refer to FIG. 1) and/or a controller 102b (refer to FIG. 1) of the radar module 102 (refer to FIG. 1) and/or a separate integration It may include a controller.

The controller 140 includes a processor 141 and a memory 142 .

The processor 141 processes the front image data of the front camera 110, the front radar data of the front radar 120, and the corner radar data of the plurality of corner radars 130, and the braking system 32 and the steering system ( 42) can generate a braking signal and a steering signal for controlling the For example, the processor 141 may include an image signal processor that processes front image data of the front camera 110 and/or a digital signal processor that processes radar data of the radars 120 and 130 and/or a braking signal and steering It may include a micro control unit (MCU) that generates a signal.

The processor 141 detects objects in front of the vehicle 1 (eg, other vehicles, pedestrians, cyclists, etc.) based on the front image data of the front camera 110 and the front radar data of the front radar 120 . can do.

Specifically, the processor 141 may acquire location information (distance and direction) and speed information (relative speed) of objects in front of the vehicle 1 based on front radar data of the front radar 120 . The processor 141 determines location information (direction) and type information (eg, whether the object is another vehicle or a pedestrian, or a cyclist) of objects in front of the vehicle 1 based on the front image data of the front camera 110 . recognition, etc.). In addition, the processor 141 matches the objects detected by the front image data to the objects detected by the front radar data, and based on the matching result, type information, location information, and speed information of the front objects of the vehicle 1 can be obtained

The processor 141 may generate a braking signal and a steering signal based on type information, location information, and speed information of front objects.

For example, the processor 141 calculates a time to collision (TTC) between the vehicle 1 and the front object based on location information (distance) and speed information (relative speed) of the front objects, and , warn the driver of the collision or transmit a braking signal to the braking system 32 based on the result of comparison between the time to collision and a predetermined reference time. In response to a time to collision that is less than the first predetermined reference time, the processor 141 may cause to output a warning via audio and/or display. In response to the time to collision less than the second predetermined reference time, the processor 141 may transmit a pre-braking signal to the braking system 32 . In response to the time to collision less than the third predetermined reference time, the processor 141 may transmit an emergency braking signal to the braking system 32 . In this case, the second reference time is smaller than the first reference time, and the third reference time is smaller than the second reference time.

As another example, the processor 141 calculates a Distance to Collision (DTC) based on velocity information (relative velocity) of the front objects, and compares the distance to the collision and the distance to the front objects. may warn the driver of a collision or transmit a braking signal to the braking system 32 based on the

The processor 141 determines location information (distance and direction) and velocity of objects on the side (front right, front left, rear right, rear left) of the vehicle 1 based on the corner radar data of the plurality of corner radars 130 . Information (relative speed) can be obtained.

In the memory 142 , the processor 141 generates a program and/or data for processing image data, a program and/or data for processing the radar data, and the processor 141 generates a braking signal and/or a steering signal. may store programs and/or data for

The memory 142 temporarily stores image data received from the front camera 110 and/or radar data received from the radars 120 and 130 , and the processor 141 processes the image data and/or radar data Results can be temporarily remembered.

The memory 142 includes not only volatile memories such as S-RAM and D-RAM, but also flash memory, read-only memory (ROM), erasable programmable read-only memory (EPROM), etc. of non-volatile memory.

The communication unit 150 may receive other standard messages such as a speed limit of a road and a type of road (eg, a child protection zone, a highway, etc.) from an external facility using Vehicle to Infrastructure (V2I) communication.

Also, the communication unit 150 may receive driving information (position, speed, and acceleration) from another vehicle or transmit its own vehicle information to another vehicle using vehicle to infrastructure (V2V) communication. In particular, the vehicle 1 may provide identification information or driving information about its preceding vehicle to another vehicle as well as its own driving information.

The communication unit 150 receives road data to determine the type of road on which the vehicle 1 travels. The communication unit 150 receives road data from an external server (not shown) through wireless communication, or through a navigation device pre-installed in the vehicle 1 or a user terminal (eg, a smartphone) connected through short-distance communication. Road data can be received. Also, the communication unit 150 may receive road data including GPS information and a high-definition map (HD Map) and transmit it to the control unit 140 .

4 is a flowchart of a method for controlling a driver assistance system according to an exemplary embodiment.

The vehicle 1 acquires surrounding data for following the surrounding vehicle in the peripheral field of view of the vehicle 1 ( 401 ). The surrounding data includes motion information of surrounding vehicles obtained through the front camera 110 , the front radar 120 , and the plurality of corner radars 130 in order for the vehicle 1 to perform ACC, and the front camera 110 . ) includes the front image data acquired by

The vehicle 1 activates an adaptive cruise control (ACC) system ( 402 ), and controls the speed to maintain a predetermined distance from the detected surrounding vehicle. At this time, the vehicle 1 controls the speed according to the acceleration requested by the ACC.

During driving, the vehicle 1 receives road data to determine a road type on the driving path of the vehicle 1 ( 403 ). Road data corresponds to V2I communication information provided from an external facility, and includes other standard messages such as the speed limit of the road and the type of road (ex. child protection area, highway, etc.).

At this time, the vehicle 1 determines whether the road type of the area entered by the vehicle corresponds to the predetermined area (404), and if it corresponds to the predetermined area, changes the requested acceleration by the ACC (405), and the changed request Control the speed of the vehicle based on the acceleration (406). In addition, the vehicle 1 corresponds to a predetermined area, and after passing through the predetermined area, the vehicle 1 can control the speed according to the existing ACC required acceleration or control the speed according to the changed ACC required acceleration according to the driver's selection. have. In this regard, speed control for each specific situation will be described in detail with reference to FIGS. 5 to 9 .

If the road type of the area into which the vehicle enters is not a predetermined area, the vehicle 1 maintains the required acceleration by the ACC ( 407 ).

Meanwhile, in the control method described with reference to FIG. 4 , when the area into which the vehicle 1 enters corresponds to a predetermined area, the ACC is switched from activation to deactivation, and the speed of the vehicle 1 based on V2I communication or V2V communication The general process of controlling the Hereinafter, detailed speed control scenarios performed for various road types will be described in detail.

5 is a view for explaining a control process of a driver assistance system according to an embodiment in an area adjacent to a traffic light.

The controller 140 according to an exemplary embodiment controls the vehicle 1 to deactivate the ACC system when a predetermined area corresponds to an area adjacent to the traffic light L, and a stop signal of the traffic light L is detected. In this case, the communication unit 150 of the vehicle 1 receives the position of the traffic light L and the position of the stop line in the area into which the vehicle 1 enters from the external facility I. When the controller 140 detects a stop signal of a traffic light based on the V2I information provided from the communication unit 150 , the control unit 140 performs deceleration control so that the vehicle 1 stops at the stop line S of the traffic light.

In addition, the control unit 140 according to an embodiment controls the ACC system to be deactivated when the vehicle 1 enters an area adjacent to the traffic light L and a surrounding vehicle is not detected in the front view of the vehicle 1 and , the deceleration control is performed so that the vehicle stops at the traffic light stop line (S).

6 is a view for explaining a control process of a driver assistance system according to an exemplary embodiment in a slow speed section.

When the predetermined area corresponds to the slow-moving section, the controller 140 according to an embodiment may perform acceleration control or deceleration control so that the speed of the vehicle 1 reaches a speed limit of the slow-moving section. The communication unit 150 of the vehicle 1 may receive speed limit information of the corresponding slow section from the external facility I. At this time, the control unit 140 receives information about the speed limit of the slow section from the communication unit 150, and in response to detecting that the vehicle 1 has entered the slow section, the ACC system that follows the surrounding vehicles It deactivates and performs acceleration control or deceleration control to drive according to the speed limit of the slow section.

In addition, if the predetermined area is a slow speed section, the controller 140 according to an embodiment calculates an average speed of a plurality of surrounding vehicles traveling in the slow section, and the speed of the vehicle 1 is the average speed of the plurality of surrounding vehicles. Acceleration control or deceleration control can be performed to reach Referring to FIG. 6 , the vehicle 1 may receive speed information of the first surrounding vehicle 2 and the second surrounding vehicle 3 driving in the slow section. Specifically, the communication unit 150 receives the speed information of the first surrounding vehicle 2 and the speed information of the second surrounding vehicle 3 based on the V2V communication. In addition, the controller 140 may calculate an average speed between the first surrounding vehicle 2 and the second surrounding vehicle, and may perform acceleration control or deceleration control so that the vehicle 1 travels according to the calculated average speed. Here, it goes without saying that the average speed may be calculated based on a plurality of 3 or more surrounding vehicles, unlike FIG. 6 .

7 is a view for explaining a control process of a driver assistance system according to an exemplary embodiment at an intersection.

When the predetermined area corresponds to an intersection, the controller 140 according to an embodiment may perform acceleration control or deceleration control so that the speed of the vehicle 1 reaches a speed limit of the intersection. The communication unit 150 of the vehicle 1 may receive information about the speed limit of the corresponding intersection from the external facility I. At this time, the control unit 140 receives information about the speed limit of the intersection from the communication unit 150, and in response to detecting that the vehicle 1 has entered the slow section, deactivates the ACC system that follows the surrounding vehicles. and performs acceleration control or deceleration control to drive according to the speed limit of the slow section.

In addition, when the vehicle 1 enters the intersection, the control unit 140 controls the speed of the vehicle 1 to reach the speed limit of the intersection and, at the same time, performs steering control based on the direction indicator lamp and the lane of the intersection. can do.

In addition, when the predetermined area is an intersection, the controller 140 according to an embodiment performs acceleration control or deceleration control based on location information and speed information of a plurality of surrounding vehicles obtained through V2V communication of the communication unit 150 . can do.

Meanwhile, as described above, the controller 140 may perform ACC deactivation control according to road type information received using V2I communication, as well as ACC deactivation according to road topography. FIG. 8 is a diagram for explaining a process of controlling the driver assistance system according to an embodiment in a hill section, and FIG. 9 is a diagram for explaining a process of controlling the driver assistance system according to an embodiment in a sharp curve section.

As shown in FIG. 8 , the control unit 140 according to an embodiment controls the communication unit if the vehicle 1 enters the hill section and the following vehicle 2 is not detected in the front view of the vehicle 1 . Acceleration control or deceleration control may be performed based on location information and speed information of the surrounding vehicle 2 acquired through the V2V communication of 150 .

In addition, as shown in FIG. 9 , the control unit 140 according to an exemplary embodiment includes the vehicle 1 entering a sharp curve section, and the surrounding vehicle 2 following in the front view of the vehicle 1 is not detected. Otherwise, acceleration control or deceleration control may be performed based on the location information and speed information of the surrounding vehicle 2 acquired through the V2V communication of the communication unit 150 .

The above-described control process may be applied not only to a hill section or a sharp curve section, but also to a place such as a fog section in which the driver's view is obstructed.

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 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.

Claims (20)

A driver assistance system that performs adaptive cruise control (ACC) by following a surrounding vehicle, the driver assistance system comprising:
a sensor unit installed in a vehicle, having a peripheral view of the vehicle, and acquiring surrounding data for following the surrounding vehicle;
a communication unit configured to receive road data to determine a road type on the driving route of the vehicle; and
and a control unit including a processor for processing the surrounding data and the road data, wherein the control unit changes the required acceleration by the ACC when the road type of the area into which the vehicle enters corresponds to a predetermined area, and A driver assistance system that performs speed control of the vehicle based on a required acceleration. The method of claim 1,
The communication unit,
A driver assistance system for receiving the location information of the surrounding vehicle and the road type using Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) communication. The method of claim 1,
The control unit is
The predetermined area is an area adjacent to a traffic light, and when detecting a stop signal of the traffic light, the driver assistance system performs deceleration control so that the vehicle stops at a stop line at the traffic light. 4. The method of claim 3,
The control unit is
A driver assistance system that performs deceleration control so that the vehicle stops at the stop line at the traffic light when a surrounding vehicle is not detected in the front view of the vehicle. The method of claim 1,
The control unit is
If the predetermined area is a slow-moving section, the driver assistance system performs acceleration control or deceleration control so that the speed of the vehicle reaches a speed limit of the slow-speed section. The method of claim 1,
The control unit is
When the predetermined area is a slow-moving section, the driver assistance system calculates an average speed of a plurality of surrounding vehicles traveling in the slow-speed section, and performs acceleration control or deceleration control so that the speed of the vehicle reaches the average speed. The method of claim 1,
The control unit is
If the predetermined area is an intersection, the driver assistance system performs acceleration control or deceleration control so that the speed of the vehicle reaches a speed limit of the intersection. The method of claim 1,
The control unit is
When the predetermined area is an intersection, the driver assistance system performs acceleration control or deceleration control based on location information and speed information of a plurality of surrounding vehicles obtained through V2V communication of the communication unit. The method of claim 1,
The control unit is
When the vehicle enters the predetermined area and is not detected in the front view of the vehicle, acceleration control or deceleration control is performed based on the location information and speed information of the surrounding vehicle obtained through the V2V communication of the communication unit. Driver assistance systems that perform. 10. The method of claim 9,
The predetermined area includes a hill section, a sharp curve section, and a fog section. A method of controlling a driver assistance system that performs adaptive cruise control (ACC) by following a surrounding vehicle, the method comprising:
acquiring surrounding data for following the surrounding vehicle in the peripheral field of view of the vehicle;
receiving road data to determine a road type on a driving route of the vehicle; and
and changing the requested acceleration by the ACC when the road type of the area into which the vehicle enters corresponds to a predetermined area, and controlling the speed of the vehicle based on the changed requested acceleration. 12. The method of claim 11,
Receiving the road data includes:
A control method comprising the step of receiving the location information of the surrounding vehicle and the road type using Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) communication. 12. The method of claim 11,
The step of controlling the speed of the vehicle comprises:
and performing deceleration control so that the vehicle stops at a stop line at a traffic light when the predetermined area is an area adjacent to a traffic light, and detecting a stop signal of the traffic light. 14. The method of claim 13,
The step of controlling the speed of the vehicle comprises:
and performing deceleration control so that the vehicle stops at the stop line at the traffic light when a surrounding vehicle is not detected in the front view of the vehicle. 12. The method of claim 11,
The step of controlling the speed of the vehicle comprises:
and performing acceleration control or deceleration control so that the speed of the vehicle reaches a speed limit of the slow speed section when the predetermined area is a slow speed section. 12. The method of claim 11,
The step of controlling the speed of the vehicle comprises:
If the predetermined area is a slow-moving section, calculating an average speed of a plurality of surrounding vehicles traveling in the slow-moving section, and performing acceleration control or deceleration control so that the speed of the vehicle reaches the average speed. Way. 12. The method of claim 11,
The step of controlling the speed of the vehicle comprises:
and if the predetermined area is an intersection, performing acceleration control or deceleration control so that the speed of the vehicle reaches a speed limit of the intersection. 12. The method of claim 11,
The step of controlling the speed of the vehicle comprises:
and if the predetermined area is an intersection, performing acceleration control or deceleration control based on location information and speed information of a plurality of surrounding vehicles obtained through V2V communication of the communication unit. 12. The method of claim 11,
The step of controlling the speed of the vehicle comprises:
When the vehicle enters the predetermined area and is not detected in the front view of the vehicle, acceleration control or deceleration control is performed based on the location information and speed information of the surrounding vehicle obtained through the V2V communication of the communication unit. A control method comprising the step of performing. 20. The method of claim 19,
The predetermined area is a control method including a hill section, a sharp curve section, and a fog section.

Images