KR20220165293A - Method and Apparatus for Controlling Collision of Vehicle - Google Patents

Abstract

Disclosed are a method and a device for controlling a collision of a vehicle. According to one embodiment of the present disclosure, the device comprises: an identification unit identifying lane change intention of the other vehicle inside a front adjacent lane to enter the lane of an own vehicle; an obtaining unit obtaining a position, speed, angle information, and length information of the other vehicle; an estimation unit estimating a predicted occupation area of the other vehicle based on the position, the speed, the angle information, and the length information of the other vehicle; and an output unit outputting a collision risk warning with respect to the other vehicle based on the predicted occupation area.

Description

Vehicle collision control method and apparatus {Method and Apparatus for Controlling Collision of Vehicle}

The present disclosure relates to a vehicle collision control method and apparatus, and more particularly, to a collision control method and apparatus for preventing a vehicle collision by estimating an expected occupancy area when a long vehicle enters the host vehicle's lane from an adjacent lane ahead. .

The content described in this section merely provides background information for the present disclosure and does not constitute prior art.

Development of a Driving Assist System (DAS) to ensure driver safety and provide driving convenience is accelerating. A driving assistance system is a system that assists a vehicle to drive safely and conveniently by performing vehicle control such as steering control, braking, and acceleration/deceleration of the vehicle using sensor data recognized by sensors such as cameras and radars.

As one of these DASs, a collision control device that detects another vehicle running in front of the vehicle and controls the vehicle according to driving conditions between the vehicle and the other vehicle to prevent a collision between the vehicle and the other vehicle is applied to the vehicle.

In general, a collision control apparatus obtains information about a distance to a vehicle in front and a relative speed of the vehicle in front using a sensor mounted on a vehicle, and the vehicle and the vehicle in front are obtained according to the distance to the vehicle in front and the relative speed of the vehicle in front. If the expected time to collision (TTC), which is the time required for the collision, is within a certain time, a collision between vehicles is prevented in advance by controlling the speed or direction of the vehicle.

For example, the collision control device may set an area in front of the vehicle and, when another vehicle enters the set area, control the speed or direction of the vehicle based on the TTC with the other vehicle.

However, when another long vehicle, such as a bus, large truck, or truck, enters the own vehicle's lane from an adjacent lane, a difference occurs between the entry start point and the entry completion point.

Specifically, since most vehicles use the front wheels to control direction, the front side of another vehicle enters before the rear side when changing lanes.

In particular, as the length of the front and back of the other vehicle is longer, the difference between the entry point of the front side and the entry point of the rear side of the other vehicle is greater.

For example, since the body of a large vehicle composed of a tractor and a trailer is longer than a passenger car and has a structure in which the front and rear are distinguished, there is a large difference between the entry point of the tractor and the entry point of the trailer.

At this time, when the collision control device determines whether another vehicle enters an adjacent lane based on the lane of the lane in which the vehicle is driving, the collision control device calculates the TTC for the front side of the other vehicle and Perform avoidance control.

Conventional collision control apparatuses have a problem in that they do not completely avoid a collision caused by the rear or side of another vehicle because they do not consider the area and time point of entering the lane on the rear side of another vehicle.

A collision control method and apparatus according to an embodiment estimates an expected occupancy area and an expected occupancy time point based on angle information and length information of another vehicle about to enter a driving lane from a forward adjacent lane, thereby discriminating against the side or rear of another vehicle. can warn or prevent a collision in advance.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

According to an embodiment of the present disclosure, the step of identifying a lane change intention for another vehicle to enter the vehicle's lane in a forward adjacent lane; obtaining location, speed, angle information, and length information of the other vehicle; estimating an expected occupied area of the other vehicle based on the location, the speed, the angle information, and the length information of the other vehicle; and outputting a collision risk warning with another vehicle based on the predicted occupied area.

According to an embodiment of the present disclosure, an identification unit for identifying a lane change intention of another vehicle entering the vehicle's lane in an adjacent lane ahead; an acquisition unit for obtaining location, speed, angle information, and length information of the other vehicle; an estimation unit estimating an expected occupied area of the other vehicle based on the location, the speed, the angle information, and the length information of the other vehicle; and an output unit configured to output a warning of a risk of collision with another vehicle based on the expected occupied area.

According to an embodiment, a collision control method and apparatus estimate an expected occupancy area and an expected occupancy time based on angle information and length information of another vehicle about to enter a driving lane from a front adjacent lane, thereby estimating the side or rear of another vehicle. It has the effect of warning or preventing a collision in advance.

1 is a configuration diagram illustrating components of a collision control device for a vehicle according to an embodiment of the present disclosure.
2A, 2B, 2C, and 2D are views illustrating a vehicle collision control method according to an embodiment of the present disclosure.
3 is a diagram illustrating an example of adjusting an estimated occupied area according to an embodiment of the present disclosure.
4 is a flowchart illustrating a method for controlling collision of a vehicle according to an embodiment of the present disclosure.
5 is a flowchart illustrating a method for controlling collision of a vehicle according to an embodiment of the present disclosure.

Hereinafter, some embodiments of the present disclosure will be described in detail through exemplary drawings. In adding reference numerals to components of each drawing, it should be noted that the same components have the same numerals as much as possible, even if they are displayed on different drawings. In addition, in describing the present disclosure, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present disclosure, the detailed description will be omitted.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the corresponding component is not limited by the term. Throughout the specification, when a part 'includes' or 'includes' a certain component, it means that it may further include other components without excluding other components unless otherwise stated. . In addition, terms such as '~unit' and 'module' described in the specification refer to a unit that processes at least one function or operation, and may be implemented by hardware, software, or a combination of hardware and software.

1 is a configuration diagram illustrating components of a collision control device for a vehicle according to an embodiment of the present disclosure.

Referring to FIG. 1 , the vehicle collision control device 10 includes a communication unit 100, a sensor unit 110, an acquisition unit 120, an identification unit 130, an estimation unit 140, an adjustment unit 150, an output It includes a unit 160 and a control unit 170. The collision control device 10 is mounted on a vehicle.

The communication unit 100 performs wireless communication with external devices such as other vehicles, base stations, and roadside devices.

The communication unit 100 may receive information about another vehicle from another vehicle or transmit information about the vehicle to another vehicle.

Information about another vehicle includes location, speed, angle information, and length information of another vehicle.

The information about the other vehicle may further include one or more of the other vehicle's width, tread, heading angle, path history, predicted path, acceleration information, vehicle height, braking system status, and indicator lamp status. The information about other vehicles may further include information about types of other vehicles such as buses, tractors, towing vehicles, and cargo trucks.

The communication unit 100 includes a vehicular ad hoc network (VANET), wireless access in vehicular environments (WAVE), dedicated short range communication (DSRC), communication access in land mobile (CALM), vehicle-to-everything (V2X), V2V ( Communication methods such as Vehicle-to-Vehicle (V2I), Vehicle-to-Infra (V2I), Vehicle-to-Network (V2N), and C-V2X may be used.

The communication unit 100 may be implemented with an antenna and a driving circuit.

The sensor unit 110 collects information about other vehicles driving around the vehicle.

The sensor unit 110 may collect the same information as information about other vehicles collected by the communication unit 100 according to the type of sensor.

The sensor unit 110 mainly uses a camera, but may collect information about other vehicles using a radar, lidar, or ultrasonic sensor.

For example, the sensor unit 110 may collect a front image of the vehicle using a camera or may collect the position and speed of another vehicle using a radar.

For vehicle control, the sensor unit 110 includes a wheel speed sensor, an accelerator level sensor, a steering angle sensor, a yaw rate sensor, and a gyroscope sensor. One or more may be used.

The acquisition unit 120 obtains information about the location, speed, angle, and length of another vehicle through the communication unit 100 or the sensor unit 110 . Furthermore, the acquisition unit 120 may receive weather information through the communication unit 100 or the sensor unit 110 .

As an example, the position and speed of another vehicle may include a relative distance and relative speed to the vehicle.

As another example, the position of the other vehicle may include a vertical distance and a horizontal distance based on the traveling direction of the vehicle, and the speed of the other vehicle may include a longitudinal speed and a lateral speed based on the traveling direction of the vehicle.

The angle information includes one or more of a direction of another vehicle, a front wheel steering angle, and a steering wheel angle.

The length information is side length information of another vehicle, and includes at least one of the vehicle's overall length and wheel-base.

When another vehicle is composed of a tractor and a trailer, the length information includes the length of the tractor and the length of the trailer. When another vehicle is a towing vehicle that tows a towed vehicle, the length information includes the length of the towed vehicle and the towed vehicle.

The identification unit 130 identifies the intention of another vehicle entering the lane of the vehicle in the forward adjacent lane to change the lane.

According to an embodiment of the present invention, the identification unit 130 identifies the other vehicle's lane change intention based on the front wheel steering angle of the other vehicle.

The identification unit 130 may identify that the other vehicle has an intention to change lanes when the front wheel steering angle of the other vehicle is greater than a preset angle or the amount of change in the front wheel steering angle is greater than the preset value.

For example, when the steering angle of the front wheels of another vehicle driving in the front left lane turns to the right, the identification unit 130 may identify that the other vehicle has an intention to change lanes.

Conversely, when the steering angle of the front wheels of another vehicle driving in the front right lane is toward the left, the identification unit 130 may identify that the other vehicle has an intention to change lanes.

In addition to the front wheel steering angle, the identification unit 130 may identify another vehicle's lane change intention by using the direction or steering wheel angle of the other vehicle.

The estimator 140 estimates the expected occupied area of another vehicle based on the position, speed, angle information, and length information of the other vehicle.

The expected occupancy area means an area expected to be occupied by another vehicle after a certain time.

According to an embodiment of the present invention, when the other vehicle is a vehicle including a tractor and a trailer, the expected occupied area basically includes the expected occupied area by the trailer, and the expected occupied area by the tractor may further include.

As another example, when another vehicle is a towing vehicle that tows a towed vehicle, it basically includes an area expected to be occupied by the towed vehicle and may further include an area expected to be occupied by the towed vehicle.

Considering that the front side of the other vehicle enters the front lane first and the rear side of the other vehicle enters the lane late, the estimator 140 may estimate the expected occupied area by the rear side of the other vehicle.

The estimator 140 may estimate an expected occupancy time when another vehicle occupies the expected occupancy area based on the position, speed, angle information, and length information of the other vehicle.

According to an embodiment of the present invention, the estimator 140 may estimate an expected occupied area for each unit time.

According to an embodiment of the present invention, the estimator 140 may estimate the expected occupied area of another vehicle based on the location, angle information, and length information of the other vehicle without considering the speed of the other vehicle.

According to another embodiment of the present invention, the estimator 140 may estimate the expected occupied area according to the type of another vehicle.

The adjustment unit 150 adjusts the expected occupied area based on the speed of another vehicle or weather information.

According to an embodiment of the present invention, the controller 150 may widen the expected occupancy area as the lane change speed of the other vehicle increases, and narrow the expected occupancy area as the lane change speed of the other vehicle decreases.

The controller 150 adjusts the expected occupied area to secure a safe distance or expected Time To Collision (TTC) more leisurely as the speed of another vehicle increases.

For example, the controller 150 may widen the width of the expected occupied area as the lateral speed of another vehicle increases in the direction of the lane in which the vehicle is traveling.

As another example, the controller 150 may reduce the length of the expected occupied area as the longitudinal speed of another vehicle entering the lane in which the vehicle is driving increases.

According to an embodiment of the present invention, when the weather conditions are bad weather conditions such as rain, snow, fog, and yellow dust, the adjustment unit 150 may widen the expected occupied area.

Since information on other vehicles may be inaccurate as the weather conditions deteriorate, the controller 150 may increase the expected occupancy area to promote vehicle safety.

The output unit 160 outputs a collision risk warning with another vehicle to the occupant of the vehicle, the terminal of the occupant, other vehicles, or surrounding vehicles based on the expected occupied area.

Specifically, the output unit 160 outputs a collision risk warning when the distance between the vehicle and the expected occupied area is smaller than a preset distance or when the TTC between the vehicle and the expected occupied area is smaller than a preset value.

The output unit 160 may share an area expected to be occupied by another vehicle with a neighboring vehicle through the communication unit 100 .

The controller 170 controls overall operations of the communication unit 100, the sensor unit 110, the acquisition unit 120, the identification unit 130, the estimation unit 140, the adjustment unit 150, and the output unit 160, and , control the speed and steering of the vehicle.

According to an embodiment of the present invention, the controller 170 controls the vehicle to avoid a collision with another vehicle based on the expected occupied area.

The collision control apparatus 10 may prevent a collision due to a difference in entry time points between the front and rear vehicles of another vehicle by outputting a collision risk warning or performing collision avoidance control based on the expected occupied area of another vehicle.

2A, 2B, 2C, and 2D are views illustrating a vehicle collision control method according to an embodiment of the present disclosure.

Referring to FIGS. 2A, 2B, 2C, and 2D, a vehicle 200, another vehicle 210, a front wheel steering angle 212, an expected occupancy area 220, a second other vehicle 230, and a second expected An occupied area 240 is shown. The collision control device will be described as being mounted on the vehicle 200 .

Referring to FIG. 2A , another vehicle 210 is driving in the right lane in front of the vehicle 200 .

Since the front wheel steering angle 212 of another vehicle 210 driving in the front right lane of the vehicle 200 is directed to the left, the vehicle 200 is trying to enter the driving lane of the vehicle 200 when the other vehicle 210 is driving. It is identified that there is an intention to change the lane.

Referring to FIG. 2B , the vehicle 200 acquires location, speed, angle information, and length information of another vehicle 210 .

Referring to FIG. 2C , the vehicle 200 estimates an expected occupied area 220 based on information about the location, speed, angle, and length of another vehicle 210 .

At this time, the vehicle 200 may use one or more of the direction of the other vehicle 210, the front wheel steering angle, and the steering wheel angle as angle information.

Even if the front side of the other vehicle 210 enters the lane of the vehicle 200 first, the rear side of the other vehicle 210 has not yet entered the lane of the vehicle 200 .

Since the conventional collision control apparatus performs collision control based on the front side of another vehicle 210 entering the lane of the vehicle 200, it is difficult to avoid a collision caused by the rear side or side of the other vehicle 210. In particular, the longer the front and rear length of another vehicle 210, the higher the probability of collision by the rear or side.

The vehicle 200 according to an embodiment of the present invention estimates the expected occupied area 220 in order to avoid a collision with the rear or side of another vehicle 210 .

Thereafter, the vehicle 200 outputs a collision risk warning with another vehicle 210 based on the expected occupied area 220 or performs collision avoidance control.

The vehicle 200 can prevent a collision caused by the rear or side of another vehicle 210 by using the expected occupied area 220 .

Referring to FIG. 2D , another second vehicle 230 is driving in the left lane in front of the vehicle 200 .

The vehicle 200 identifies the intention to change the lane to enter the lane of the vehicle 200 according to the front wheel steering angle of the second other vehicle 230 .

Here, the second other vehicle 230 is a large vehicle composed of a tractor at the front and a trailer at the rear.

Since the second other vehicle 230 is divided into a tractor and a trailer, when changing lanes, the tractor enters the destination lane first and the trailer enters later.

Unlike the other vehicle 210 that is simply long, the second vehicle 230 is divided into a tractor and a trailer, so the difference in lane change time is greater than that of the other vehicle 210 .

Therefore, the vehicle 200 estimates the expected occupied area by the trailer of the second other vehicle 230 as the second expected occupied area 240 of the second other vehicle 230 .

The vehicle 200 outputs a collision risk warning or performs collision avoidance control based on the second expected occupied area 240 by the trailer, so that the vehicle 200 collides due to the difference in entry point of the tractor and trailer of the second other vehicle 230. can prevent

That is, the vehicle 200 can prevent a collision caused by the rear or side of the trailer.

3 is a diagram illustrating an example of adjusting an estimated occupied area according to an embodiment of the present disclosure.

Referring to FIG. 3 , a vehicle 300 , another vehicle 310 , and an expected occupied area 320 are shown.

According to another embodiment of the present invention, the vehicle 300 may adjust the expected occupied area 320 of the other vehicle 310 based on the speed of the other vehicle 310 .

As the speed at which another vehicle 310 enters the lane of the vehicle 300 increases, the expected occupancy area 320 may be widened.

For example, as the lateral speed for entering the lane of the vehicle 300 of the other vehicle 310 driving in the front right lane increases, the left side of the expected occupancy area 320 may be expanded.

As another example, the length of the expected occupancy area 320 may be adjusted based on the degree of dependence of other vehicles 310 .

According to another embodiment of the present invention, the vehicle 300 may adjust the expected occupied area 320 of another vehicle 310 based on weather information.

The vehicle 300 may expand the expected occupancy area when the weather conditions are bad weather conditions such as rain, snow, fog, and yellow dust.

4 is a flowchart illustrating a method for controlling collision of a vehicle according to an embodiment of the present disclosure.

Referring to FIG. 4 , the collision control apparatus identifies the intention of another vehicle to change lanes to enter the vehicle's lane in an adjacent lane in front (S400).

Specifically, the collision control device acquires the front wheel steering angle of the other vehicle, and identifies the intention to change lanes based on the front wheel steering angle of the other vehicle.

The collision control device obtains information on the location, speed, angle, and length of another vehicle (S402).

The angle information includes one or more of a direction of another vehicle, a front wheel steering angle, and a steering wheel angle. The length information is side length information of another vehicle, and includes at least one of the vehicle's overall length and wheelbase.

The collision control device estimates the expected occupied area of another vehicle based on the location, speed, angle information, and length information of the other vehicle (S404).

The collision control device may adjust the expected occupied area of another vehicle (S406).

Specifically, the collision control device adjusts the expected occupied area based on the speed of another vehicle or weather information.

The collision control device outputs a collision risk warning with another vehicle based on the expected occupied area (S408).

The collision control device controls the vehicle to avoid a collision with another vehicle based on the expected occupied area or shares the expected occupied area of another vehicle with neighboring vehicles through communication (S410).

5 is a flowchart illustrating a method for controlling collision of a vehicle according to an embodiment of the present disclosure.

Referring to FIG. 5 , the collision control device acquires information about another vehicle through communication or a sensor (S500).

Information about another vehicle includes location, speed, angle information, and length information of another vehicle. The information about other vehicles may further include information about types of other vehicles such as buses, tractors, towing vehicles, and cargo trucks.

The collision control device determines the other vehicle's lane change intention based on the angle information of the other vehicle (S502).

If it is determined that the other vehicle has no intention of changing lanes, the collision control device maintains the driving pattern of the vehicle (S504).

If it is determined that the other vehicle has an intention to change lanes, the collision control device identifies length information of the other vehicle (S506).

The collision control device determines whether another vehicle includes a trailer (S508).

That is, the collision control device determines whether the other vehicle is a large vehicle composed of a tractor and a trailer or a towing vehicle that tows another vehicle to be towed.

If the other vehicle does not include a trailer, the collision control device estimates an area expected to be occupied by all other vehicles (S512).

Conversely, when another vehicle includes a trailer, the collision control device estimates an area expected to be occupied by the trailer (S510).

The collision control device acquires weather information and reflects weights according to the weather information to the expected occupied area (S514).

The collision control system expands the expected occupancy area in adverse weather conditions.

The collision control device outputs a collision risk warning with another vehicle based on the expected occupied area (S516).

4 and 5 describe that steps S400 to S410 and steps S500 to S516 are sequentially executed, but this is merely an example of the technical idea of an embodiment of the present invention. In other words, those skilled in the art to which an embodiment of the present invention belongs may change and execute the order described in FIGS. 4 and 5 without departing from the essential characteristics of the embodiment of the present invention, or process S400 to process Since one or more processes of S410, process S500 to process S516 can be applied in parallel with various modifications and variations, FIGS. 4 and 5 are not limited to a time-series sequence.

Meanwhile, the processes shown in FIGS. 4 and 5 can be implemented as computer readable codes on a computer readable recording medium. A computer-readable recording medium includes all types of recording devices in which data that can be read by a computer system is stored. That is, these computer-readable recording media include non-transitory media such as ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage devices. In addition, the computer-readable recording medium may be distributed to computer systems connected through a network to store and execute computer-readable codes in a distributed manner.

In addition, components of the present invention may use an integrated circuit structure such as a memory, a processor, a logic circuit, a look-up table, and the like. These integrated circuit structures execute each of the functions described herein through the control of one or more microprocessors or other control devices. In addition, the components of the present invention may be specifically implemented by a program or part of code that includes one or more executable instructions for performing a specific logical function and is executed by one or more microprocessors or other control devices. In addition, the components of the present invention may include or be implemented by a central processing unit (CPU), a microprocessor, etc. that perform each function. In addition, components of the present invention may store instructions executed by one or more processors in one or more memories. That is, the acquisition unit, the identification unit, the estimation unit, the adjustment unit, the output unit, and the control unit may be implemented by a memory storing at least one command and at least one processor executing the command.

The above description is merely an example of the technical idea of the present embodiment, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present embodiment. Therefore, the present embodiments are not intended to limit the technical idea of the present embodiment, but to explain, and the scope of the technical idea of the present embodiment is not limited by these embodiments. The scope of protection of this embodiment should be construed according to the claims below, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of rights of this embodiment.

100: communication unit 110: sensor unit
120: acquisition unit 130: identification unit
140: estimation unit 150: adjustment unit
160: output unit 170: control unit

Claims (16)

identifying an intention of another vehicle entering the lane of the vehicle in an adjacent lane ahead;
obtaining location, speed, angle information, and length information of the other vehicle;
estimating an expected occupied area of the other vehicle based on the location, the speed, the angle information, and the length information of the other vehicle; and
Outputting a collision risk warning with the other vehicle based on the expected occupied area
Collision control method of a vehicle comprising a. According to claim 1,
The angle information is
Collision control method comprising at least one of the direction of the other vehicle, the front wheel steering angle and the steering wheel angle. According to claim 1,
The collision control method further comprising adjusting the expected occupied area based on the speed of the other vehicle. According to claim 1,
obtaining weather information through communication; and
Adjusting the expected occupied area based on the weather information
Collision control method further comprising a. According to claim 1,
In the step of identifying the intention to change the lane,
obtaining a front wheel steering angle of the other vehicle; and
Identifying the intention to change the lane based on the front wheel steering angle of the other vehicle
Collision control method comprising a. According to claim 1,
Controlling the vehicle to avoid a collision with the other vehicle based on the expected occupied area
Collision control method further comprising a. According to claim 1,
Sharing the expected occupied area of the other vehicle with neighboring vehicles through communication
Collision control method further comprising a. According to claim 1,
And when the other vehicle is a vehicle including a tractor and a trailer, the expected occupied area includes an expected occupied area by the trailer. an identification unit for identifying a lane change intention of another vehicle in an adjacent lane in front to enter the vehicle's lane;
an acquisition unit for obtaining location, speed, angle information, and length information of the other vehicle;
an estimation unit estimating an expected occupied area of the other vehicle based on the location, the speed, the angle information, and the length information of the other vehicle; and
An output unit for outputting a collision risk warning with another vehicle based on the expected occupied area
Collision control device of a vehicle comprising a. According to claim 9,
The angle information is
The collision control device comprising at least one of the direction of the other vehicle, a front wheel steering angle, and a steering wheel angle. According to claim 9,
The collision control device further comprising an adjustment unit configured to adjust the expected occupied area based on the speed of the other vehicle. According to claim 9,
The acquisition unit acquires weather information through communication,
The collision control device,
Adjustment unit for adjusting the expected occupied area based on the weather information
Collision control device further comprising a. According to claim 9,
The acquisition unit obtains a front wheel steering angle of the other vehicle,
wherein the identification unit identifies the intention to change the lane based on the front wheel steering angle of the other vehicle. According to claim 9,
A controller for controlling the vehicle to avoid a collision with the other vehicle based on the expected occupied area
Collision control device further comprising a. According to claim 9,
the output unit,
The collision control device of claim 1, wherein the predicted occupied area of the other vehicle is shared with neighboring vehicles through communication. According to claim 9,
And when the other vehicle is a vehicle including a tractor and a trailer, the expected occupied area includes an expected occupied area by the trailer.

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