KR20230036631A - Driving assistance systems and operation method thereof - Google Patents

Abstract

According to various embodiments of the present invention, a driving assistance system comprises: one or more sensor modules configured to collect information related to a driving environment of a vehicle and a driving status of the vehicle; a braking apparatus configured to generate a braking force for the vehicle; and a control unit electrically connected to the one or more sensor modules and the braking apparatus. The control unit can be set to acquire control information on the braking apparatus through the one or more sensor modules, detect changes in the acceleration of the vehicle in accordance with the operation of the braking apparatus through the one or more sensor modules, operate the braking apparatus at a first point of time in case of emergency braking when the control information and the changes in the acceleration of the vehicle satisfy a first condition, and operate the braking apparatus at a second point of time different from the first point of time in case of the emergency braking when the control information and the changes in the acceleration of the vehicle satisfy a second condition. Therefore, emergency braking performance can be improved.

Description

Driving assistance system and its operation method {DRIVING ASSISTANCE SYSTEMS AND OPERATION METHOD THEREOF}

Various embodiments disclosed in this document relate to a driving assistance system, and more specifically, to a driving assistance system that adjusts an operating timing of a brake system in consideration of road surface conditions and an operation method thereof.

Recently, various driving assistance systems (eg, advanced driver assistance systems) are being developed for driver convenience and safety. For example, when a driving assistance system detects a risk of collision with an object (e.g., a preceding vehicle) located in front of a vehicle, an emergency braking system that prevents collision with the object by forcibly operating a braking device (emergency braking system) ) is applied to the vehicle.

The aforementioned driving assistance system may recognize an object around the vehicle through a sensor provided in the vehicle and calculate a time to collision for the recognized object. In addition, the driving assistance system generates a collision warning or forcibly operates (or activates) a braking device such as a brake if the driver does not take action to avoid collision until the expected collision time exceeds the critical time, Collision with objects can be prevented.

However, the performance of emergency braking may vary depending on the condition of the road surface. For example, when a braking device is operated on a road surface where a certain level of frictional force is expected, the braking distance of the vehicle is short and the braking of the vehicle can be completed before colliding with an object, but a road surface where a certain level of frictional force is not expected (e.g. : On a wet or icy road surface), even if the brake system is operated, the braking distance of the vehicle increases, and a collision with an object may occur before the vehicle braking is completed.

Accordingly, at least one example of various embodiments disclosed in this document is intended to provide a driving assistance system and an operating method thereof for improving emergency braking performance by adjusting the operation timing of a braking device in consideration of road surface conditions.

A driving assistance system according to various embodiments includes at least one sensor module configured to collect information related to a driving environment of a vehicle and a driving state of the vehicle, a braking device configured to generate a braking force for the vehicle, and the at least one sensor module. A sensor module and a control unit electrically connected to the braking device, wherein the control unit obtains control information about the braking device through the at least one sensor module and transmits information to the braking device through the at least one sensor module. A change in acceleration of the vehicle according to the operation is detected, and when the control information and the change in acceleration of the vehicle satisfy a first condition, the braking device is operated at a first time point during emergency braking, and the control information and the When the change in acceleration of the vehicle satisfies the second condition, the braking device may be set to operate at a second time point different from the first time point during the emergency braking.

According to various embodiments, the control unit determines a road surface condition based on the control information and a change in acceleration of the vehicle, and when it is determined that a predetermined level of frictional force with respect to the road surface is not expected, the first time point It may be set to activate the braking device at the second earlier point in time.

According to various embodiments, the driving assistance system further includes an output module, and the control unit operates the braking device at the second time point when the control information and the change in acceleration of the vehicle satisfy the second condition. It may be set to output notification information notifying that it is done through the output module.

According to various embodiments of the present disclosure, the control information may include at least one of a timing at which the brake pedal is pressed, an amount of pressing the brake pedal, and a pressing speed of the brake pedal.

According to various embodiments, the control unit checks a weather condition through the at least one sensor module, and when a specified weather condition is confirmed even if the control information and the change in acceleration of the vehicle satisfy the first condition, It may be set to operate the braking device at the second time point during the emergency braking.

According to various embodiments of the present disclosure, the control unit predicts precipitation through the at least one sensor module when the designated weather condition is confirmed, and adjusts an operation time point of the braking device in case of emergency braking based on the amount of precipitation. can be set.

According to various embodiments, the control unit may be set to acquire an image of the window of the vehicle and predict the amount of precipitation based on at least one of a size, distribution area, or number of raindrops included in the image. there is.

According to various embodiments of the present disclosure, the control unit may be configured to obtain an image of the front windshield of the vehicle and to operate a wiper before acquiring the image.

According to various embodiments, the control unit may be configured to correct at least one of a size, distribution area, or number of raindrops included in the image based on the moving speed of the vehicle.

An operating method of a driving assistance system according to various embodiments includes an operation of obtaining control information on a braking device through at least one sensor module, and a change in acceleration of a vehicle according to the operation of the braking device through the at least one sensor module. The operation of detecting the control information and the change in acceleration of the vehicle when the first condition is satisfied, the operation of operating the braking device at a first time point in case of emergency braking and the control information and the change in acceleration of the vehicle when the second When the condition is satisfied, an operation of operating the braking device at a second time point different from the first time point during the emergency braking may be included.

According to various embodiments of the present disclosure, the method of operating the driving assistance system may include an operation of determining a road surface condition based on the control information and a change in acceleration of the vehicle, and when it is determined that a certain level of frictional force with respect to the road surface is not expected. may include an operation of operating the braking device at the second time point earlier than the first time point.

According to various embodiments of the present disclosure, the method of operating the driving assistance system may include outputting notification information indicating that the braking device is operated at the second time point when the control information and the change in acceleration of the vehicle satisfy the second condition. Actions may be included.

According to various embodiments of the present disclosure, the control information may include at least one of a timing at which the brake pedal is pressed, an amount of pressing the brake pedal, and a pressing speed of the brake pedal.

According to various embodiments of the present disclosure, the operating method of the driving assistance system may include determining a weather condition through the at least one sensor module and a specified weather condition even if the control information and the change in acceleration of the vehicle satisfy the first condition. If it is confirmed, an operation of operating the braking device at the second time point may be included during the emergency braking.

According to various embodiments of the present disclosure, the operation method of the driving assistance system may include predicting precipitation through the at least one sensor module when the specified weather condition is confirmed, and performing emergency braking based on the precipitation using the braking device. It may include an operation to adjust the operating time of the.

According to various embodiments of the present disclosure, the operation method of the driving assistance system may determine the amount of precipitation based on at least one of an operation of acquiring an image of a window of the vehicle and a size, distribution area, or number of raindrops included in the image. It may include predictive actions.

According to various embodiments of the present disclosure, the method of operating the driving assistance system may include obtaining an image of the front windshield of the vehicle and operating a wiper before acquiring the image.

According to various embodiments, the operating method of the driving assistance system may include correcting at least one of a size, distribution area, or number of raindrops included in the image based on the moving speed of the vehicle.

A driving assistance system according to various embodiments disclosed in this document may improve emergency braking performance by adjusting an operating timing of a braking device based on a road surface condition.

The effects that can be obtained in this document are not limited to the effects mentioned above.

1 is a diagram for explaining a driving assistance system according to various embodiments.
2 is a block diagram illustrating a configuration of a driving assistance system according to various embodiments.
3A is a diagram for explaining a sensor module according to various embodiments, and FIG. 3B is a diagram for explaining an operation of adjusting a braking time point according to a road surface condition in a driving assistance system.
4 is a flowchart illustrating an emergency braking operation of a driving assistance system according to various embodiments of the present disclosure.
5 is a diagram for explaining an operation of adjusting an operating timing of a braking device in a driving assistance system according to various embodiments of the present disclosure.
6 is a flowchart illustrating an operation of adjusting an operating timing of a braking device based on weather conditions in a driving assistance system according to various embodiments of the present disclosure;
7 is a flowchart illustrating an operation of calculating an amount of precipitation in a driving assistance system according to various embodiments of the present disclosure.
8 is a diagram for explaining an operation of checking an area of rainwater through image analysis in a driving assistance system.
In connection with the description of the drawings, the same or similar reference numerals may be used for the same or similar elements.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to the 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 an embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function hinders understanding of the embodiment of the present invention, the detailed description will be omitted.

In describing the components of the embodiment 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. In addition, unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in this document, they should not be interpreted in an ideal or excessively formal meaning. don't

In addition, a vehicle mentioned in the following description may include a vehicle operated by a driver's boarding and manipulation and an autonomous vehicle having a self-driving function without driver's manipulation. In addition, in the following description, a car is described as an example of a vehicle, but the present invention is not limited thereto. For example, various embodiments below may be applied to various means of transportation such as ships, airplanes, motorcycles, or bicycles.

1 is a diagram for explaining a driving assistance system according to various embodiments.

Referring to FIG. 1 , the driving assistance system 100 according to various embodiments continuously monitors the driving environment and controls the driving of the vehicle 102 based on the monitoring result, thereby assisting the stable driving of the vehicle 102. can In this regard, the driving assistance system 100 uses at least one sensor, and the surrounding objects of the vehicle 102, such as surrounding vehicles, pedestrians, roads, or fixed facilities (eg, traffic lights, milestones, traffic signs, construction fences, etc.) can be detected.

According to various embodiments, the driving assistance system 100 uses at least one of a lidar sensor 110, a radar sensor 120, a camera sensor 130, and an ultrasonic sensor 140 as a sensor for recognizing a driving environment. can include However, this is only exemplary, and various embodiments are not limited thereto. For example, any sensor capable of collecting driving environment information and driving information around the vehicle 102 may be included as a configuration of the driving assistance system 100 .

According to an embodiment, the lidar sensor 110 may transmit a laser signal to the surroundings of the vehicle 102 and receive a signal reflected back by a corresponding object. For example, the lidar sensor 110 may be composed of a laser transmitter and a laser receiver, and has a predefined set distance, set vertical field of view and set horizontal field of view according to specifications. ) can be configured to detect objects within For example, the lidar sensor 110 may be installed on the front of the vehicle 102 and rotated by a motor, but the installation location, driving method, and number of installations are not limited thereto.

According to an embodiment, the radar sensor 120 may transmit electromagnetic waves to the surroundings of the vehicle 102 and receive a signal reflected back by a corresponding object. For example, the radar sensor 120 may include an electromagnetic wave transmitter and an electromagnetic wave receiver, and may be implemented in a pulse radar method or a continuous wave radar method. For example, the radar sensor 120 may include a front radar sensor 122 installed on the front of the vehicle 102 and a rear radar sensor 124 installed on the rear of the vehicle 102, but the installation location and installation The number is not limited thereto.

According to one embodiment, the camera sensor 130 may acquire images of the surroundings of the vehicle 102 . For example, the camera sensor 130 may acquire an image having a set distance, a set vertical angle of view, and a set horizontal angle of view range that are predefined according to specifications. For example, the camera sensors 130 may include a front camera sensor 132, a left rear camera sensor 134, and a right rear camera sensor 136 installed on the front, left side, and right side of the vehicle 102, respectively. However, the installation location and number of installations are not limited thereto.

According to an embodiment, the ultrasonic sensor 140 may include an ultrasonic transmitter and receiver. For example, the ultrasonic sensor 140 may be disposed at an appropriate location outside the vehicle 102 to detect objects located in front, rear, or to the side of the vehicle 102 . For example, the ultrasonic sensors 140 may include front ultrasonic sensors 142 and 144 disposed on the front left and right sides of the vehicle 102 and rear ultrasonic sensors 144 and 146 disposed on the rear left and right sides of the vehicle 102. However, the installation location and number of installations are not limited thereto.

According to various embodiments, the driving assistance system 100 may recognize at least one surrounding object by processing at least some of the information obtained through the aforementioned sensors 110, 120, 130, and 140 in a predetermined manner. there is. For example, the driving assistance system 100 may determine the location of the object, the distance to the object, the moving speed and direction of the object, and control the driving of the vehicle 102 based on at least a part of the determination result. .

According to an embodiment, the driving assistance system 100 may prevent a collision between a surrounding object and the vehicle 102 by controlling at least one of a steering device, an acceleration device, and a braking device. For example, the driving assistance system 100 calculates a time to collision with surrounding objects, and the driver does not take action to avoid collision until the time to collision is expected to exceed a threshold time. In this case, a collision warning may be issued to induce the driver to operate the brake system, or a collision with an object may be prevented by forcibly operating (or activating) the braking system.

2 is a block diagram illustrating a configuration of a driving assistance system according to various embodiments. 3A is a diagram for explaining a sensor module according to various embodiments, and FIG. 3B is a diagram for explaining an operation of adjusting a braking time point according to a road surface condition in a driving assistance system.

Referring to FIG. 2 , a driving assistance system 200 according to various embodiments includes a sensor module 220, a memory 230, an output module (or output device) 240, a manipulation device 250, and a control unit 210. may consist of However, this is only exemplary, and various embodiments are not limited thereto. For example, at least one of the aforementioned components may be omitted from the components of the driving assistance system 200 or one or more other components may be added as components of the driving assistance system 200 .

According to various embodiments, the sensor module 220 may include at least one sensor. For example, the sensor module 220 includes a first sensor module 222 configured to collect information related to the driving environment and a second sensor module 224 configured to collect information related to the driving state of the vehicle 102. can do.

According to an embodiment, the first sensor module 222 may include at least one of the sensors described above with reference to FIG. 1 . For example, the first sensor module 222 may be composed of at least one of the lidar sensor 110, the radar sensor 120, the camera sensor 130, or the ultrasonic sensor 140. The first sensor module 222 may collect information about objects such as surrounding vehicles, pedestrians, roads, or fixed facilities (eg, traffic lights, milestones, traffic signs, construction fences, etc.). However, although not mentioned in FIG. 1 , any sensor capable of collecting information related to the driving environment may constitute the first sensor module 222 .

According to one embodiment, the second sensor module 224 may include at least one sensor configured to collect driving information of the vehicle 102 . The driving information may be related to at least one of driving speed (or acceleration), driving distance, driving position, or driving direction. For example, the second sensor module 224 may include at least one of a vehicle speed sensor configured to collect driving speed of the vehicle 102, a steering angle sensor configured to collect steering angle information, and a positioning sensor configured to collect position information. can

According to another embodiment, additionally or alternatively, the second sensor module 224 may include at least one sensor configured to collect information related to a braking force applied to the vehicle 102 . For example, as shown in FIG. 3A , the second sensor module 224 may be configured to obtain pressure information applied to a braking input device (eg, the brake pedal 224) receiving a braking operation. For example, the pressure information may be associated with at least one of a timing of starting to press the brake pedal 224 , an amount of pressing the brake pedal 224 , and a pressing speed of the brake pedal 224 . However, this is only exemplary, and various embodiments are not limited thereto.

According to various embodiments, the memory 230 is included in at least one component (eg, the sensor module 220, the output module 240, the manipulation device 250, or the control unit 210) of the driving assistance system 200. It can store various data used by For example, memory 230 may include volatile memory and/or non-volatile memory. According to one embodiment, memory 230 may include programs, algorithms, routines, and/or instructions related to driving control of vehicle 102 .

According to various embodiments, the output module 240 may be configured to output information related to driving of the vehicle 102 . According to an embodiment, the output module 240 may include at least one of a display device, a sound output device (eg, a speaker), or a vibration output device. For example, the display device includes a liquid crystal display, a thin film transistor-liquid crystal display, an organic light-emitting diode, a flexible display, a three-dimensional display ( 3D display), a transparent display, a head-up display, a touch screen, and a cluster.

According to various embodiments, the manipulation device 250 may generate a control command related to driving of the vehicle 102 . For example, the manipulation device 250 may include at least one of a steering device 252 , an accelerator device 254 , and a brake device 256 .

According to one embodiment, steering device 252 may be configured to control the steering angle of vehicle 102 . For example, the steering device 252 may include a steering wheel, an actuator interlocked with the steering wheel, and a controller controlling the actuator.

According to one embodiment, accelerator device 254 may be configured to control acceleration of vehicle 102 . For example, the accelerator device 254 may include a throttle, an actuator interlocked with the throttle, and a controller controlling the actuator.

According to one embodiment, the braking device 256 may generate a braking force to reduce the speed of the vehicle 102 or to stop the vehicle 102 . For example, the braking device 256 uses a braking input device (eg, a brake pedal 224) that receives a braking operation from a driver, a brake drum coupled to a wheel, and a frictional force to brake the rotation of the brake drum. It may be composed of a brake shoe or the like configured. However, the configuration of the above-described manipulation device 250 is only exemplary, and various embodiments are not limited thereto.

According to various embodiments, the controller 210 may perform overall operations of the driving assistance system 200 . For example, the controller 210 may be a hardware device such as a processor or a central processing unit (CPU), or a program implemented by a processor.

According to various embodiments, the control unit 210 may be electrically connected to the sensor module 220, the memory 230, the output module 240, and the control unit 250 to control driving of the vehicle 102. .

According to an embodiment, the controller 210 may recognize objects around the vehicle 102 based on at least a portion of information collected through the sensor module 220 (eg, the first sensor module 222). . The surrounding objects may include at least one of surrounding vehicles, pedestrians, fixed facilities on the road (eg, traffic lights, milestones, traffic signs, construction fences, etc.), guide signs, or road markings. For example, at least some of the information collected through the sensor module 220 may be provided to the control unit 210 through a designated communication method (eg, controller area network (CAN) communication).

According to various embodiments, the controller 210 may control the driving of the vehicle 102 based on the recognition of surrounding objects. For example, the controller 210 may prevent a collision between the vehicle 102 and surrounding objects by controlling steering, acceleration, and braking of the vehicle 102 .

According to an embodiment, the controller 210 may forcibly operate the braking device 256 when a possibility of collision with a surrounding object (eg, a preceding vehicle in front) is detected. However, this is only exemplary, and various embodiments are not limited thereto. For example, the controller 210 may induce the driver to operate the braking device 256 by outputting a visual or audible collision warning prior to operating the braking device 256 .

In this regard, the control unit 210 calculates a time to collision with respect to the object based on the relative distance and relative speed to the surrounding object, and brakes before the expected collision time exceeds a predefined threshold time. Device 256 can be activated.

As described above, as the braking device 256 is operated before the expected collision time exceeds a predefined threshold time, a sufficient braking distance of the vehicle 102 can be secured, and as a result, the vehicle 102 is unable to interact with surrounding objects. collision can be avoided. The braking distance may be a distance traveled by the vehicle 102 from the time the braking starts (eg, when the braking device 256 is operated) to the time when the braking is completed (eg, the time when the braking device 256 is operated). .

However, the braking distance of the vehicle 102 may vary depending on the road surface condition, and as a result, even if the braking device 256 is normally operated before the expected collision time exceeds the critical time, the vehicle 102 may collide with a surrounding object. there is. For example, when the braking device 256 is operated on a road surface in the first state where a certain level of frictional force is expected, the braking distance of the vehicle 102 is short and braking of the vehicle 102 is completed before colliding with a surrounding object. can In contrast, even if the braking device 256 is normally operated on the road surface in the second state where a frictional force of less than a certain level is expected, the braking distance of the vehicle 102 increases and the vehicle 102 collides with a surrounding object before the braking of the vehicle 102 is completed. this may occur.

In this regard, the controller 210 according to various embodiments may determine (or adjust) an operating time (or braking time) of the braking device 256 in consideration of a road surface condition in a situation where emergency braking is required. . For example, as shown in 310 of FIG. 3B , while the vehicle 102 is driving in the first road surface condition (or the road surface in the first condition), the control unit 210 operates the braking device 256 at the first time point. (t) can be activated. As another example, as shown in 320 of FIG. 3B, while the vehicle 102 is driving in the second road surface state (or the road surface in the second state), the controller 210 determines the second time point t1 earlier than the first time point. Even if the braking distance increases by operating the braking device 256 at -k), a collision with the surrounding object 302 can be prevented.

According to an embodiment, as shown in Table 1 below, the driving assistance system 200 defines the operating time of the braking device 256 according to the driving speed of the vehicle 102 and the road surface in a table form to assist driving. It may be stored inside the system 200 (eg, the memory 230) or obtained through an external server.

Braking point on the road surface in the first state Braking point on the road surface in the second state 50km/h t1 t1-k 80km/h t2 t2-k 100km/h t3 t3-k

According to various embodiments of the present disclosure, the control unit 210 may use operation information of the braking device 256 and a change in acceleration of the vehicle 102 in determining the road surface condition. For example, the manipulation information may include pressure information on the brake pedal 224 , and acceleration of the vehicle 102 may decrease as the pressure information on the brake pedal increases.

However, the change in acceleration of the vehicle 102 by the braking device 256 may vary depending on the road surface condition. For example, when the brake device 256 is operated on the road surface in the first state, the acceleration of the vehicle 102 can be reduced to a certain level within the first time, but on the road surface in the second state, the brake device 256 When activated, a second time period longer than the first time period may be required to reduce the acceleration of the vehicle 102 to a certain level.

In this regard, the control unit 210 may continuously or periodically use acquired operation information for the braking device 256 and a change in acceleration of the vehicle 102 to determine (or determine) the road surface condition while driving. there is. For example, the controller 210 may determine that the vehicle 102 is driving on the road surface in the first state when a change in acceleration corresponding to the manipulation information is obtained. As another example, the controller 210 may determine that the vehicle 102 is driving on the road surface in the second state when the change in acceleration corresponding to the manipulation information is not obtained.

As described above, the driving assistance system 200 may improve emergency braking performance by adjusting the operating timing of the braking device 256 in consideration of road surface conditions. Such road surface conditions may be predicted in advance through weather conditions. For example, in a situation where drizzling rain starts to fall, the road surface may be determined to be in the first state, but when the drizzling rain continuously falls at a predetermined level or changes to showers, the road surface may be changed to the second state. Accordingly, the driving assistance system 200 may predict road surface conditions in advance based on weather conditions and adjust the operation timing of the braking device 256 in advance based on the prediction.

In this regard, the driving assistance system 200 according to various embodiments may include a third sensor module 226 configured to collect information related to weather conditions. According to one embodiment, the third sensor module 226, as shown in FIG. 3A , is provided on the front of the vehicle 102 and may be configured to obtain an image of a window of the vehicle 102. However, this is only exemplary, and various embodiments are not limited thereto. For example, the third sensor module 226 may be composed of various sensors capable of measuring precipitation, such as a rain sensor and a wiper speed detection sensor.

According to various embodiments, the controller 210 may calculate the amount of precipitation based on the information collected through the third sensor module 226 and predict the condition of the road surface based thereon. According to an embodiment, the controller 210 may predict the road surface in the first state when the amount of precipitation corresponding to the first designated range is calculated. According to another embodiment, the controller 210 may predict the road surface in the second state when the amount of precipitation corresponding to the second designated range greater than the first designated range is calculated.

According to an embodiment, in calculating the amount of precipitation, the control unit 210 acquires a raindrop image through the third sensor module 226 and analyzes the acquired image to determine at least the size of the waterdrop, the distribution area, and the number of waterdrops. At least one can be detected. According to an embodiment, the control unit 210 may determine that the amount of precipitation is relatively small in a meteorological state in which a foggy rain falls when a predetermined level or more of the number of raindrops is detected in the same area. In addition, when the number of raindrops is small but the size of the raindrops is greater than a certain level, the control unit 210 may determine that the amount of precipitation is relatively high as a weather state in which showers fall.

The control unit 210 according to various embodiments may additionally or selectively adjust the operation time of the braking device 256 based on the amount of precipitation. According to an embodiment, the control unit 210 may define and store the operating time of the braking device 256 according to the driving speed of the vehicle 102 and the amount of precipitation in a table form as shown in Table 2 below. For example, the controller 210 may adjust the operation timing of the braking device 256 step by step as the amount of precipitation increases. For example, as the amount of precipitation increases, the braking device 256 may be operated at an operating time point to prevent a collision caused by an increase in a braking distance.

1st precipitation 2nd precipitation 50km/h t1-1k t1-2k 80km/h t2-2k t2-3k 100km/h t3-3k t3-4k

As described above, the driving assistance system 200 according to various embodiments adjusts the operation timing of the braking device 256 based on the operation information on the braking device 256 and the change in acceleration of the vehicle 102, thereby providing emergency response. Braking performance can be improved. However, the driving assistance system 200 according to various embodiments may improve emergency braking performance by adjusting the braking power as necessary as well as the operating timing of the braking device 256 .

4 is a flowchart illustrating an emergency braking operation of a driving assistance system according to various embodiments of the present disclosure. 5 is a diagram for explaining an operation of adjusting an operating timing of a braking device in a driving assistance system according to various embodiments of the present disclosure. Each operation in the following embodiment may be performed sequentially, but is not necessarily performed sequentially. For example, the order of each operation may be changed, or at least two operations may be performed in parallel. Also, at least one of the above-described operations may be omitted according to an embodiment.

Referring to FIG. 4 , the driving assistance system 200 (or the controller 210) according to various embodiments may control the driving of the vehicle 102 based on the first braking parameter in operation 410 . The first braking parameter may be associated with a control value for the braking device 256 to be controlled on a road surface in a first state where a certain level of frictional force is expected. According to an embodiment, the first braking parameter may include information related to a point in time at which the braking device 256 should be operated on the road surface in the first state. However, this is only exemplary, and various embodiments are not limited thereto. For example, the first braking parameter may include information related to braking force generated by the braking device 256 on the road surface in the first state.

According to various embodiments, the driving assistance system 200 (or the controller 210) may detect control of the braking device 256 in operation 420 . According to an embodiment, the control of the braking device 256 may be related to pressure information applied to a braking input device (eg, the brake pedal 224) receiving a braking operation. For example, as described above, the driving assistance system 200 includes at least one of the timing at which the brake pedal 224 is started to be pressed, the amount of pressing the brake pedal 224, and the speed at which the brake pedal 224 is pressed. can detect

According to various embodiments, the driving assistance system 200 (or the controller 210), in operation 430, based on control information about the braking device 256 and acceleration information (eg, change in acceleration) of the vehicle 102 You can check the condition of the road surface.

As described above, the change in acceleration of the vehicle 102 by the braking device 256 may vary depending on road surface conditions. Based on this, the driving assistance system 200 may determine that the vehicle 102 is driving on the road surface in the first state when a designated acceleration change corresponding to the control of the braking device 256 is obtained. As another example, the driving assistance system 200 may determine that the vehicle 102 is driving on the road surface in the second state when the designated acceleration change corresponding to the control of the braking device 256 is not obtained.

According to various embodiments, the driving assistance system 200 (or the controller 210) may check the determination result of the road surface condition in operation 440 . For example, the driving assistance system 200 determines whether the vehicle 102 is currently driving on a road surface in a first state where a certain level of frictional force is expected or a road surface in a second state where a certain level of frictional force cannot be expected. can judge

According to various embodiments of the present disclosure, while driving on a road surface in the first state, the driving assistance system 200 (or the controller 210) may control the driving of the vehicle 102 based on the first braking parameter.

According to various embodiments of the present disclosure, when driving on a road surface in the second state, the driving assistance system 200 (or the controller 210) may, in operation 450, control driving of the vehicle 102 based on the second braking parameter. can The second braking parameter may be associated with a control value for the braking device 256 to be controlled on a road surface in a second state where a certain level of frictional force cannot be expected.

According to an embodiment, the driving assistance system 200 adjusts the operating timing of the braking device 256 based on the second braking parameter to ensure a sufficient braking distance of the vehicle 102 even on the road surface in the second state. there is. For example, when using the second braking parameter, the driving assistance system 200 may output notification information notifying that the braking parameter is changed according to the road surface condition. For example, as shown in FIG. 5 , the driving assistance system 200 may output notification information 510 through a display device, for example, a cluster 502 .

6 is a flowchart illustrating an operation of adjusting an operating timing of a braking device based on weather conditions in a driving assistance system according to various embodiments of the present disclosure; Operations of FIG. 6 described below may represent various embodiments of operation 410 and/or operation 450 of FIG. 4 .

Referring to FIG. 6 , in operation 610 , the driving assistance system 200 (or the controller 210 ) according to various embodiments may check a weather condition while driving. According to an embodiment, the driving assistance system 200 may check a weather condition based on at least a portion of information collected through at least one sensor module (eg, the third sensor module 226). According to an embodiment, the driving assistance system 200 may analyze the image of the window of the vehicle 102 to check the weather conditions.

According to various embodiments, in operation 620, the driving assistance system 200 (or the controller 210) may determine whether a first weather condition designated as a weather condition check result is detected. The first weather condition may be a weather condition that affects the frictional force of the vehicle 102 with respect to the road surface. For example, the driving assistance system 200 may determine whether a weather condition (eg, rain, snow, fog, etc.) that can change the road surface in the first state to the road surface in the second state is detected.

According to various embodiments, when the designated first weather condition is not determined, that is, when a weather condition that does not affect the frictional force of the vehicle 102 with respect to the road surface is detected, the driving assistance system 200 (or The controller 210 may control driving based on the currently set first braking parameter in operation 660 .

According to various embodiments, when the designated first weather condition is determined, the driving assistance system 200 (or the controller 210) may calculate the amount of precipitation in operation 630 . The amount of precipitation may refer to an amount of rain, snow, hail, dew, fog, etc. falling on the road surface during a certain period of time.

According to an embodiment, the driving assistance system 200 may calculate the amount of precipitation based on information collected through at least one sensor module (eg, the third sensor module 226). For example, the driving assistance system 200 may calculate the amount of precipitation by using the operation speed of the wiper and the measurement value of the rain sensor. As another example, the driving assistance system 200 may calculate the amount of precipitation by analyzing an image of the windshield of the vehicle 102 as will be described later with reference to FIGS. 7 and 8 .

According to various embodiments, in operation 640, the driving assistance system 200 (or the controller 210) may determine whether the amount of precipitation corresponding to a designated range is calculated. The specified range may be a reference value for determining the amount of precipitation affecting the frictional force of the vehicle 102 on the road surface.

According to various embodiments of the present disclosure, when the amount of precipitation that does not correspond to the specified range is calculated, the driving assistance system 200 (or the control unit 210) may control driving based on the currently set first braking parameter in operation 660. there is.

According to various embodiments, when the amount of precipitation corresponding to the specified range is calculated, the driving assistance system 200 (or the control unit 210) may control the driving of the vehicle 102 by changing the braking parameter in operation 650. there is.

7 is a flowchart illustrating an operation of calculating an amount of precipitation in a driving assistance system according to various embodiments of the present disclosure. And, FIG. 8 is a diagram for explaining an operation of checking an area of rainwater through image analysis in a driving assistance system. Operations of FIG. 7 described below may represent various embodiments of operation 630 of FIG. 4 .

Referring to FIG. 7 , the driving assistance system 200 (or the controller 210) according to various embodiments may obtain an image of a window of the vehicle 102 in operation 710 . For example, the driving assistance system 200 may acquire an image including raindrops. According to an embodiment, the driving assistance system 200 may calculate the amount of precipitation by detecting at least one of the size, distribution area, and number of raindrops included in the image. However, if foreign substances (eg, dust) other than raindrops are included in the image, the foreign substances are also recognized as raindrops, which may cause an error in calculating the amount of precipitation. Accordingly, the driving assistance system 200 may improve the accuracy of calculating the amount of precipitation by removing foreign substances before obtaining an image. For example, the driving assistance system 200 may acquire an image after operating a wiper.

According to various embodiments, in operation 720, the driving assistance system 200 (or the controller 210) may check the area of raindrops by analyzing the obtained image. However, this is only exemplary, and various embodiments are not limited thereto. For example, operation 720 may include an operation of checking the size of raindrops or the number of raindrops.

According to various embodiments of the present disclosure, the driving assistance system 200 (or the controller 210) may correct the area of raindrops based on the driving speed of the vehicle 102 in operation 730 . According to an embodiment, while the vehicle 102 is driving at the first speed, raindrops falling on the window of the vehicle 102 may maintain a certain shape, as shown in (a) of FIG. 8 . However, while the vehicle 102 is traveling at the second speed, which is faster than the first speed, raindrops falling on the window glass may be aggregated and deformed as shown in FIG. 8(b) . Thus, the driving assistance system 200 may store the degree of deformation of raindrops according to the speed of the vehicle 102 in advance in the form of a table.

According to various embodiments, the driving assistance system 200 (or the controller 210) may predict the amount of precipitation based on the raindrop area in operation 740 .

Although this document has been described with reference to the embodiments shown in the drawings, this is only exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical protection scope of this document should be determined by the technical spirit of the attached claims.

Claims (18)

In the driving assistance system,
at least one sensor module configured to collect information related to a driving environment of a vehicle and a driving state of the vehicle;
a braking device configured to generate a braking force for the vehicle; and
A control unit electrically connected to the at least one sensor module and the braking device,
The control unit,
obtaining control information about the braking device through the at least one sensor module;
Detecting a change in acceleration of the vehicle according to the operation of the braking device through the at least one sensor module;
When the control information and the change in acceleration of the vehicle satisfy a first condition, actuate the braking device at a first time point during emergency braking;
The driving assistance system configured to operate the braking device at a second time point different from the first time point when the control information and the change in acceleration of the vehicle satisfy the second condition, upon emergency braking. According to claim 1,
The control unit,
determining a road surface condition based on the control information and a change in acceleration of the vehicle;
The driving assistance system configured to operate the braking device at the second time point earlier than the first time point when it is determined that a certain level of frictional force with respect to the road surface is not expected. According to claim 1,
Further comprising an output module,
Wherein the control unit is configured to output notification information indicating that the braking device is operated at the second time point through the output module when the control information and the change in acceleration of the vehicle satisfy the second condition. According to claim 1,
The driving assistance system of claim 1 , wherein the control information includes at least one of timing to start pressing the brake pedal, an amount of pressing the brake pedal, and a pressing speed of the brake pedal. According to claim 1,
The control unit,
Checking the weather condition through the at least one sensor module,
Even if the control information and the change in acceleration of the vehicle satisfy the first condition, when a specified meteorological condition is confirmed, the driving assistance system is configured to operate the braking device at the second time point during the emergency braking. According to claim 5,
The control unit,
Predicting precipitation through the at least one sensor module when the specified weather condition is confirmed;
Based on the amount of precipitation, the driving assistance system configured to adjust an operating timing of the braking device when the emergency braking is performed. According to claim 6,
The control unit,
Obtaining an image of the window of the vehicle,
The driving assistance system configured to predict the amount of precipitation based on at least one of a size, distribution area, or number of raindrops included in the image. According to claim 7,
The control unit,
A driving assistance system configured to obtain an image of the front windshield of the vehicle and operate a wiper before acquiring the image. According to claim 7,
The control unit,
A driving assistance system configured to correct at least one of the size, distribution area, or number of raindrops included in the image based on the moving speed of the vehicle. In the operating method of the driving assistance system,
acquiring control information about a braking device through at least one sensor module;
detecting a change in acceleration of the vehicle according to the operation of the braking device through the at least one sensor module;
operating the braking device at a first time point in case of emergency braking when the control information and the change in acceleration of the vehicle satisfy a first condition; and
and operating the braking device at a second time point different from the first time point when the control information and the vehicle acceleration change satisfy a second condition, when the emergency braking is performed. According to claim 10,
determining a road surface condition based on the control information and a change in acceleration of the vehicle; and
and operating the brake device at the second time point earlier than the first time point when it is determined that a certain level of frictional force with respect to the road surface is not expected. According to claim 10,
and outputting notification information notifying that the braking device is operated at the second time point when the control information and the change in acceleration of the vehicle satisfy the second condition. According to claim 10,
The control information includes at least one of a timing to start pressing the brake pedal, an amount of pressing the brake pedal, or a pressing speed with respect to the brake pedal. According to claim 10,
checking a meteorological condition through the at least one sensor module; and
and activating the braking device at the second time point when the emergency braking is performed when a designated weather condition is confirmed even if the control information and the change in acceleration of the vehicle satisfy the first condition. 15. The method of claim 14,
predicting precipitation through the at least one sensor module when the designated weather condition is confirmed; and
and adjusting an operation time point of the braking device at the time of the emergency braking based on the amount of precipitation. According to claim 15,
obtaining an image of the window of the vehicle; and
and predicting the amount of precipitation based on at least one of a size, distribution area, or number of raindrops included in the image. 17. The method of claim 16,
Obtaining an image of the front windshield of the vehicle, and operating a wiper before acquiring the image. 17. The method of claim 16,
and correcting at least one of a size, distribution area, or number of raindrops included in the image based on the moving speed of the vehicle.

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