KR20230068917A - Autonomous emergency braking system of vehicle and control method thereof - Google Patents

Abstract

An autonomous emergency braking (AEB) system comprises: a camera acquiring front image data with a front view of a vehicle; a front radar acquiring front radar data with a front detection view of the vehicle; a corner radar acquiring corner radar data with a corner detection view of the vehicle; a braking device braking the vehicle; and a control unit electrically connected to the braking device. The control unit collects traffic accident information for the area in which a vehicle is passing, through a navigation or communication unit, analyzes the collected traffic accident information, determines at least one AEB function to be performed preferentially among a plurality of AEB functions classified by emergency braking situation, based on the type of traffic accident in the area, when the area is an accident-prone area, and preferentially performs the determined at least one AEB function. Therefore, the AEB system can reduce the execution time of the AEB function and use of resources therefor.

Description

Automatic emergency braking system and its control method

The present invention relates to an automatic emergency braking system and a control method thereof.

In general, an automatic emergency braking system (AUTONOMOUS EMERGENCY BRAKING SYSTEM; AEB) is a technology for preventing an accident by detecting a preceding vehicle or pedestrian, determining a risk of collision, and automatically emergency braking the vehicle when there is a risk of collision.

As the development of automatic emergency braking systems accelerates, awareness of surroundings on the road becomes important. This automatic emergency braking system provides highly reliable recognition technology for the driving situation by converging a camera and radar (and/or lidar).

The emergency braking system includes AEB functions classified based on various emergency braking situations due to the advancement of the AEB function. AEB functions include the AEB-CAR function to prevent a rear-end collision with a preceding vehicle, the AEB-VRU function to prevent a collision with a traffic weak person, and the AEB-PTW function to prevent a collision with a two-wheeled vehicle.

Recently, due to the advancement of AEB functions, all AEB functions are performed in equal proportions, resulting in longer execution time and higher resource occupancy. For this reason, it is difficult to determine an AEB function suitable for an actual emergency braking situation, and even if the corresponding AEB function is determined, it takes a long time to perform, making it difficult to respond quickly.

Japanese Unexamined Patent Publication No. 2019-220037 (published on December 26, 2019)

One aspect is an automatic emergency that can reduce the time and resource use of AEB functions by collecting traffic accident information, accurately determining and quickly performing AEB functions capable of coping with the type of traffic accident in the area where the vehicle is passing among AEB functions. A braking system and its control method are provided.

According to one aspect, the camera for acquiring front image data having a front view of the vehicle; a front radar that obtains front radar data with a forward sensing field of view of the vehicle; a corner radar for obtaining corner radar data with a corner detection field of view of the vehicle; a braking device that brakes the vehicle; and a control unit electrically connected to the braking device, wherein, when the area through which the host vehicle is passing is an accident-prone area, the control unit is divided into a plurality of automatic emergency braking conditions based on the type of traffic accident in the area through which the vehicle is passing through. An automatic emergency braking system may be provided that determines at least one AEB function to be performed first among AUTONOMOUS EMERGENCY BRAKING (AEB) functions and performs the determined at least one AEB function first.

The plurality of AEB functions include an AEB-CAR function to prevent a rear-end collision with a preceding vehicle, an AEB-Vulnerable Road User (VRU) function to prevent a collision with a traffic weak person, and a left or right turn at an intersection when driving straight from the opposite side. AEB-JT (Junction Turning) function to prevent collision with a vehicle, AEB-JC (Junction Crossing) function to prevent collision with a vehicle traveling straight from the left or right when going straight at an intersection, An AEB-HO (Head On) function for preventing a frontal collision with a vehicle and an AEB-PTW (Powered Two Wheelers) function for preventing a collision with a two-wheeled vehicle may be included.

The control unit may collect traffic accident information including the type of traffic accident in the area through which the vehicle is passing through a navigation or communication unit, and analyze the collected traffic accident information to determine whether the area through which the vehicle is passing is an accident-prone area. .

When the at least one determined AEB function is plural, the control unit determines priorities of the determined AEB functions based on the type of traffic accident, and sequentially prioritizes the determined AEB functions based on the determined priority. there is.

The control unit may set an execution cycle of the determined at least one AEB function shorter than an execution cycle of other AEB functions so that the determined at least one AEB function is performed more frequently than other AEB functions.

According to another aspect, in the control method of an automatic emergency braking system that performs an automatic emergency braking (AUTONOMOUS EMERGENCY BRAKING; AEB) function through a braking device, it is determined whether an area through which a host vehicle is passing is an accident-prone area, and the accident In the case of a high-occurrence area, at least one AEB function to be performed with priority is determined from among a plurality of AEB functions classified for each emergency braking situation based on the type of traffic accident in the area being passed through, and the determined at least one AEB function is performed first. A control method of an automatic emergency braking system comprising doing may be provided.

The plurality of AEB functions include an AEB-CAR function to prevent a rear-end collision with a preceding vehicle, an AEB-Vulnerable Road User (VRU) function to prevent a collision with a traffic weak person, and a left or right turn at an intersection when driving straight from the opposite side. AEB-JT (Junction Turning) function to prevent collision with a vehicle, AEB-JC (Junction Crossing) function to prevent collision with a vehicle traveling straight from the left or right when going straight at an intersection, An AEB-HO (Head On) function for preventing a frontal collision with a vehicle and an AEB-PTW (Powered Two Wheelers) function for preventing a collision with a two-wheeled vehicle may be included.

Determining whether the accident-prone area is determined is to collect traffic accident information including the type of traffic accident in the area through which the vehicle is passing through the navigation or communication unit, and analyze the collected traffic accident information to determine whether the area passing through is accident-prone. This may include determining whether it is local.

Executing the determined at least one AEB function first is to prioritize the determined AEB functions based on the type of traffic accident when the determined at least one AEB function is plural, and determine the priority of the determined AEB functions based on the determined priority. It may include sequentially first performing the determined AEB functions.

Executing the determined at least one AEB function first may include setting an execution cycle of the determined at least one AEB function shorter than an execution cycle of other AEB functions when there are a plurality of the determined at least one AEB function. there is.

The present invention collects traffic accident information, accurately determines an AEB function capable of coping with a type of traffic accident in an area where a vehicle is passing through, and quickly performs the AEB function, thereby reducing execution time and resource consumption of the AEB function.

1 is a control block diagram of an automatic emergency braking system according to an embodiment.
2 shows a camera and radar of an automatic emergency braking system according to an embodiment.
3 to 9 describe an AEB function for coping with each scenario in the automatic emergency braking system according to the embodiment.
10 is a control flow diagram of an automatic emergency braking method according to an embodiment.
11 illustrates the execution of the AEB function according to traffic accident types in accident-prone areas in the automatic emergency braking system according to the embodiment.

Like reference numbers designate like elements throughout the specification. This specification does not describe all elements of the embodiments, and general content or overlapping content between the embodiments in the technical field to which the disclosed invention belongs is omitted. The term 'unit, module, member, or block' used in the specification may be implemented as software or hardware, and according to embodiments, a plurality of 'units, modules, members, or blocks' may be implemented as one component, It is also possible that one 'part, module, member, block' includes a plurality of components.

Throughout the specification, when a part is said to be “connected” to another part, this includes not only the case of being directly connected but also the case of being indirectly connected, and the indirect connection includes being connected through a wireless communication network. do.

In addition, when a certain component is said to "include", it means that it may further include other components without 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 where a member is in contact with another member, but also a case where another member exists between the two members.

Terms such as first and second are used to distinguish one component from another, and the components are not limited by the aforementioned terms. Expressions in the singular number include plural expressions unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of description, and the identification code does not explain the order of each step, and each step may be performed in a different order from the specified order unless a specific order is clearly described in context. there is.

1 is a control block diagram of an automatic emergency braking system according to an embodiment.

Referring to FIG. 1 , the automatic emergency braking system may include a camera 10, a front radar 20, a corner radar 30, a motion sensor 40, and a controller 50.

The controller 50 may perform overall control of the automatic emergency braking system.

The camera 10, the front radar 20, the corner radar 30, and the motion sensor 40 may be electrically connected to the controller 50.

The controller 50 may control the steering device 60, the braking device 70, the navigation device 80, and the communication unit 90. Also, the control unit 50 may electrically connect other electronic devices of the vehicle to the control unit 50 .

Each of the camera 10, the front radar 20, the corner radar 30, and the motion sensor 40 may include a controller (Electronic Control Unit, ECU). The controller 50 may be implemented as an integrated controller including a controller of the camera 10, a controller of the front radar 20, a controller of the corner radar 30, and a controller of the motion sensor 40.

The camera 10 can take a picture of the front of the vehicle and identify other vehicles, pedestrians, cyclists, lanes, road signs, and the like. Also, the camera 10 may identify road structures such as a median strip and a guard rail.

The camera 10 may include a plurality of lenses and an image sensor. The image sensor may include a plurality of photodiodes that convert light into electrical signals, and the plurality of photodiodes may be arranged in a two-dimensional matrix.

The camera 10 may be electrically connected to the control unit 50 . For example, the camera 10 is connected to the controller 50 through the vehicle communication network NT, connected to the controller 50 through a hard wire, or printed circuit board (Printed Circuit Board, PCB). ) It may be connected to the control unit 50 through.

The camera 10 may transfer image data of the front of the vehicle to the controller 50 .

The front radar 20 and the corner radar 30 may acquire relative positions and relative speeds of objects (eg, other vehicles, pedestrians, cyclists, etc.) around the vehicle.

The front radar 20 and the corner radar 30 may be connected to the control unit 50 through an in-vehicle communication network NT or a hard wire or a printed circuit board.

The front radar 20 and the corner radar 30 may transfer radar data to the control unit 50 . These radars may be implemented as lidar.

The behavior sensor 40 may obtain vehicle behavior data. For example, the motion sensor 40 may include a speed sensor for detecting wheel speed, an acceleration sensor for detecting lateral acceleration and longitudinal acceleration of the vehicle, a yaw rate sensor for detecting a change in the angular velocity of the vehicle, and a tilt sensor for detecting the inclination of the vehicle. A gyro sensor, a steering angle sensor for detecting rotation and steering angle of the steering wheel, and/or a torque sensor for detecting steering torque of the steering wheel may be included. Behavioral data may include vehicle speed, longitudinal acceleration, lateral acceleration, steering angle, steering torque, driving direction, yaw rate, and/or inclination.

The steering device 60 may change the driving direction of the vehicle under the control of the control unit 50 .

The braking device 70 may decelerate the vehicle by braking the wheels of the vehicle under the control of the controller 50 .

The navigation system 80 is a road and traffic information providing system that guides an optimal route considering the distance and traffic conditions from a current location to a destination. The navigation system 80 provides map information including lanes, shoulders, road shape, road information, and traffic conditions on each road to passengers. The navigation 80 communicates with the server according to the request of the control unit 50 or collects traffic accident information based on its own stored data and provides it to the control unit 50 . The traffic accident information may include overall accident information such as location information of a traffic accident on the driving route of a vehicle equipped with this system, traffic accident rate (traffic accident risk), and type of traffic accident.

The communication unit 90 may perform inter-vehicle communication with surrounding vehicles or wireless communication with a server capable of providing traffic accident information. The communication unit 90 communicates with the server according to the request of the control unit 50 to collect traffic accident information and provides the collected traffic accident information to the control unit 50 .

The controller 50 may include a processor 51 and a memory 52 .

The controller 50 may include one or more processors 51 . One or more processors 51 included in the control unit 50 may be integrated into one chip or may be physically separated. Also, the processor 51 and the memory 52 may be implemented as a single chip.

The processor 51 may process image data of the camera 10 , front radar data of the front radar 20 , and corner radar data of the corner radar 30 . Also, the processor 51 may generate a steering signal for controlling the steering device 60 , a braking signal for controlling the braking device 70 , and an acceleration signal for controlling the accelerator device 80 .

For example, the processor 51 may include an image signal processor that processes image data of the camera 10, and may include a digital signal processor that processes radar data of the radars 20 and 30, It may include a micro control unit (MCU) that generates a steering signal, a braking signal, and an acceleration signal.

The memory 52 may store programs and/or data for the processor 51 to process image data. The memory 52 may store programs and/or data for the processor 51 to process radar data. In addition, the memory 52 may store programs and/or data for the processor 51 to generate control signals related to the configuration of the vehicle.

The memory 52 may temporarily store image data received from the camera 10 and/or radar data received from the radars 20 and 30 . Also, the memory 52 may temporarily store a result of processing the image data and/or radar data by the processor 51 . The memory 52 includes not only volatile memories such as S-RAM and D-RAM, but also flash memory, ROM (Read Only Memory), Erasable Programmable Read Only Memory (EPROM), and the like. of non-volatile memory.

2 shows a camera and radar of an automatic emergency braking system according to an embodiment.

Referring to FIG. 2 , the camera 10 may have a field of view 10a toward the front of the vehicle 1 . For example, the camera 10 may be installed on a front windshield of the vehicle 1 . The camera 10 may photograph the front of the vehicle 1 and obtain image data of the front of the vehicle 1 . The image data of the front of the vehicle 1 may include location information about other vehicles, pedestrians, cyclists, lanes, and intersection structures (central barriers, guard rails, etc.) located in front of the vehicle 1 .

The front radar 20 may have a field of sensing 20a facing the front of the vehicle 1 . The front radar 20 may be installed on a grill or bumper of the vehicle 1, for example.

The front radar 20 may include a transmission antenna (or transmission antenna array) for radiating transmission radio waves toward the front of the vehicle 1 and a reception antenna (or reception antenna array) for receiving reflected radio waves reflected on an object. there is. The forward radar 20 may obtain front radar data from a transmitted radio wave transmitted by a transmission antenna and a reflected radio wave received by a reception antenna.

Front radar data may include distance information and speed of other vehicles, pedestrians, and cyclists located in front of the vehicle 1 . In addition, the front radar data may include distance information about intersection structures such as a median barrier and a guard rail located in front of the vehicle 1 .

The front radar 20 calculates the state distance to the object based on the phase difference (or time difference) between the transmitted radio wave and the reflected radio wave, and calculates the relative speed of the object based on the frequency difference between the transmitted radio wave and the reflected radio wave. can do.

The corner radar 30 includes a first corner radar 30-1 installed on the front right side of the vehicle 1, a second corner radar 30-2 installed on the front left side of the vehicle 1, and the vehicle 1 A third corner radar 30 - 3 installed on the rear right side of the vehicle 1 and a fourth corner radar 30 - 4 installed on the rear left side of the vehicle 1 may be included.

The first corner radar 30-1 may have a detection field of view 30-1a facing the front right side of the vehicle 1. The second corner radar 30-2 may have a detection field of view 30-2a facing the front left side of the vehicle 1, and the third corner radar 30-3 faces the rear right side of the vehicle 1. It may have a detection field of view 30 - 3a, and the fourth corner radar 30 - 4 may have a detection field of view 30 - 4a toward the rear left side of the vehicle 1 .

Each of the corner radars 30 may include a transmit antenna and a receive antenna. The first, second, third, and fourth corner radars 30-1, 30-2, 30-3, and 30-4 respectively include first corner radar data, second corner radar data, and third corner radar data. and fourth corner radar data may be obtained. The first corner radar data may include distance information and speed of an object located on the front right side of the vehicle 1 . The second corner radar data may include distance information and speed of an object located on the left front side 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 .

Referring back to FIG. 1 , the controller 50 may detect and/or identify objects in front of the vehicle 1 based on the front image data of the camera 10 and the front radar data of the front radar 20, Location information (distance and direction) and speed information (relative speed) of objects in front of the vehicle 1 may be acquired. In addition, the processor 51 provides location information (distance and direction) 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 30. and speed information (relative speed).

The control unit 50 collects traffic accident information through the navigation unit 80 or the communication unit 90. Based on the collected traffic accident information, the control unit 50 may determine a traffic accident rate, a traffic accident type, and the like in a region through which a vehicle is passing.

The control unit 50 uses various AEB functions to implement AEB logic (mode ) is stored in the form of The controller 50 includes AEB-CAR 50a, AEB-VRU (Vulnerable Road User) 50b, AEB-JT (Junction Turning) 50c, AEB-JC (Junction Crossing) 50d, AEB-HO ( Head On) (50e) and AEB-PTW (Powered Two Wheelers) (50f), etc. are stored in AEB logic form.

The AEB-CAR 50a is an AEB function for preventing a rear collision with a preceding vehicle.

Referring to FIG. 4 , when the AEB-CAR 50a function is executed, the host vehicle 1 is stopped or the same in front using front image data, front radar data, corner radar data, and vehicle behavior data while driving. A rear collision with the preceding vehicle 2 can be prevented by recognizing the preceding vehicle 2 traveling in the same direction, determining the degree of risk of the host vehicle 1 colliding with the rear of the preceding vehicle 2, and automatically performing emergency braking. can

The AEB-VRU 50b is an AEB function for preventing collision with a traffic weak person.

Referring to FIG. 5, when the AEB-VRU (50b) function is executed, the host vehicle 1 is driven by using front image data, front radar data, corner radar data, and vehicle behavior data. It is possible to prevent a collision with the traffic vulnerable (3) by recognizing the traffic vulnerable (3) crossing in front of the vehicle (1) and determining the degree of risk of collision with the traffic vulnerable (3) and automatically emergency braking.

AEB-JT (50c) is an AEB function to prevent a collision with a vehicle traveling straight from the opposite side when turning left or right at an intersection.

Referring to FIG. 6, when the AEB-JT (50c) function is executed, when the host vehicle 1 is making a left turn at an intersection using front image data, front radar data, corner radar data, and vehicle behavior data, the opposite side of the intersection Recognizing the other vehicle (4) passing through the intersection going straight from the intersection, determining the degree of risk of the own vehicle (1) colliding with the other vehicle (4), and automatically emergency braking to prevent collision with the other vehicle (4) at the intersection. can

The AEB-JC 50d is an AEB function for preventing a collision with a vehicle going straight from the left or right when driving straight.

Referring to FIG. 7 , when the AEB-JC (50d) function is executed, when the own vehicle 1 drives straight at an intersection using front image data, front radar data, corner radar data, and vehicle behavior data, the right side of the intersection Recognizes the other vehicle (4) passing through the intersection going straight from the side, determines the degree of risk of the own vehicle (1) colliding with the other vehicle (4), and automatically performs emergency braking to prevent collision with the other vehicle (4) at the intersection can do.

AEB-HO (50e) is an AEB function to prevent a frontal collision with a vehicle traveling straight from the opposite side.

Referring to FIG. 8 , when the AEB-HO (50e) function is executed, the host vehicle 1 is driving from the opposite side using front image data, front radar data, corner radar data, and vehicle behavior data. Frontal collision with the other vehicle 4 by automatically emergency braking by recognizing the other vehicle 5 traveling in the opposite direction to (1) and determining the degree of risk of the own vehicle 1 front colliding with the other vehicle 5 can prevent

AEB-PTW (50f) is an AEB function for preventing collision with a two-wheeled vehicle such as a motorcycle.

Referring to FIG. 9, when the AEB-PTW (50f) function is executed, when the own vehicle 1 is driving using front image data, front radar data, corner radar data, and vehicle behavior data, the own vehicle 1 Recognizing the two-wheeled vehicle (6) running in front of the vehicle, determining the degree of risk of collision of the own vehicle (1) with the two-wheeled vehicle (6), and automatically emergency braking to prevent a rear collision with the two-wheeled vehicle (6) can do. In addition, AEB functions to respond to various scenarios are stored.

10 is a control flow diagram of an automatic emergency braking method according to an embodiment.

Referring to FIG. 10 , the controller 50 first collects traffic accident information through the navigation 80 or the communication unit 90 (100). This traffic accident information is traffic accident information in the region where the own vehicle 1 is located, and may include overall accident information such as location information where the traffic accident occurred, traffic accident rate, and type of traffic accident.

The control unit 50 analyzes the traffic accident location information, traffic accident incidence rate, traffic accident type, etc. of the collected traffic accident information (102).

The control unit 50 determines whether the area through which the host vehicle 1 is passing is an accident-prone area according to the result of analyzing the traffic accident information (104).

If the area through which the host vehicle 1 is passing is an accident-prone area (104, Yes), the control unit 50 preferentially applies the AEB functions to the host vehicle 1 from among the AEB functions stored in the memory 52 based on the traffic accident type. AEB function to be determined is determined (106). The control unit 50 may determine one or more AEB functions from among AEB functions classified according to emergency braking situations stored in the memory 52 . When there are a plurality of determined AEB functions, different priorities may be determined for each AEB function. On the other hand, the execution cycle of the AEB function to be applied with priority is set shorter than other AEB functions so that the AEB function to be applied with priority is performed more frequently, and resources are also increased to focus more on the type of traffic accident in the accident-prone area. Also, if there are multiple equivalent traffic accident types. The AEB functions to be performed with the highest priority can be performed alternately according to the priority.

The controller 50 performs the determined AEB function (108).

11 illustrates the execution of the AEB function according to traffic accident types in accident-prone areas in the automatic emergency braking system according to the embodiment.

Referring to FIG. 11 , it is assumed that the host vehicle 1 travels on a route starting from region ①, passing through region ②, region ③, ④ region, and ⑤ region sequentially and arriving at region ⑥ as shown by the arrow flow.

The AEB-CAR (50a) function is performed to prevent rear collision with the preceding vehicle in the accident-prone area (①) where the type of traffic accident in the area where the host vehicle is passing is rear collision with the preceding vehicle. Accordingly, when the host vehicle is driving, it recognizes a preceding vehicle stopped in front or traveling in the same direction, determines the degree of risk of the host vehicle colliding with the rear of the preceding vehicle, and automatically performs emergency braking to prevent a rearward collision with the preceding vehicle. It can be prevented.

In addition, if the type of traffic accident in the area through which the own vehicle is passing is an accident-prone area (②) where collisions with persons with disabilities are passing through, the AEB-VRU (50b) function is performed to prevent collisions with persons with disabilities in transportation. Accordingly, when the own vehicle 1 is driving, it is possible to prevent a collision with the traffic vulnerable by recognizing the traffic vulnerable crossing in front of the own vehicle, determining the degree of risk of the own vehicle colliding with the traffic vulnerable, and automatically emergency braking. there is.

In addition, if the type of traffic accident in the area where the own vehicle is passing is an accident-prone area (③), in which a collision with another vehicle going straight from the opposite side of the intersection while turning left or right at the intersection, collision with the vehicle going straight across the intersection To prevent this, the AEB-JT (50c) function is performed. Accordingly, when the host vehicle is making a left or right turn at an intersection, it recognizes a collision with another vehicle going straight from the opposite side of the intersection, determines the degree of risk of collision of the own vehicle with the other vehicle, and automatically applies emergency braking to drive straight from the opposite side of the intersection. A collision with another vehicle can be prevented.

In addition, if the type of traffic accident in the area where the own vehicle is passing is an accident-prone area (④), in which collisions with other vehicles going straight from the left or right side of the intersection when driving straight at the intersection, collision with vehicles going straight on the left or right side of the intersection To prevent this, the AEB-JC (50d) function is performed. Accordingly, when the host vehicle 1 is driving straight at the intersection, it recognizes a collision with the other vehicle going straight on the left and right sides of the intersection, determines the degree of risk of the host vehicle 1 colliding with the other vehicle, and automatically brakes the intersection by emergency. A collision with an opponent vehicle traveling straight from the left or right can be prevented.

In addition, if the type of traffic accident in the area through which the own vehicle is passing is an accident-prone area (⑤), which is a frontal collision with the other vehicle going straight in the opposite direction from the own vehicle, the frontal collision with the other vehicle going straight from the opposite side AEB-HO (50e) functions to prevent collision. Accordingly, by recognizing a frontal collision between the host vehicle and the other vehicle going straight from the opposite side, determining the degree of risk of the own vehicle colliding with the other vehicle, and automatically applying emergency braking, a frontal collision with the other vehicle going straight from the opposite side is prevented. It can be prevented.

In addition, accident-prone areas (⑥) where the type of traffic accident in the area where the own vehicle is passing is a rear-end collision between a two-wheeled vehicle and a preceding vehicle, and AEB-PTW (50f) to prevent rear-end collision with a two-wheeled vehicle perform a function Accordingly, when the host vehicle is driving, it recognizes the two-wheeled vehicle driving in the same direction in front, determines the degree of risk of the host vehicle colliding with the rear of the two-wheeled vehicle, and automatically performs emergency braking to prevent rear-end collision with the two-wheeled vehicle. It can be prevented.

Meanwhile, the aforementioned control unit and/or its components may include one or more processor/microprocessor(s) combined with a computer readable recording medium storing computer readable code/algorithm/software. The processor/microprocessor(s) may execute the computer readable code/algorithm/software stored in a computer readable recording medium to perform the aforementioned functions, operations, steps, and the like.

The above-described control unit and/or its components may further include a memory implemented as a computer-readable non-transitory recording medium or a computer-readable temporary recording medium. The memory may be controlled by the above-described control unit and/or its components, configured to store data transmitted to or received from the above-described control unit and/or its components, or by the above-described control unit and/or its components. It may be processed or configured to store data to be processed.

The disclosed embodiment can also be implemented as computer readable code/algorithm/software on a computer readable recording medium. The computer-readable recording medium may be a computer-readable non-transitory recording medium such as a data storage device capable of storing data that can be read by a processor/microprocessor. Examples of computer-readable recording media include hard disk drives (HDD), solid state drives (SSD), silicon disk drives (SDD), read-only memory (ROM), CD-ROMs, magnetic tapes, floppy disks, and optical data storage devices. etc.

10: camera 20: forward radar
30: corner radar 40: motion sensor
50: control unit 60: steering device
70: braking device 80: navigation
90: Ministry of Communications

Claims (10)

a camera that obtains forward image data with a forward view of the vehicle;
a front radar that obtains front radar data with a forward sensing field of view of the vehicle;
a corner radar for obtaining corner radar data with a corner detection field of view of the vehicle;
a braking device that brakes the vehicle; and
A control unit electrically connected to the braking device,
When the area through which the vehicle is passing is an accident-prone area, the control unit performs preferentially among a plurality of AUTONOMOUS EMERGENCY BRAKING (AEB) functions classified according to emergency braking situations based on the type of traffic accident in the area through which the vehicle is passing through. An automatic emergency braking system for determining at least one AEB function to be performed, and performing the determined at least one AEB function first. According to claim 1,
The plurality of AEB functions include an AEB-CAR function to prevent a rear-end collision with a preceding vehicle, an AEB-Vulnerable Road User (VRU) function to prevent a collision with a traffic weak person, and a left or right turn at an intersection when driving straight from the opposite side. AEB-JT (Junction Turning) function to prevent collision with a vehicle, AEB-JC (Junction Crossing) function to prevent collision with a vehicle traveling straight from the left or right when going straight at an intersection, An automatic emergency braking system that includes the AEB-HO (Head On) function to prevent a frontal collision with a vehicle and the AEB-PTW (Powered Two Wheelers) function to prevent a collision with a two-wheeled vehicle. According to claim 1,
The control unit collects traffic accident information including the type of traffic accident in the area where the vehicle is passing through the navigation or communication unit, analyzes the collected traffic accident information, and determines whether the area through which the vehicle is passing is an accident-prone area. braking system. According to claim 1,
When the determined at least one AEB function is plural, the control unit prioritizes the determined AEB functions based on the traffic accident type and sequentially prioritizes the determined AEB functions based on the determined priority. emergency braking system. According to claim 1,
The control unit sets an execution cycle of the determined at least one AEB function shorter than an execution cycle of other AEB functions so that the determined at least one AEB function is performed more frequently than other AEB functions. In the control method of an automatic emergency braking system that performs an automatic emergency braking (AUTONOMOUS EMERGENCY BRAKING; AEB) function through a braking device,
Determine whether the area through which the vehicle is passing is an accident-prone area,
In the case of the accident-prone area, determining at least one AEB function to be performed first among a plurality of AEB functions classified for each emergency braking situation based on the type of traffic accident in the passing area;
A control method of an automatic emergency braking system comprising first performing the determined at least one AEB function. According to claim 6,
The plurality of AEB functions include an AEB-CAR function to prevent a rear-end collision with a preceding vehicle, an AEB-Vulnerable Road User (VRU) function to prevent a collision with a traffic weak person, and a left or right turn at an intersection when driving straight from the opposite side. AEB-JT (Junction Turning) function to prevent collision with a vehicle, AEB-JC (Junction Crossing) function to prevent collision with a vehicle traveling straight from the left or right when going straight at an intersection, A control method of an automatic emergency braking system including AEB-HO (Head On) function for preventing a frontal collision with a vehicle and AEB-PTW (Powered Two Wheelers) function for preventing a collision with a two-wheeled vehicle. According to claim 6,
Determining whether the accident-prone area is,
Automatic emergency including collecting traffic accident information including the type of traffic accident in the area where the vehicle is passing through the navigation or communication unit and determining whether the area passing through is an accident-prone area by analyzing the collected traffic accident information Control method of braking system. According to claim 6,
Performing the determined at least one AEB function first,
When the determined at least one AEB function is plural, prioritizing the determined AEB functions based on the traffic accident type and sequentially prioritizing the determined AEB functions based on the determined priority. Control method of emergency braking system. According to claim 6,
Performing the determined at least one AEB function first,
and setting an execution cycle of the determined at least one AEB function to be shorter than an execution cycle of other AEB functions when the determined at least one AEB function is plural.

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