KR20230120686A - Driving assistance system for vehicle - Google Patents

Abstract

The present invention relates to a driving assistance system for a vehicle. The main purpose is to provide a driving support system for a vehicle capable of providing driving guidance (passing through an intersection) and stopping guidance for a driver at an intersection and performing driving assistance functions using vehicle driving information and vehicle external information. The driving assistance system for a vehicle comprises: a navigation device for providing information about an intersection ahead of a vehicle while the vehicle is traveling along a driving route to a destination; a traffic light information receiving unit for receiving real-time operation information of a traffic light installed at the intersection in front of the vehicle from outside the vehicle; a sensor unit installed in the vehicle and configured to acquire vehicle driving information necessary to perform control for driving assistance at the intersection; a controller for outputting a control signal to perform driving guidance and driving assistance functions at the intersection based on the information about the intersection provided by the navigation device, the real-time operation information of a traffic light input from the traffic light information receiving unit, and the vehicle driving information acquired by the sensor unit; and an information output device operated to output information for driving guidance at the intersection according to the control signal output by the controller.

Description

Driving assistance system for vehicle {Driving assistance system for vehicle}

The present invention relates to a driving support system for a vehicle, and more particularly, to provide driving (passing through an intersection) guidance and stop guidance for a driver at an intersection using vehicle driving information and information outside the vehicle, and performing driving assistance functions. It relates to a driving assistance system of a vehicle.

BACKGROUND OF THE INVENTION [0002] Recently, technology development of intelligent vehicles has been actively conducted for the safety and convenience of drivers and pedestrians. An intelligent car is a state-of-the-art car that integrates information technology (IT) and is also called a smart car.

Intelligent vehicles provide optimal traffic efficiency through interworking with external systems such as the Intelligent Transportation System (ITS) as well as the introduction of advanced systems in the vehicle itself.

In addition, research on sensors mounted on intelligent vehicles is also being actively conducted. For example, cameras, infrared sensors, radar (RADAR) sensors, GPS sensors (GPS receivers), LiDAR sensors, gyroscopes, etc. are used in intelligent vehicles, and among them, cameras replace human eyes. It occupies an important position as a sensor that plays a role.

In addition, with the development of various sensors and electronic equipment, vehicles equipped with driving assistance and driving assistance functions assisting driving and improving driving safety and convenience are attracting attention.

On the other hand, turning on a yellow traffic light at a crosswalk or intersection notifies drivers of a change in traffic signals, enabling drivers to predict driving. However, there are many cases in which some drivers and novice drivers cannot escape from psychological pressure due to concerns about signal switching whenever they pass a crosswalk or intersection.

Such psychological pressure may appear not only in novice drivers, but also in experienced drivers, and may cause traffic accidents by clouding the driver's judgment.

Moreover, since it is difficult for the driving subject such as the driver or autonomous vehicle to know the exact location of the traffic light and the exact distance from the vehicle to the traffic light, and it is difficult to predict the flow of the preceding vehicle (vehicle in front), the driving subject may determine the current vehicle speed. It is not easy to determine whether you can knowingly accelerate or decelerate a vehicle at an intersection to pass it.

Generally, at an intersection, the driver must visually check and recognize the lighting condition of the traffic light and then decide whether to pass the intersection or wait for the next signal. It is difficult to determine whether it is okay to drive through an intersection.

In particular, if you tail at an intersection in a traffic jam or congestion situation, you should stop the vehicle because it is highly likely to violate a traffic signal. However, the reality is that it is difficult for both novice and experienced drivers to make correct driving and stopping judgments at intersections.

Therefore, the present invention has been created to solve the above problems, and can perform driving (passing through the intersection) guidance and stop guidance and driving assistance functions for a driver at an intersection using vehicle driving information and vehicle external information. Its purpose is to provide a driving support system for a vehicle.

The object of the present invention is not limited to the object mentioned above, and other objects not mentioned are clearly understood from the description below to those of ordinary skill in the art to which the present invention belongs (hereinafter referred to as 'ordinary technician'). It could be.

In order to achieve the above object, according to an embodiment of the present invention, a navigation device that provides information about an intersection in front of a vehicle while the vehicle is driving along a driving route to a destination; a traffic light information receiving unit receiving real-time operation information of traffic lights installed at an intersection in front of the vehicle from outside the vehicle; a sensor unit installed in the vehicle and configured to acquire vehicle driving information required to perform control for driving assistance at the intersection; Driving guidance and driving assistance functions at the intersection based on information about the intersection provided by the navigation device, real-time operation information of traffic lights input from the traffic light information receiving unit, and vehicle driving information acquired by the sensor unit a controller outputting a control signal to perform; and an information output device operable to output information for driving guidance at the intersection according to a control signal output by the controller.

Accordingly, according to the driving support system of the present invention, driving at an intersection (passing through an intersection) and stop guidance and driving assistance functions can be provided to the driver using vehicle driving information and vehicle external information, and prevention of vehicle law violations. and safe driving.

1 is a diagram for explaining an example of a traffic law violation according to a vehicle location and a traffic light signal state to help understanding of the present invention.
2 is a block diagram showing the configuration of a driving support system according to an embodiment of the present invention.
3 is a flowchart illustrating an operation and control process of a driving support system according to an embodiment of the present invention.
4 is a view showing the location of the stop line and the end point of the intersection set for each intersection in the present invention, and the distance to the end point of the intersection (Dist _End ) and the distance to the stop line (Dist _Stop ).
5 is a diagram showing the distance to the front vehicle (Dist _FrontCar ) and the speed (Speed _FrontCar ) of the front vehicle in the present invention.
6 is a diagram illustrating a distance to a stop line (Dist _Stop ) and an expected stop distance (Dist _StopEst ) in the present invention.
7 is a diagram showing the remaining time (Time _Stop ) until the signal state of a traffic light is converted to a red signal in the present invention.
8 and 9 are diagrams illustrating examples of information display states for driving guidance at an intersection in the present invention.

Specific structural or functional descriptions presented in the embodiments of the present invention are merely exemplified for the purpose of explaining embodiments according to the concept of the present invention, and embodiments according to the concept of the present invention may be implemented in various forms. In addition, it should not be construed as being limited to the embodiments described in this specification, but should be understood to include all modifications, equivalents, or substitutes included in the spirit and scope of the present invention.

Meanwhile, in the present invention, terms such as first and/or second may be used to describe various components, but the components are not limited to the above terms. The above terms are used only for the purpose of distinguishing one component from other components, for example, within a range not departing from the scope of rights according to the concept of the present invention, a first component may be referred to as a second component, Similarly, the second component may also be referred to as the first component.

It should be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. something to do. On the other hand, when an element is referred to as “directly connected” or “directly in contact with” another element, it should be understood that no other element exists in the middle. Other expressions used to describe the relationship between components, such as "between" and "directly between" or "adjacent to" and "directly adjacent to" should be interpreted similarly.

Like reference numbers indicate like elements throughout the specification. Terms used in this specification are for describing embodiments, and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used herein, “comprise” and/or “comprising” means the presence of one or more other components, steps, operations, and/or elements in which a stated component, step, operation, and/or element is present. or do not rule out additions.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The present invention relates to a driving support system for a vehicle capable of performing driving and stopping guidance and driving assistance functions for a driver at an intersection using vehicle driving information and vehicle external information.

In the present invention, the driving guidance at the intersection is such that the vehicle can legally pass through the intersection without violating traffic laws (arrive at the end point of the intersection) in a green light state before the traffic light is switched to a red light. It can be said that it guides the driver to drive.

In addition, when the stop guidance is assumed that the current vehicle continues to drive and the traffic light is expected to turn red before passing through the intersection, the vehicle does not cross the stop line and stops, that is, the vehicle stops at the stop line so that it does not violate the stop line. It can be said that it guides the driver to stop beforehand.

In addition, the driving assistance function refers to a function of assisting vehicle driving by increasing the driving force or braking force of the vehicle in a driving assistance mode at an intersection, that is, a power increase mode and a braking force increase mode described later, and such a driving assistance mode will be explained in more detail later.

The vehicle external information may include information of a vehicle in front driving in front of the vehicle, traffic information on a driving road, and operation information of a traffic light at an intersection located in front of the vehicle. The subject vehicle refers to a vehicle to which the driving support system according to the present invention is installed and applied, and a vehicle to be controlled by the driving support system according to the present invention.

In addition, in the present invention, the traffic light operation information may include information on the signal state of the traffic light installed at the intersection and the time remaining until the signal is switched. Here, the signal of the traffic light includes a red signal, a yellow signal, and a green signal.

In the following description, the red signal state means a state in which the red light of the traffic light is turned on, the yellow signal state means a state in which the yellow light is turned on, and the green signal state means a state in which the green light is turned on.

1 is a diagram for explaining an example of a traffic law violation according to a vehicle location and a traffic light signal state to help understanding of the present invention. Assuming that a stop line and a signal violation reference line are set in advance at a predetermined location at an intersection, a vehicle Violations can be divided into signal violations, lane obstruction, and stop line violations according to the signal conditions of traffic lights when crossing the stop line and the signal violation reference line at an intersection.

That is, as shown in the left drawing of FIG. 1 , when the vehicle passes the stop line and the signal violation reference line, if both traffic lights are in a red signal state, the signal violation occurs. In addition, as shown in the drawing on the right of FIG. 1 , when the vehicle passes the stop line and the red signal is displayed, but the vehicle does not pass the signal violation reference line, the stop line violation occurs.

On the other hand, as shown in the middle drawing of FIG. 1 , if the vehicle passes the stop line with a yellow signal and passes the signal violation reference line with a yellow signal or a red signal, it becomes a lane obstruction (tail biting). The lane obstruction means that a vehicle bites its tail at an intersection to obstruct the passage of other vehicles (traffic obstruction).

Hereinafter, embodiments of the present invention will be described in detail.

2 is a block diagram showing the configuration of a driving support system according to an embodiment of the present invention.

As shown, the driving support system according to an embodiment of the present invention includes a traffic light information receiver 11 that receives and provides traffic light operation information, a navigation device 12 that provides navigation line information, and a vehicle at an intersection. and a sensor unit 13 for detecting information necessary to perform control for driving support of the vehicle.

The traffic light information receiving unit 11 is provided in the vehicle, receives and acquires traffic light operation information from the vehicle external system 1 through wireless communication, and provides the information to the main controller 21 to be described later.

Here, the external vehicle system 1 may be a vehicle to infrastructure (V2I) system that provides real-time traffic information to each vehicle on the road as a traffic information providing system outside the vehicle. Specifically, the vehicle external system 1 is an intelligent traffic system (hereinafter referred to as 'ITS') that provides traffic light operation information among real-time traffic information to each vehicle through wireless communication, or a traffic signal guidance and timing (Signal Phase and Timing) , hereinafter referred to as 'SPaT') system.

As described above, the traffic light operation information includes signal state information indicated by the current traffic light, and the signal state includes the states of the red signal, the yellow signal, and the green signal. In addition, the traffic light operation information may further include remaining time (remaining time until signal switching) information of the current signal state.

In recent vehicles, traffic light operation information provided by the SPaT system at intersections, such as red light, green light, yellow signal, left turn signal, etc., and remaining time information until the current signal state is converted to another signal, etc. is received and displayed on a display device such as a head-up display (HUD) among the information output devices 40 of the vehicle.

In the present invention, the traffic light information receiver 11 of the vehicle receives real-time traffic light operation information provided by an external system 1 such as an ITS or SPaT system and transmits it to the main controller 21 .

The navigation device 12 includes a GPS receiver that receives a GPS signal, and the GPS signal is a signal indicating a current vehicle location. In addition, when a destination is input by a driver and a driving route to the destination is set, the navigation device 12 checks intersection information existing on the driving route.

In addition, when the navigation device 12 confirms that an intersection is located in front of the vehicle on the driving route while the vehicle is driving, the navigation device 12 determines the intersection information such as the location of the end point of the intersection and the location of the stop line at the intersection, and the vehicle location information acquired from the GPS signal. , the distance from the current vehicle to the end point of the intersection (the distance between the vehicle and the end point of the intersection, Dist _End ), and the distance from the vehicle to the stop line (Dist _Stop ) are calculated in real time.

In addition, the navigation device 12 transfers the calculated distance to the intersection end point (Dist _End ) and distance to the stop line (Dist _Stop ) information to the in-vehicle main controller 21 . In addition, the navigation device 12 provides the speed limit information prescribed for the intersection to the main controller 21 of the vehicle.

The distance to the intersection end point (Dist _End ) is the distance from the current vehicle position acquired from the GPS signal to the intersection end point set in the corresponding intersection, and is distance information obtained in real time. The distance to the stop line (Dist _Stop ) is the distance from the current vehicle location to the stop line set at the intersection.

In addition, the sensor unit 13 includes a sensor mounted on the vehicle, and transmits a first sensor for detecting the vehicle speed (current vehicle speed) among the vehicle driving information and information about the vehicle in front among the vehicle driving information. It may include a second sensor for acquiring.

The first sensor may be a conventional wheel speed sensor installed on a wheel of a vehicle. Obtaining real-time vehicle speed information from a signal from a wheel speed sensor is a well-known technique in the art, and thus a detailed description thereof will be omitted.

The second sensor may be an in-vehicle sensor for detecting information about a vehicle in front, for example, a known front vehicle detection sensor such as a RAdio Detection And Ranging (RADAR) sensor or a LIDAR (Light Detection And Ranging, LiDAR) sensor. may be a sensor.

In the present invention, the information on the front vehicle includes the distance to the front vehicle ('Dist _FrontCar ' in FIG. 5), that is, the distance between the own vehicle (the vehicle to be controlled) and the front vehicle. In addition, the information on the preceding vehicle may further include the speed of the preceding vehicle ('Speed _FrontCar ' in FIG. 5).

The speed of the front vehicle (Speed _FrontCar ) includes the speed (current vehicle speed) of the subject vehicle detected in real time by the first sensor ('Speed _Car ' in FIG. 5) and the second sensor (front vehicle detection). sensor) can be obtained from the distance to the front vehicle (Dist _FrontCar ) detected in real time.

Since a method for acquiring distance to a front vehicle (Dist _FrontCar ) and speed (Speed _FrontCar ) information from a signal such as a radar sensor or a lidar sensor is a well-known technical matter, further detailed description thereof will be omitted.

Real-time information detected by the first sensor and the second sensor is input to a main controller 21 to be described later. The output signal of the first sensor is a signal related to vehicle speed, which is real-time detection information, and vehicle acceleration information may be obtained by differentiating the vehicle speed acquired through the first sensor. At this time, the first sensor becomes a sensor for detecting vehicle speed and vehicle acceleration.

Alternatively, the sensor unit 13 may further include a separate third sensor for detecting vehicle acceleration, which is a known sensor for detecting real-time longitudinal acceleration information of the vehicle, that is, installed in the vehicle to determine the actual acceleration and deceleration of the vehicle. It may be a normal longitudinal acceleration sensor that detects (acceleration and deceleration). Like the detection information of the first sensor and the second sensor, the information detected by the third sensor is also input to the main controller 21 in real time.

In addition, the sensor unit 13 may further include in-vehicle sensors that detect other vehicle driving information, wherein the other vehicle driving information includes a driver's accelerator pedal input value (APS value) and brake pedal input value ( BPS value) may be included.

At this time, the sensor unit 13 includes an accelerator position sensor (APS) that detects the driver's accelerator pedal input value and a brake pedal position sensor (BPS) that detects the driver's brake pedal input value. can include more.

In addition, the vehicle driving information may further include the rotational speed of the driving device 30 that drives the vehicle, where the driving device 30 may be an engine or a motor, or an engine and a motor. At this time, the sensor unit 13 may further include a sensor for detecting the rotational speed of the driving device 30 .

Specifically, the sensor unit 13 includes a sensor that detects the rotational speed (engine speed) of the engine, includes a sensor that detects the rotational speed (motor speed) of the motor, or detects the rotational speed of the engine. A sensor for detecting, and a sensor for detecting the rotational speed of the motor may be included.

Among them, the sensor for detecting the rotational speed of the motor may be a conventional resolver for detecting the position of the rotor of the motor. Vehicle driving information detected by the sensors is also input to the main controller 21 in real time.

In addition, the driving support system according to an embodiment of the present invention performs control for driving support at an intersection based on information input from the traffic light information receiving unit 11, the navigation device 12, and the sensor unit 13 a main controller 21 that operates, an information output device 40 that operates to output information for driving assistance at an intersection according to a control signal of the main controller 21, and a control signal (torque) of the main controller 21 A command signal) further includes a drive device controller 22 that controls the operation of the drive device 30 that drives the vehicle.

The main controller 21 is a controller that generates a torque command for the driving device 30 that drives the vehicle based on vehicle driving information in a normal vehicle, for example, a vehicle control unit (VCU) or a hybrid controller (hybrid controller). Control Unit, HCU).

Here, the torque command for the driving device 30 may be an engine torque command or a motor torque command, or may be both an engine torque command and a motor torque command distributed to satisfy the driver's required torque.

In addition, the driving device controller 22 is a controller that controls the operation of the driving device 30 according to the torque command output from the main controller 21. For example, when the vehicle (the vehicle to be controlled) is an internal combustion engine vehicle, The driving device controller 22 may be an engine control unit (ECU) that controls the operation of the engine according to an engine torque command output from the main controller 21 .

Alternatively, in the case of a pure electric vehicle, the driving device controller 22 controls the operation of the motor according to the motor torque command (driving torque command or regenerative torque command) output from the main controller 21 (Motor Control Unit, MCU). Alternatively, in the case of a hybrid vehicle, the driving device controller 22 may include the engine controller and the motor controller.

In addition, the driving support system according to an embodiment of the present invention may include a controller controlling the generation of braking force in the vehicle. When a vehicle to which the driving support system according to an embodiment of the present invention is applied is an electrified vehicle in which regenerative braking of a motor can be performed, that is, a pure electric vehicle or a hybrid vehicle, the braking force may be regenerative braking force. The controlling controller may be a motor controller that is the driving device controller 22 .

If the vehicle to which the driving support system according to the embodiment of the present invention is applied is an internal combustion engine vehicle, the controller for controlling the generation of the braking force may be a separate brake controller (not shown) that performs cooperative control with the main controller 21. there is. In an internal combustion engine vehicle, a brake controller controls the operation of a friction brake device (hydraulic brake device) according to a braking torque command output from a main controller 21 .

In the system according to an embodiment of the present invention, the above-described controllers perform cooperative control for driving support at an intersection based on information collected from vehicles, and the main controller ( 21), drive controller 22, brake controller, etc. have been described separately, but in the present invention, control for driving support at an intersection may be performed by an integrated control element instead of a plurality of controllers.

At this time, a single control element integrated with a plurality of controllers may be collectively referred to as a controller, and it may be said that a control process for driving support at an intersection is performed by the controller. In the following description, the controller 20 collectively refers to the main controller 21, the drive controller 22, and the brake controller.

The information output device 40 may include one or a plurality of display devices 41 in a vehicle, where the display devices 41 include a display in a cluster, a head-up display (HUD), and an audio, video and navigation (AVN) display device. ) can be the display of the system.

The configuration of the driving support system according to the embodiment of the present invention has been described above, and the driving support method and process performed by the above-described system will be described in detail below.

A driving support system according to an embodiment of the present invention provides driving guidance to a driver of a vehicle intending to pass through an intersection to stop or pass (drive) the vehicle at the intersection so as not to commit a traffic law violation as shown in FIG. 1 .

To this end, the controller 20 (main controller) uses the real-time information collected from the corresponding vehicle to determine whether the own vehicle (vehicle to be controlled) operates based on the location of the intersection end point ('Line2' in FIG. 4) set for each intersection. It determines whether to stop at the intersection or drive (pass through the intersection), and informs the driver of the result of the decision to perform driving guidance at the intersection.

In addition, the controller 20 performs driving guidance and driving assistance control for safe driving at the intersection. In detail, the controller 20, according to the determination result of stopping or driving at an intersection (passing an intersection), precisely before the stop line ('Line1' in FIG. 4) at a position where the vehicle does not violate traffic laws Control is performed to increase the braking force of the corresponding vehicle to stop or to increase the driving force of the corresponding vehicle so that the vehicle can pass through the intersection without violating traffic laws.

3 is a flowchart illustrating an operation and control process of a driving support system according to an embodiment of the present invention.

In addition, as a diagram for explaining the operation and control process of the driving support system according to an embodiment of the present invention, FIG. 4 shows the location of the stop line and the end point of the intersection set for each intersection in the present invention, and the distance to the end point of the intersection (Dist _End ) and the distance to the stop line (Dist _Stop ).

In FIG. 4 , reference numerals 'Line1' and 'Line2' indicate a stop line and an intersection end point, respectively, and the stop line and intersection end point are set at predetermined positions for each intersection of a road along which a vehicle is traveling.

The definition of the stop line at the intersection is no different from the conventional stop line illustrated in FIG. 1, and the intersection end point is a predetermined position at the intersection that becomes a passing completion target in allowing vehicles to pass through the intersection. When the present invention is applied, if the vehicle passes the intersection end point when the traffic light at the intersection is in a green light state, it can be said that the vehicle passed the intersection legally without violating traffic laws.

As shown in Fig. 4, in the present invention, the stop line is determined at the position of the intersection entrance through which vehicles pass to enter toward the intersection. In this case, the intersection end point may be determined at a location opposite to the stop line at the intersection, that is, at a location of an intersection exit through which vehicles pass to exit after passing through the intersection.

5 is a diagram showing the speed (Speed _Car ) and acceleration (Accl _Car ) of the subject vehicle, the distance to the vehicle in front (Dist _FrontCar ), and the speed (Speed _FrontCar ) of the vehicle in front in the present invention. FIG. It is a diagram illustrating the distance to the stop line (Dist _Stop ) and the expected stop distance (Dist _StopEst ).

In the present invention, the distance to the intersection end point (Dist _End ) (see FIG. 4), the distance to the stop line (Dist _Stop ) (see FIG. 4), the distance to the front vehicle (Dist _FrontCar ) (see FIG. 5), the expected stopping distance (Dist _StopEst ) (see FIG. 6 ) is a distance based on the current location of the own vehicle, that is, the current vehicle location.

The expected stopping distance (Dist _StopEst ) means a distance to an expected stopping position at which the vehicle can stop when driving in the current vehicle driving state. As will be described later, this can be determined by a predetermined formula from the vehicle speed (Speed _Car ) and vehicle acceleration (Accl _Car ) at the time of determining and determining the stop.

7 is a diagram showing the remaining time (Time _Stop ) until the signal state of a traffic light is currently green but is converted to a red signal in the present invention, and FIGS. 8 and 9 are driving guidance at an intersection in the present invention. It is a diagram showing an example of an information display state for 8 and 9 show an example in which information is displayed through a head-up display (HUD) as the information output device 40 of the vehicle.

First, after a destination is input by a driver in the navigation device 12 and a driving route to the destination is set, the navigation device 12 provides information on the current vehicle location and the intersection in front of the vehicle on the driving route while the vehicle is driving. It is provided to the controller 20 (main controller) in real time. Here, the intersection information may include the position of the stop line and the end point of the intersection, and the speed limit, and may further include whether a speed camera is installed at the intersection.

In addition, as shown in FIG. 3, the controller 20 (main controller) checks whether there is an intersection ahead of the current vehicle position on the driving route to the destination based on the navigation information provided from the navigation device 12 (S1 ), and if it is confirmed that there is an intersection in front of the vehicle, a control process for driving support at the intersection is started.

Next, the controller 20 checks whether the current vehicle driving situation is a traffic jam situation from the vehicle driving information detected by the sensor unit 13 while the vehicle is driving toward the intersection (S2). It can be judged from the frequency, the distance to the vehicle in front (Dist _FrontCar ), and the average speed of the vehicle.

That is, the controller 20 checks whether the vehicle is stopped from the vehicle speed detected by the sensor unit 13, and as the stop frequency, the number of stops during the set time is greater than the set number or while moving by the set distance. If the number of stops is greater than the set number of stops, it may be determined that the current traffic jam situation is present. Here, whether or not the vehicle moves by the set distance can be determined from current vehicle location information provided by the navigation device 12 .

Alternatively, the controller 20 determines that the distance to the vehicle in front (Dist _FrontCar ) obtained by the sensor unit 13 is within a set distance, or the average speed, which is the average value of vehicle speeds detected by the sensor unit 13, is the set speed. In the following cases, it may be set to determine that the current driving road and intersection are in a traffic jam situation.

Alternatively, the traffic information of the driving road is received by the vehicle through a separate communication device or the traffic light information receiving unit 11 from the vehicle external system 1, for example, a traffic information providing system outside the vehicle, and the controller 20 It is also possible to determine whether there is a traffic jam based on the received traffic information.

And, if the current traffic jam situation is not present, the controller 20 checks whether or not a speed enforcement camera is installed at the intersection to determine whether or not to enforce speed at the intersection (S3).

At this time, if a speed enforcement camera is installed at the intersection, the controller 20 determines that a speed enforcement is being conducted at the intersection. Here, whether or not the speed enforcement camera is installed at the intersection can be confirmed from navigation information provided by the navigation device 12 .

Alternatively, the controller 20 may be configured to determine whether or not to enforce speed at the intersection by checking whether or not the speed limit is set at the intersection, not whether the speed enforcement camera is installed as described above.

At this time, if a speed limit is set at the intersection, the controller 20 may determine that speed enforcement is being enforced at the intersection. Here, whether or not a speed limit is set at an intersection can be confirmed from navigation information provided by the navigation device 12 .

Next, the controller 20 calculates and predicts the time required for the vehicle to reach the end point of the intersection from the current location, that is, the time of arrival at the end point of the intersection (Time _Arrive ). Time _Arrive ) is calculated differently.

That is, when it is determined that the road and the intersection on which the vehicle is traveling are in a traffic jam situation when the vehicle is driving towards the intersection, the controller 20 compares the distance to the vehicle in front (Dist _FrontCar ) and the distance to the end point of the intersection (Dist _End ). Do (S4). And, when the distance to the front vehicle (Dist _FrontCar ) is smaller than (closer to) the distance to the intersection end point (Dist _End ) (Dist _FrontCar < Dist _End ), the controller 20 uses Equation 1 below to determine the intersection end point The arrival time (Time _Arrive ) can be calculated (S7).

[Equation 1]

Time _Arrive = (Dist _End - Dist _FrontCar )/Speed _Car + Dist _FrontCar /Speed _FrontCar

Here, Time _Arrive represents the arrival time at the intersection endpoint, Dist _End represents the distance to the intersection endpoint, and Dist _FrontCar represents the distance to the vehicle in front. Also, Speed _Car represents the current vehicle speed (the current speed of the own vehicle), and Speed _FrontCar represents the current speed of the preceding vehicle.

In such a traffic jam situation, the controller 20 calculates the arrival time (Time _Arrive ) at the intersection using the vehicle information in front, where the vehicle information in front is the current speed of the vehicle in front (Speed _FrontCar ) and the distance to the vehicle in front. (Dist _FrontCar ). More specifically, in addition to the above vehicle information, the current speed (current vehicle speed) of the subject vehicle (Speed _Car ) and the distance information to the intersection end point (Dist _End ) are further used to determine the arrival time (Time _Arrive ) at the intersection end point. can be calculated

On the other hand, when the distance to the vehicle in front (Dist _FrontCar ) is greater than or equal to the distance to the end of the intersection (Dist _End ) (Dist _FrontCar ≥ Dist _End ), or when there is no current traffic jam and speed enforcement is not being enforced at the intersection, Using the distance to the end point of the intersection and the current vehicle speed (the current speed of the own vehicle), the time of _arrival at the end point of the intersection may be calculated according to Equation 2 below (S5).

[Equation 2]

Time _Arrive = Dist _End /Speed _Car

However, if a speed limit is being enforced at an intersection without the current traffic jam, the controller 20 additionally uses the speed _limit set at the intersection to arrive at the intersection end point according to Equation 3 below Time _Arrive can be calculated (S6).

[Equation 3]

Time _Arrive = (2×Dist _End )/(Speed _Car + Speed _Limit )

As described above, when the arrival time (Time _Arrive ) at the end point of the intersection is determined according to the current traffic situation and whether or not speeding is enforced at the intersection, the controller 20 receives and inputs the traffic light operation information through the traffic light information receiver 11 and the It is determined whether the vehicle should drive (pass through the intersection) or stop (determine whether the vehicle is driving or stopping) at the intersection (S8, S9) from the information of the arrival time (Time _Arrive ) of the determined intersection end point.

At this time, the controller 20 uses the remaining time (Time _Stop ) information until the current signal state of the traffic light is converted to the red signal among the traffic light operation information, that is, the remaining time information until the red signal, and the remaining time information until the red signal is as shown in Figure 7.

As shown in FIG. 7, the remaining time until the red signal (Time _Stop ) means the time remaining from the present time until the signal state of the traffic light is green, but is converted to the red signal through the yellow signal thereafter.

Next, the controller 20 compares the determined arrival time at the intersection end point (Time _Arrive ) with the remaining time until the red light (Time _Stop ), and as a result of the comparison, the intersection end point arrival time (Time _Arrive ) is the remaining time until the red light ( If it is shorter than Time _Stop ) (Time _Arrive < Time _Stop ), it is decided to drive the vehicle to pass through the intersection.

On the other hand, the controller 20 compares the arrival time at the intersection end point (Time _Arrive ) and the remaining time until the red light (Time _Stop ), and as a result of the comparison, the remaining time until the red light (Time Arrive) is greater than the intersection end point arrival time (Time _Arrive ). _Stop ) is shorter or equal (Time _Arrive ≥ Time _Stop ), it is determined that the vehicle will stop without passing through the intersection.

If the vehicle continues to drive through the intersection even though the remaining time until the red light (Time _Stop ) is shorter than the arrival time at the end of the intersection (Time _Arrive ), traffic law violations such as signal violation or lane obstruction may occur. .

Then, if it is determined that the vehicle will drive, the controller 20 guides the information output device 40, for example, the head-up display (HUD), which is one of the in-vehicle display devices 41, to drive as shown in FIG. Information is displayed (eg, “drivable” display) to guide the driver through the intersection.

In addition, the controller 20 determines whether power increase is required to pass the intersection (S10). When the vehicle accelerates to pass the intersection, the controller 20 determines the remaining time until the red light, the vehicle in front and It is possible to perform control for a driving assistance mode, that is, a power increase mode, in which the driving force of the vehicle is additionally increased by a value determined according to the current vehicle driving information in consideration of the distance, speed limit, and overspeed regulations (S11). .

That is, the driving force of the vehicle for which the controller 20 (the main controller and the driving device controller) further increases the driving torque of the driving device 30 (eg, the driving torque of the motor) when a preset power increase requirement is satisfied. It is possible to perform augmentation control. This increases vehicle speed while allowing the vehicle to pass through the intersection quickly before the signal status of the traffic light changes to yellow or red.

At this time, the power increase requirement may be predetermined, for example, as a condition (short condition) when the time remaining until the red light minus the arrival time at the intersection end is less than a preset time.

When the power increase requirement is satisfied, the controller 20 considers the distance to the front vehicle and drives the driving device 30 under conditions such that the vehicle can travel without exceeding the speed limit without colliding with the front vehicle. increase the driving torque.

This allows the vehicle to drive at an intersection in power-up mode, allowing it to pass through and exit the intersection before the traffic lights change to yellow or red. In addition, upon entry and operation of the power increase mode, the controller 20 may display information notifying the entry and operation of the power increase mode on the display device 41 (head-up display) as shown in FIG. 8 (" power boost mode" is displayed) (S12).

On the other hand, if it is determined that the vehicle is to stop, the controller 20 guides the information output device 40, for example, a head-up display (HUD), one of the in-vehicle display devices 41, to stop as shown in FIG. (e.g., "Stop please!") to inform the driver not to cross the intersection and to stop before reaching the stop line.

In addition, the controller 20 determines whether an increase in braking force is required to stop the vehicle (S13). At this time, after calculating the expected stopping distance (Dist _StopEst ) upon determining and determining the stop, the calculated expected stopping distance (Dist _StopEst ) Compare with the distance to the stop line (Dist _Stop ). 6 illustrates the expected stopping distance (Dist _StopEst ) and the distance to the stop line (Dist _Stop ).

In the present invention, the expected stopping distance (Dist _StopEst ) can be calculated by Equation 4 below from the current vehicle speed (Speed _Car ) and vehicle acceleration (Accl _car ).

[Equation 4]

Dist _StopEst = (Speed _Car ) ² /(2×Accl _Car )

Here, Dist _StopEst is the expected stopping distance calculated when determining the vehicle stop, Speed _Car is the vehicle speed, and Accl _Car is the vehicle acceleration.

After the expected stopping distance is determined as described above, the controller 20 compares the determined expected stopping distance (Dist _StopEst ) with the distance to the stop line (Dist _Stop ), and compares the expected stopping distance (Dist _StopEst ) to the stop line. If it is greater than the distance (Dist _Stop ) (if it is far) (Dist _StopEst > Dist _Stop ), it is determined that the necessary condition for increasing braking force is satisfied.

In this way, when it is determined that the necessary conditions for increasing braking force are satisfied, the controller 20 performs control of a driving assist mode for increasing braking force to achieve additional deceleration and generation of additional braking force, that is, control of a braking force increasing mode (S14). , through this, it assists the vehicle not to commit a stop line violation by stopping after the stop line.

In the braking force increasing mode, control to increase the regenerative braking force may be performed by the controller 20, and control to increase the level of regenerative braking may be performed by the controller 20, for example. The control of increasing the regenerative braking level means increasing the slope of the regenerative braking level compared to before the increase.

As a result, control of the braking force increase mode in which the braking force of the vehicle is increased so that additional deceleration and additional braking force is generated at the intersection is performed, thereby preventing the vehicle from committing a stop line violation in which the vehicle stops after the stop line.

Upon entering and operating the braking force increasing mode, the controller 20 may display information informing the entry and operation of the braking force increasing mode on the display device 41 (head-up display) as shown in FIG. 9 ("braking force increasing mode"). Augmented mode" displayed) (S15).

In this way, according to the driving support system of the present invention, driving at an intersection (passing through an intersection) guidance and stop guidance and driving assistance functions can be provided to the driver using vehicle driving information and vehicle external information, and Preventing law violations and promoting safe driving.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concept of the present invention defined in the following claims It is also included in the scope of the present invention.

1: vehicle external system 11: traffic light information receiver
12: navigation device 13: sensor unit
20: controller 21: main controller
22: drive device controller 30: drive device
40: information output device 41: display device

Claims (19)

a navigation device that provides information about an intersection in front of the vehicle while the vehicle is driving along a driving route to a destination;
a traffic light information receiving unit receiving real-time operation information of traffic lights installed at an intersection in front of the vehicle;
a sensor unit for acquiring vehicle driving information required to perform control for driving support at the intersection;
Driving guidance and driving assistance functions at the intersection based on information about the intersection provided by the navigation device, real-time operation information of traffic lights input from the traffic light information receiving unit, and vehicle driving information acquired by the sensor unit a controller outputting a control signal to perform; and
and an information output device operable to output information for driving guidance at the intersection according to a control signal output by the controller.
The method of claim 1,
The sensor unit,
a first sensor for detecting a vehicle speed among the vehicle driving information; and
A driving support system for a vehicle, characterized in that it comprises a second sensor for acquiring information on a vehicle in front of the vehicle driving information.
According to claim 1 or claim 2,
The vehicle driving information,
speed of the vehicle;
acceleration of the vehicle;
a distance between the vehicle and the preceding vehicle as one of the pieces of information about the preceding vehicle; and
A driving support system for a vehicle, characterized in that the speed of the preceding vehicle is included as another one of the information on the preceding vehicle.
The method of claim 3,
Information about the intersection,
a distance from the vehicle to an intersection endpoint set at the intersection; and
and a distance from the vehicle to a stop line set at the intersection.
The method of claim 4,
At the intersection, the stop line is set at the position of the intersection entrance through which the vehicle passes to enter the intersection, and the intersection end point is set at the position of the intersection exit through which the vehicle passes to exit after passing through the intersection. Characterized by a driving assistance system of a vehicle.
The method of claim 4,
The driving support system for a vehicle, characterized in that the traffic light operation information includes remaining time information until a current signal state of a traffic light is converted to a red light.
The method of claim 6,
The controller,
calculating an arrival time at an intersection end point, which is a time required for the vehicle to reach the intersection end point from a current location using the vehicle driving information and the intersection information;
A driving support system for a vehicle, characterized in that outputting a control signal for performing a driving guidance and driving assistance function at the intersection based on the calculated arrival time at the intersection end point and the remaining time until the red signal is switched.
The method of claim 7,
The controller,
As a driving guide at the intersection,
driving guidance for guiding driving of the vehicle to a driver so that the vehicle passes through the intersection; and
Stop guidance for guiding the driver to stop the vehicle so that the vehicle stops at the stop line
A driving support system for a vehicle, characterized in that for outputting a control signal for performing.
The method of claim 8,
The controller,
Comparing the arrival time at the intersection end point with the time remaining until the red signal is switched, and when the arrival time at the intersection end point is shorter than the remaining time until the red signal is switched, a control signal for performing the driving guidance is provided. A driving support system for a vehicle, characterized in that for outputting.
The method of claim 9,
The controller,
In the driving guidance, it is determined whether a necessary condition for power increase is satisfied from the arrival time at the intersection end point and the remaining time until the red light is switched to;
When it is determined that the power increase requirement is satisfied, as a control signal for performing the driving assistance function, power for additionally increasing the driving torque of the driving device for driving the vehicle while the vehicle travels and passes the intersection. A driving support system for a vehicle, characterized in that for outputting a control signal for performing an augmented mode.
The method of claim 10,
The controller,
The driving support system for a vehicle, characterized in that determining that the power increase requirement is satisfied when a time obtained by subtracting the arrival time at the end point of the intersection from the remaining time until switching to the red light is less than a preset time.
The method of claim 8,
The controller,
Comparing the arrival time at the intersection endpoint with the remaining time until switching to the red signal, if the remaining time until switching to the red signal is shorter than the arrival time at the intersection endpoint or equal to the arrival time at the intersection endpoint, the stop A driving support system for a vehicle characterized in that it outputs a control signal for performing guidance.
The method of claim 12,
The controller,
When the stop guidance is performed, an expected stopping distance, which is a distance from the speed of the vehicle and the acceleration of the vehicle in the vehicle driving information to an expected stop position where the vehicle can stop when driving in the current vehicle driving state, is determined, Determining whether a required condition for increasing braking force is satisfied from the determined expected stopping distance and the distance to the stopping line;
When it is determined that the necessary condition for increasing braking force is satisfied, a control signal for performing a braking force increasing mode for increasing regenerative braking force of the vehicle is output as a control signal for performing the driving assistance function. support system.
The method of claim 13,
The controller,
and determining that the required condition for increasing the braking force is satisfied when the expected stopping distance is greater than the distance to the stopping line.
The method of claim 13,
The driving support system for a vehicle, characterized in that the expected stopping distance is calculated by Equation 4 below.
Equation 4: Dist _StopEst = (Speed _Car ) ² / (2×Accl _Car )
Here, Dist _StopEst is the expected stopping distance, Speed _Car is the speed of the vehicle, and Accl _Car is the acceleration of the vehicle.
The method of claim 7,
The controller,
Based on the vehicle driving information and the navigation information provided by the navigation device, it is determined whether there is a traffic jam on the current driving road and intersection and whether speeding is enforced at the intersection;
A driving support system for a vehicle, characterized in that a method of calculating the arrival time at the end point of the intersection is different according to a result of determining whether the traffic is congested and whether the speeding is enforced at the intersection.
The method of claim 16
The controller,
When the current driving road and intersection are in a traffic jam situation and the distance between the vehicle and the preceding vehicle is smaller than the distance to the end point of the intersection,
A driving support system for a vehicle, characterized in that for calculating the arrival time at the end point of the intersection by Equation 1 below.
Equation 1: Time _Arrive = (Dist _End - Dist _FrontCar )/Speed _Car + Dist _FrontCar /Speed _FrontCar
Here, Time _Arrive is the arrival time at the intersection end point, Dist _End is the distance to the intersection end point, Dist _FrontCar is the distance between the vehicle and the preceding vehicle, Speed _Car is the speed of the vehicle, and Speed _FrontCar is the speed of the preceding vehicle.
The method of claim 16
The controller,
When the current driving road and intersection are in a traffic jam situation and the distance between the vehicle and the preceding vehicle is greater than or equal to the distance to the end point of the intersection; or
If the current driving road and intersection are not in a traffic jam and no speeding enforcement is in place at the intersection;
The driving support system for a vehicle, characterized in that for calculating the arrival time at the end point of the intersection by Equation 2 below.
Equation 2: Time _Arrive = Dist _End /Speed _Car
Here, Time _Arrive is the arrival time at the intersection end point, Dist _End is the distance to the intersection end point, and Speed _Car is the speed of the vehicle.
The method of claim 16
The controller,
If the current driving road and intersection are not in a traffic jam situation and a speeding enforcement is in place at the intersection;
The driving support system for a vehicle, characterized in that for calculating the arrival time at the end point of the intersection by Equation 3 below.
Equation 3: Time _Arrive = (2×Dist _End )/(Speed _Car + Speed _Limit )
Here, Time _Arrive is the arrival time at the intersection end point, Dist _End is the distance to the intersection end point, Speed _Car is the speed of the vehicle, and Speed _Limit is the speed limit set at the intersection.

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