KR20230138188A - Vehicle passing height determination device and control method thereof - Google Patents

Abstract

One embodiment of the present invention provides a vehicle passing height determination device. A vehicle passage height determination device according to an embodiment of the present invention includes a LiDAR sensor installed on the top of the vehicle; Ultrasonic sensor installed on the top of the vehicle; A warning notification unit that generates a warning in the vehicle; and a control unit connected to the lidar sensor and the ultrasonic sensor to operate a warning notification unit. The control unit detects obstacles in front of the vehicle through the lidar sensor and detects whether the vehicle is allowed to pass the obstacle through the ultrasonic sensor. .

Description

Vehicle passing height determination device and its control method {VEHICLE PASSING HEIGHT DETERMINATION DEVICE AND CONTROL METHOD THEREOF}

The present invention relates to a vehicle passage height determination device, and more specifically, to a vehicle passage height determination device and a control method thereof that prevent accidents by detecting and warning the passage height of a vehicle.

Generally, facilities are installed in parking lots or on roads to limit the height at which vehicles can pass in order to prevent accidents due to the height of parked or driving vehicles, and in front of passages across tunnels and bridges are installed for driving vehicles. A height limit device is installed to limit the height.

The parking lot has a vehicle passage height restriction facility installed at the entrance to prevent the entry of large vehicles, and it is necessary to limit vehicle height to prevent collisions in front of overpasses or on roads with tall block tunnels. Height limiting devices are installed.

Technologies for limiting the height of a vehicle include the “Vehicle Passing Height Limit Warning Device” disclosed in Application No. 20-1996-024822 (hereinafter referred to as Prior Art 1) and the “Front Obstacle” disclosed in Application No. 10-1994-0037587. “Vehicle pole sensor and pole structure that detects the height of the vehicle” (hereinafter referred to as prior art 2), “Collision warning device for overloaded trucks” disclosed in Registered Utility Model No. 20-125829 (hereinafter referred to as prior art 3), Application No. 10- “Vehicle passage height restriction warning device” disclosed in No. 2008-0112360 (hereinafter referred to as Prior Art 4), and “Height restriction warning device for vehicle mounting portion” disclosed in Application No. 10-2011-0036050 (hereinafter referred to as Prior Art 5) etc.

Prior art 1 is a detection unit equipped with a height detection sensor that measures the actual height of the structure in front of the driving vehicle, determines whether to warn by comparing the passing height transmitted from the detection unit and the actual height of the input, and generates a warning signal when necessary. This relates to a vehicle passing height restriction warning device consisting of a control unit and a warning unit that generates a warning from the control unit.

This prior art 1 has the problem of increasing the configuration cost due to the inconvenience of measuring the height of the structure and comparing the height of the actual garage and the need for a control unit.

Prior art 2 detects the height of obstacles placed on the front side of the vehicle by detecting the height of the obstacles placed in front of the vehicle, allowing the vehicle to check whether the vehicle has passed the obstacle, thereby determining the height of the front obstacle to make driving safer and prevent safety accidents. It relates to pole sensors and pole sensor structures for vehicles.

This prior art 2 has the inconvenience of comparing the height of the structure with the height of the actual vehicle, increases the configuration cost because multiple units must be installed for accuracy, and the sensor must reach the location of the structure to be able to detect it and respond after recognition. There is a problem with the short period of time.

Prior art 3 includes a detection sensor unit installed in a structure that transmits laser or infrared rays to the front and receives laser or infrared rays reflected from the front, and collision prevention when a detection signal reflected from the front is received through the detection sensor unit. It relates to a collision warning device for an overloaded truck that includes a control unit that performs warning control for, and can prevent a collision accident in advance by warning the driver of the risk of collision when the height of the load is higher than the passing height of the structure.

This prior art 3 has the problem of short response time after recognizing a vehicle collision.

Prior art 4 relates to a vehicle passage height limit warning device that prevents damage to vehicles and road structures by warning in advance about vehicles exceeding the height limit before the vehicle passes a road structure with a restricted vehicle passage height.

This prior art 4 has the inconvenience of having to erect a support equal to the limited height in order to install the height sensing means, and has the problem of having to install the light emitting unit and the light receiving unit separately.

Prior art 5 includes posts installed on both sides of the road, a horizontal frame that connects the top of the post and is equipped with a display unit on the surface that displays information so that vehicle occupants can check, and a rotating bar at the bottom of the horizontal frame that can rotate back and forth and move left and right. Height limit bar installed, height detection sensor provided on the height limit bar to detect the height of the mounting part of the approaching vehicle, balance detection unit provided on the height limit bar to sense the horizontal state of the height limit bar, sensing of the height sensor and balance detection unit It includes a control unit that controls the value and outputs the value to the display unit, a display unit installed at the top of the post and charged with solar power, and a solar power generation unit used as an operating power source.

This prior art 5 has the problem that the configuration cost increases due to the use of many sensors, and it is difficult to prepare for the situation of a trailing vehicle.

“Vehicle passing height restriction warning device” disclosed in Application No. 20-1996-024822 “Vehicle pole sensor and pole structure that detects the height of obstacles in front” disclosed in Application No. 10-1994-0037587 “Collision warning device for overloaded trucks” disclosed in Registered Utility Model No. 20-125829 “Vehicle passage height limit warning device” disclosed in Application No. 10-2008-0112360 “Height limit warning device for vehicle mounting portion” disclosed in Application No. 10-2011-0036050

The purpose of the present invention to solve the above problems is to eliminate the need for comparison of the height of the structure and the driving vehicle, to increase economic efficiency by simplifying the configuration and installation for determining the vehicle passing height, and to increase the economic efficiency and response of the sensor detection and recognition response. The goal is to provide a vehicle passing height determination device and its control method that can reduce time and prepare for following vehicles.

The technical problem to be achieved by the present invention is not limited to the technical problem mentioned above, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description below. There will be.

The configuration of the present invention for achieving the above object includes a LiDAR sensor installed on the top of the vehicle; Ultrasonic sensor installed on the top of the vehicle; A warning notification unit that generates a warning in the vehicle; And a control unit connected to the lidar sensor and the ultrasonic sensor to operate the warning notification unit, wherein the control unit detects an obstacle in front of the vehicle through the lidar sensor and determines whether the vehicle passes the obstacle through the ultrasonic sensor. It provides a vehicle passing height determination device that detects whether it is permitted.

In one embodiment of the present invention, a height adjustment bar is provided at the top of the vehicle to enable height adjustment, and the lidar sensor may be located at the upper end of the height adjustment bar.

In one embodiment of the present invention, the warning notification unit includes: a first warning unit that generates a warning in conjunction with the lidar sensor; And a second warning unit that is linked to the ultrasonic sensor to generate a warning, and the control unit operates the first warning unit according to detection by the lidar sensor. If the ultrasonic sensor detects the second warning unit, the control unit may operate the second warning unit. .

In one embodiment of the present invention, the control unit detects through the lidar sensor and causes the vehicle to decelerate, and if there is detection by the ultrasonic sensor, it stops the vehicle, but if there is no detection by the ultrasonic sensor, the vehicle passes. You can provide a notification allowing.

In one embodiment of the present invention, the first warning unit includes a driver warning unit that provides a warning to one or more sense organs of the driver; and a warning light that provides a warning light to a rear vehicle.

Another configuration of the present invention includes the steps of the control unit detecting an obstacle in front of the vehicle through a LiDAR sensor installed on the top of the vehicle; When the control unit detects an obstacle through the lidar sensor, activating a part of the warning notification unit; The control unit detects whether the vehicle has passed an obstacle in front of the vehicle through an ultrasonic sensor installed at the top of the vehicle, and if the obstacle can pass, detecting the obstacle again through the lidar sensor; and the control unit operating the other part of the warning notification unit when the vehicle is unable to pass the obstacle through detection of the ultrasonic sensor.

In one embodiment of the present invention, when an obstacle is detected through the lidar sensor, the control unit may operate a driver warning unit provided as part of the warning notification unit and a warning light outside the vehicle.

In one embodiment of the present invention, the control unit decelerates the vehicle when detected by the lidar sensor, and stops the vehicle through the tab part of the warning notification unit when detected by the ultrasonic sensor. If there is no detection, the driver may be provided with a notification allowing the vehicle to pass.

In one embodiment of the present invention, when the control unit detects that the vehicle can pass an obstacle through detection with the LiDAR sensor and the ultrasonic sensor, the control unit automatically adjusts the height of the height adjustment bar on which the LiDAR sensor is installed. You can.

In one embodiment of the present invention, the control unit is connected to a pair of ultrasonic sensors installed on both sides of the upper part of the vehicle, and if there is transmission after oscillation of the ultrasonic sensor, it decelerates and stops the vehicle, and if there is no transmission, the vehicle can pass. Control can be performed.

The effect of the present invention according to the above configuration is that there is no need to compare the height of the structure and the driving vehicle, it increases economic efficiency by simplifying the configuration and installation for determining the vehicle passing height, and reduces the reaction time for sensor detection and recognition response. This can provide the advantage of being able to prepare for vehicles that are behind.

The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

Figure 1 is a front view of a vehicle passage height determination device according to an embodiment of the present invention.
Figure 2 is a right side view of Figure 1.
Figure 3 is a control block diagram of a vehicle passing height determination device according to an embodiment of the present invention.
Figure 4 is an operating state diagram of a vehicle passing height determination device according to an embodiment of the present invention.
Figure 5 is a flowchart of a control method of a vehicle passing height determination device according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the attached drawings. However, the present invention may be implemented in various different forms and, therefore, is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts that are not related to the description are omitted, and similar parts are given similar reference numerals throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, combined)" with another part, this means not only "directly connected" but also "indirectly connected" with another member in between. "Includes cases where it is. Additionally, when a part is said to “include” a certain component, this does not mean that other components are excluded, but that other components can be added, unless specifically stated to the contrary.

The terms used in this specification are merely used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as “comprise” or “have” are intended to indicate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, the present invention will be described in detail with reference to the attached drawings.

Figure 1 is a front view of a vehicle passage height determination device according to an embodiment of the present invention, Figure 2 is a right side view of Figure 1, and Figure 3 is a control block diagram of a vehicle passage height determination device according to an embodiment of the present invention. , and Figure 4 is an operating state diagram of a vehicle passing height determination device according to an embodiment of the present invention.

Referring to Figures 1 to 4, the vehicle passing height determination device according to an embodiment of the present invention includes a lidar sensor 100 installed on the top of the vehicle 10, and an ultrasonic wave installed on the top of the vehicle 10. A sensor 120, a warning notification unit 130 that generates a warning in the vehicle 10, and a control unit 140 that is connected to the lidar sensor 100 and the ultrasonic sensor 120 and operates the warning notification unit 130. It is composed including.

The LiDAR sensor 100 is configured to accurately depict the surroundings by emitting a laser pulse, receiving the light reflected from the surrounding target object, and measuring the distance to the object, etc. It can be installed on the height adjustment bar 101 that is installed upright on one side of the.

A height adjustment bar 101 is installed at the top of the vehicle 10 to enable height adjustment, and the lidar sensor 100 may be located at the upper end of the height adjustment bar 101. The height adjustment bar 101 may be provided as an electric type capable of manual or automatic adjustment.

In this embodiment, when the vehicle 10 is a truck, the height adjustment bar 101 is attached to the truck regardless of the loading height of the cargo compartment 20, and the lidar is placed at the maximum height of the height adjustment bar 101 ( A Lidar sensor (100) is attached to allow the driver to set the desired height, and when the reflected wave of the Lidar is detected, a primary warning is given to the driver to reduce the speed.

The ultrasonic sensor 120 is configured to calculate the distance by transmitting ultrasonic waves and measuring the time it takes to receive a reflected wave when there is an obstacle, and can be installed on the top of both sides of the vehicle 10.

The warning notification unit 130 is configured to stimulate the driver's sense organs or send a warning by light to other vehicles 10 following the vehicle 10, and can use the emergency flasher at the rear of the vehicle 10. there is.

The warning notification unit 130 includes a first warning unit 131 that is linked to the lidar sensor 100 to generate a warning, and a second warning unit 135 that is linked to the ultrasonic sensor 120 to generate a warning. Includes.

The first warning unit 131 may include a driver warning unit 132 that provides a warning to one or more sense organs of the driver, and a warning light 133 that provides a warning light to the rear vehicle 10.

The driver warning unit 132 can warn the driver through tactile, visual, auditory, etc., and can be arranged to transmit multiple senses, such as tactile and visual senses acting simultaneously. For example, a warning can be delivered to the driver through a vibration module installed on the driver's seat, a haptic display, and a speaker mounted on the steering wheel.

The control unit 140 detects obstacles in front of the vehicle 10 through the lidar sensor 100 and detects whether the vehicle 10 is allowed to pass through the obstacle through the ultrasonic sensor 120, so that drivers can (10) The warning notification unit 130 is controlled to prevent accidents that occur due to failure to recognize height restrictions while driving.

This control unit 140 provides warnings according to the height limit in primary and secondary stages according to detection by the lidar sensor 100 and the ultrasonic sensor 120, so that the driver can recognize and respond to the height limit. make it

In this embodiment, the lidar sensor 100, which primarily provides a warning, and the ultrasonic sensor 120, which provides a secondary warning, are used to make the driver aware of the height limit.

Since the driver does not drive alone on the road, the control unit 140 first detects an obstacle that may restrict passage of the vehicle 10 through the LiDAR sensor 100, that is, a reflected wave is transmitted to the LiDAR sensor 100. When detected, the hazard lights turn on to alert drivers of the car behind to the possibility of danger.

In this embodiment, the ultrasonic sensor 120 is installed for more accurate measurement in addition to the lidar sensor 100, and before the vehicle 10 passes a structure of limited height, the ultrasonic sensor 120 detects structures, obstacles, etc. When this detection is made, a second warning is issued to the driver to clearly recognize the fact that the vehicle 10 cannot pass through the structure, thereby preventing an accident.

The control unit 140 may operate the second warning unit 135 if the ultrasonic sensor 120 detects the operation of the first warning unit 131 according to the detection of the LiDAR sensor 100.

The driver can receive a primary warning that there is an obstacle in front of the vehicle 10 through a first warning unit 131 such as a haptic, display, and speaker, and similarly, a second warning unit 135 such as a haptic, display, and speaker. ), you can receive a secondary warning.

Meanwhile, the control unit 140 detects through the LiDAR sensor 100 and causes the vehicle 10 to decelerate, and when detected by the ultrasonic sensor 120, stops the vehicle 10, but the ultrasonic sensor 120 If there is no detection, a notification may be provided allowing the vehicle 10 to pass.

That is, when the detection of an obstacle is confirmed by the lidar sensor 100, the control unit 140 provides a first warning to the driver through the first warning unit 131, allowing the driver to slow down, and the ultrasonic sensor 120 When detection of ) is confirmed, a secondary warning can be provided to the driver through the second warning unit 135 to stop the vehicle 10.

In addition, when the control unit 140 is connected to the driving control system of the vehicle 10, deceleration occurs automatically with a first warning, and the vehicle 10 stops with a second warning.

This control unit 140 may be provided as a separate microcontroller connected to the main controller mounted on the vehicle 10, or the main controller itself or a sub-controller connected to it may be used.

Figure 5 is a flowchart of a control method of a vehicle passing height determination device according to an embodiment of the present invention.

Referring to FIGS. 1 to 5, in the vehicle passing height determination control method according to another embodiment of the present invention, the control unit 140 detects the vehicle (10) through the lidar sensor 100 installed on the top of the vehicle (10). ), a step of detecting an obstacle in front of the vehicle (S100), a step of activating a part of the warning notification unit 130 (S300) when the control unit 140 detects an obstacle through the lidar sensor 100 (S200) , the control unit 140 detects whether the vehicle 10 passes an obstacle in front of the vehicle 10 through the ultrasonic sensor 120 installed on the top of the vehicle 10 (S400), If passage is possible, detecting the obstacle again through the lidar sensor 100 (S500), and the control unit 140 notifies a warning if the vehicle 10 cannot pass the obstacle through detection by the ultrasonic sensor 120. It may include a step (S600) of operating the other part of the unit 130.

In this embodiment, as described above, when the control unit 140 detects an obstacle through the lidar sensor 100, the driver warning unit 132 provided as part of the warning notification unit 130 and the warning light outside the vehicle 10 (133) can be operated.

If there is an obstacle in front of the vehicle 10, the driver receives a primary warning through the driver warning unit 132. At the same time, the emergency flasher, which is the external warning light 133 of the vehicle 10, blinks to notify the driver of the vehicle 10 following the emergency warning.

As described above, when detection is detected through the lidar sensor 100, the control unit 140 generates a primary warning through the first warning unit 131 to slow down the vehicle 10, and the ultrasonic sensor 120 If detected, a secondary warning is generated through the second warning unit 135, which is the other part of the warning notification unit 130, to stop the vehicle 10.

In contrast, the control unit 140 may provide the driver with a notification allowing the vehicle 10 to pass if there is no detection by the ultrasonic sensor 120. This can be provided to the driver through a speaker or display unit installed in the driver's seat.

The control unit 140 is connected to a pair of ultrasonic sensors 120 installed on both sides of the upper part of the vehicle 10. If there is transmission after oscillation of the ultrasonic sensor 120, it decelerates and stops the vehicle 10. If there is no transmission, the control unit 140 is connected to a pair of ultrasonic sensors 120 installed on both sides of the upper part of the vehicle 10. Control that allows the vehicle 10 to pass can be performed.

Meanwhile, when the control unit 140 detects that the vehicle 10 can pass the obstacle through detection with the LiDAR sensor 100 and the ultrasonic sensor 120, the height adjustment bar on which the LiDAR sensor 100 is installed is installed. The height of (101) can be automatically adjusted. This is possible because the height adjustment bar 101 is configured as a multi-stage electric type.

The description of the present invention described above is for illustrative purposes, and those skilled in the art will understand that the present invention can be easily modified into other specific forms without changing the technical idea or essential features of the present invention. will be. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive. For example, each component described as unitary may be implemented in a distributed manner, and similarly, components described as distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the patent claims described below, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present invention.

10: vehicle 20: cargo compartment
100: Lidar sensor 101: Height adjustment bar
120: Ultrasonic sensor 130: Warning notification unit
131: first warning unit 132: driver warning unit
133: warning light 135: second warning unit
140: control unit

Claims (10)

Lidar sensor installed on the top of the vehicle;
Ultrasonic sensor installed on the top of the vehicle;
A warning notification unit that generates a warning in the vehicle; and
It includes a control unit connected to the lidar sensor and the ultrasonic sensor to operate the warning notification unit,
The control unit detects an obstacle in front of the vehicle through the lidar sensor, and detects whether the vehicle is allowed to pass the obstacle through the ultrasonic sensor.
In claim 1,
It further includes a height adjustment bar provided at the top of the vehicle to enable height adjustment,
A vehicle passing height determination device, characterized in that the lidar sensor is located at the upper end of the height adjustment bar.
In claim 2,
The warning notification unit,
A first warning unit that generates a warning in conjunction with the lidar sensor; and
It includes a second warning unit that is linked to the ultrasonic sensor and generates a warning,
A method of avoiding interference between sensors, wherein the control unit operates the second warning unit when the ultrasonic sensor is detected after operating the first warning unit according to the detection of the LiDAR sensor.
In claim 3,
The control unit detects through the LiDAR sensor and causes the vehicle to decelerate. If there is detection by the ultrasonic sensor, the control unit stops the vehicle. However, if there is no detection by the ultrasonic sensor, it provides a notification allowing the vehicle to pass. A vehicle passing height determination device.
In claim 3,
The first warning unit,
a driver warning unit that provides warnings to one or more sense organs of the driver; and
A vehicle passing height determination device comprising a warning light that provides warning light to a rear vehicle.
A control unit detecting an obstacle in front of the vehicle through a lidar sensor installed on the top of the vehicle;
When the control unit detects an obstacle through the lidar sensor, activating a part of the warning notification unit;
The control unit detects whether the vehicle has passed an obstacle in front of the vehicle through an ultrasonic sensor installed at the top of the vehicle, and if the obstacle can pass, detecting the obstacle again through the lidar sensor; and
A method for determining vehicle passage height, wherein the control unit operates the other part of the warning notification unit when it is impossible for the vehicle to pass the obstacle through detection by the ultrasonic sensor.
In claim 6,
The control unit, when detecting an obstacle through the lidar sensor, operates a driver warning unit provided as part of the warning notification unit and a warning light outside the vehicle.
In claim 7,
The control unit decelerates the vehicle when detected by the lidar sensor, and stops the vehicle through the tab of the warning notification unit when detected by the ultrasonic sensor, but allows the vehicle to pass if there is no detection by the ultrasonic sensor. A vehicle passing height determination device characterized in that it provides a notification to the driver.
In claim 6,
The control unit automatically adjusts the height of the height adjustment bar on which the LiDAR sensor is installed when it is detected that the vehicle can pass an obstacle through detection with the LiDAR sensor and the ultrasonic sensor. Device.
In claim 6,
The control unit is connected to a pair of ultrasonic sensors installed on both sides of the upper part of the vehicle,
A device using a vehicle passage height determination device, characterized in that if there is a transmission after oscillation of the ultrasonic sensor, the vehicle is decelerated to a stop, and if there is no transmission, control is performed to allow the vehicle to pass.

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