KR20230171513A - Method And Apparatus for Forward Collision-Avoidance Assistance - Google Patents

Abstract

Disclosed is a forward collision prevention assistance method and device.
According to one aspect of the present disclosure, while the vehicle is running, a weight sensing unit that measures the front load of the front trunk and the rear load of the rear trunk included in the vehicle; a braking force determination unit that determines front-wheel braking force transmitted to the front wheels and rear-wheel braking force transmitted to the rear wheels, based on the front loading amount and the rear loading amount; a collision risk calculation unit that calculates an expected collision time between the vehicle and a dangerous object located in front, using at least one sensor included in the vehicle; And if the expected collision time is less than or equal to the preset first reference time and exceeds the preset second reference time, warning the driver and simultaneously performing regenerative braking, and if the expected collision time is less than or equal to the preset second reference time, the front wheel braking force is applied. and a front control unit that outputs a signal to at least one module included in the vehicle to perform friction braking step by step based on the rear wheel braking force and simultaneously move the battery pack included in the vehicle to a preset position. Provides a collision avoidance auxiliary device and its operation method.

Description

Forward Collision-Avoidance Assistance Method and Apparatus {Method And Apparatus for Forward Collision-Avoidance Assistance}

The present disclosure relates to a forward collision avoidance assistance method and device. More specifically, it relates to a forward collision prevention assistance method and device according to the load weight of the front and rear trunks of a vehicle.

The content described below simply provides background information related to this embodiment and does not constitute prior art.

As a driver safety assistance technology related to autonomous driving, research and commercialization of Forward Collision-Avoidance Assist (FCA) technology is progressing rapidly. For example, by detecting the risk of collision between a vehicle driving on the road and the front vehicle in advance, not only does it warn the driver of the risk of collision with the front vehicle, but it also autonomously controls the vehicle's braking and steering to reduce the risk of life due to a collision. and prevent or reduce property damage.

Meanwhile, due to various problems such as environmental pollution caused by exhaust gases from internal combustion engine vehicles, global warming caused by carbon dioxide, and respiratory diseases caused by ozone generation, electric vehicles (EVs) and fuel cell electric vehicles have recently been introduced. The spread of eco-friendly vehicles such as , FCEV) and hybrid vehicles (Hybrid Electric Vehicle (HEV)) is increasing. In particular, passenger electric vehicles have not only a rear trunk but also a frunk, that is, a front trunk, so they can load more luggage, and the weight of the vehicle body is distributed according to the loading capacity of the front and rear trunks. This may vary.

In general, as the vehicle load increases, the vehicle's momentum increases and the braking distance increases, so braking force control adaptive to the load is necessary. In addition, driving stability can be guaranteed only when braking force is properly distributed to the front and rear wheels according to the front and rear weight of the vehicle.

However, the conventional collision avoidance assistance system has a problem in that it operates without considering the vehicle load and weight distribution of the vehicle body. This reduces driving stability.

According to an embodiment of the present disclosure, it is possible to provide a function of adaptively controlling braking force distributed to the front and rear wheels of the vehicle based on the load of the front and rear trunks of the vehicle.

According to an embodiment of the present disclosure, a regenerative braking function can be provided along with a warning to the driver during primary braking.

According to an embodiment of the present disclosure, a function of lowering the center of gravity of a vehicle can be provided using a battery movement system.

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

According to an embodiment of the present disclosure, a load measurement process of measuring the front load of a front trunk and the rear load of a rear trunk included in the vehicle while the vehicle is running; A braking force determination process for determining front-wheel braking force transmitted to the front wheels and rear-wheel braking force transmitted to the rear wheels, based on the front load amount and the rear load amount; An expected collision time calculation process of calculating an expected time-to-collision between the vehicle and a dangerous object located in front, using at least one sensor included in the vehicle; When the expected collision time is less than a preset first reference time and exceeds a preset second reference time, a first control process that warns the driver and simultaneously performs regenerative braking; and when the expected collision time is less than or equal to a preset second reference time, a second control that performs friction braking step by step based on the front wheel braking force and the rear wheel braking force and simultaneously moves the battery pack included in the vehicle to a preset position. Provides a forward collision prevention assistance method, including a process.

According to another embodiment of the present disclosure, while the vehicle is running, a weight sensing unit that measures the front load of the front trunk and the rear load of the rear trunk included in the vehicle; a braking force determination unit that determines front-wheel braking force transmitted to the front wheels and rear-wheel braking force transmitted to the rear wheels, based on the front loading amount and the rear loading amount; a collision risk calculation unit that calculates an expected collision time between the vehicle and a dangerous object located in front, using at least one sensor included in the vehicle; And if the expected collision time is less than or equal to the preset first reference time and exceeds the preset second reference time, warning the driver and simultaneously performing regenerative braking, and if the expected collision time is less than or equal to the preset second reference time, the front wheel braking force is applied. and a front control unit that outputs a signal to at least one module included in the vehicle to perform friction braking step by step based on the rear wheel braking force and simultaneously move the battery pack included in the vehicle to a preset position. Provides collision prevention assistance.

According to an embodiment of the present disclosure, by providing a function to adaptively control the braking force distributed to the front and rear wheels of the vehicle based on the loading amount of the front and rear trunks of the vehicle, the driving stability of the vehicle is improved and the number of lives lost due to vehicle accidents is improved. and property damage can be prevented.

According to an embodiment of the present disclosure, by providing a regenerative braking function along with a warning to the driver during primary braking, it is possible to charge the battery and decelerate the vehicle at the same time.

According to an embodiment of the present disclosure, the driving stability of the vehicle can be improved by lowering the center of gravity of the vehicle using a battery movement system.

1 is an exemplary diagram of a vehicle to which a forward collision avoidance assist device according to an embodiment of the present disclosure is applied.
Figure 2 is a configuration diagram of a forward collision avoidance assistance device according to an embodiment of the present disclosure.
Figure 3 is a flowchart for explaining a process in which the braking force determination unit included in the front collision avoidance assistance device according to an embodiment of the present disclosure determines front-wheel braking force and rear-wheel braking force.
Figure 4 is a flowchart of a forward collision prevention assistance method according to an embodiment of the present disclosure.

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

In describing the components of the embodiment according to the present disclosure, symbols such as first, second, i), ii), a), and b) may be used. These codes are only used to distinguish the component from other components, and the nature, sequence, or order of the component is not limited by the code. In the specification, when a part is said to 'include' or 'have' a certain element, this means that it does not exclude other elements, but may further include other elements, unless explicitly stated to the contrary. . Additionally, terms such as 'unit' and 'module' used in the specification refer to a unit that processes at least one function or operation, and may be implemented as hardware, software, or a combination of hardware and software.

The description of the invention to be disclosed below along with the accompanying drawings is intended to illustrate exemplary embodiments of the invention and is not intended to represent the only embodiments in which the invention may be practiced.

1 is an exemplary diagram of a vehicle to which a forward collision avoidance assist device according to an embodiment of the present disclosure is applied.

In one embodiment of the present disclosure, for convenience, the forward collision-avoidance auxiliary device 10 is described as being applied to the electric vehicle shown in FIG. 1, but the vehicle model to which the forward collision-avoidance auxiliary device 10 is applied is necessarily limited to this. It doesn't work.

The vehicle 200 to which the forward collision avoidance assistance device 10 according to the present disclosure is applied includes a front trunk 202 and a rear trunk 204 capable of carrying a load. The vehicle 200 is equipped with a battery pack moving system (206) at the bottom of the vehicle body, so that when friction braking is performed in stages according to the risk of collision between the vehicle 200 and a dangerous object located in front, the vehicle 200 performs friction braking at the same time. Move the battery pack to a preset position (hereinafter referred to as ‘lower position’) located below the initial installation position. As a result, the front collision prevention assistance device 10 lowers the center of gravity of the vehicle 200 and improves driving stability. Meanwhile, the battery pack movement system 206 shown in FIG. 1 may include a movable frame (not shown), a fixed frame (not shown), and a driving unit (not shown). Here, the movable frame is fixedly installed at the bottom of the vehicle, the fixed frame is installed so that the battery pack is fixed and can move up and down and/or forward and backward on the movable frame, and the driving unit moves the fixed frame on the movable frame. However, this is according to one embodiment, and the specific configuration and installation location of the battery pack movement system 206 may vary depending on the embodiment.

Figure 2 is a configuration diagram of a forward collision avoidance assistance device according to an embodiment of the present disclosure.

Referring to FIG. 2, the front collision prevention assistance device 10 includes a weight detection unit (110), a front detection unit (120), a braking force determination unit (130), and a collision risk. It includes all or part of a time-to-collision calculation unit (140) and a control unit (150).

Components of the forward collision avoidance assistance device 10 can transmit or receive signals or data to each other using various communication protocols existing in the vehicle. The forward collision avoidance assistance device 10 uses other modules including at least one of the AVN system, regenerative braking system, friction braking system, and battery pack movement system 206 included in the vehicle and various communication protocols existing in the vehicle. It can transmit or receive signals or data. Here, the communication protocol may include at least one of CAN (Controller Area Network), CAN FD (CAN with Flexible Data rate), LIN (Local Interconnect Network), FlexRay, and Ethernet.

The weight sensing unit 110 measures the front load of the front trunk 202 and the rear load of the rear trunk 204 included in the vehicle 200 while the vehicle 200 is driving. The weight sensing unit 110 may use a weight sensor, for example, a load cell that converts pressure into electrical output. However, the specific type of sensor used by the weight sensing unit 110 is not limited to this.

The front detection unit 120 detects dangerous objects located in front of the vehicle, such as other vehicles, pedestrians, and obstacles, and obtains information about them. At least one of the relative speed, distance, and relative acceleration between the vehicle and the dangerous object located in front can be obtained from the front detection unit 120. The information acquired by the front detection unit 120 is provided to the collision risk calculation unit 140.

The front detection unit 120 includes at least one of a camera, radar, lidar, and ultrasonic sensor. Of course, the types and installation locations of cameras, radars, lidar, and ultrasonic sensors can be changed and designed in various ways by those skilled in the art within the technical scope of the present invention.

The braking force determination unit 130 determines the front wheel braking force transmitted to the front wheels and the rear wheel braking force transmitted to the rear wheels when the vehicle is braked, based on the front load amount and rear load amount measured by the weight detection unit 110.

The braking force determination unit 130 determines a preset reference braking force as front-wheel braking force and rear-wheel braking force. Here, the standard braking force refers to the braking force required when braking when the front and rear trunks of the vehicle are not loaded.

The braking force determination unit 130 updates the front-wheel braking force and rear-wheel braking force to values increased by the reference ratio when the front load amount is greater than the rear load amount by a preset reference ratio. This is to increase braking force for stable braking when there is more load on the front trunk. Here, the standard ratio is a critical ratio that requires braking force adjustment according to the difference between the front load and the rear load, and may be a value set to 110%, for example. Meanwhile, in order to prevent or alleviate the pitching phenomenon during sudden braking, the braking stage can be further subdivided, and this is performed by the control unit 150, which will be described later. Here, the pitching phenomenon refers to a phenomenon in which the forward force during sudden braking, that is, the inertia force, acts as torque, causing the rear to lift, or the rearward force acts as torque during rapid acceleration, causing the front to lift. Pitching phenomenon makes it difficult to control the vehicle.

The braking force determination unit 130 may increase the front-wheel braking force and rear-wheel braking force according to the sum of the front load amount and the rear load amount. As the vehicle load increases, the vehicle's momentum increases and the braking distance increases, so it is necessary to determine the braking force according to the load. For example, the sum of the front load and the rear load can be compared with a preset first and third reference value, and values gradually increased by a certain ratio can be determined as the front-wheel braking force and rear-wheel braking force. Here, the first reference value is set to 0.3 times the total load that can be maximally loaded on the front and rear trunks of the vehicle, the second reference value is set to 0.6 times the total load, and the third reference value is set to It can be set to a value of 0.9 times the total load. The specific decision process will be described later with reference to FIG. 3.

When the rear load amount is greater than the front load amount by a preset standard ratio, the braking force determination unit 130 updates only the rear wheel braking power to a value increased by the standard ratio. This is to increase only the rear wheel braking force transmitted to the rear wheels for stable braking, as it can prevent pitching when more load is placed on the rear trunk.

The collision risk calculation unit 140 calculates a time-to-collision (TTC) based on the information acquired by the front detection unit 120. For example, the expected collision time can be calculated as the relative distance between the vehicle and the dangerous object located in front divided by the relative speed.

The collision risk calculation unit 140 can calculate the expected collision time between the vehicle and a dangerous object located in front, based on machine learning. For example, the expected collision time is calculated by inputting the speed of the vehicle, the relative distance between the vehicle and the dangerous object, and the type and shape of the dangerous object into the TTC calculating model that has already been learned using a regression algorithm. can be calculated. Dangerous objects may be vehicles ahead, guardrails, pedestrians, etc.

The control unit 150 controls the overall operation of the forward collision avoidance assistance device 10.

The control unit 150 compares the calculated expected collision time with the preset first and second reference times and performs braking control according to the collision risk. Here, the first reference time refers to a preset value to initially warn the driver of the risk of collision and initiate regenerative braking. The second reference time refers to a preset value for moving the battery pack to the lower position and starting step-by-step friction braking to lower the vehicle's center of gravity.

Here, regenerative braking refers to cutting off the power supplied to the drive motor and applying the counter electromotive force generated in reverse at the power supply terminal of the drive motor rotating due to the inertial force of the vehicle to the drive motor, causing the drive motor to move in the opposite direction with respect to the direction of travel. This refers to generating braking force by causing the vehicle to rotate and at the same time recovering the vehicle's kinetic energy, which would otherwise be lost as heat, as electrical energy to charge the battery. By using regenerative braking, it is possible to increase driving distance, improve fuel efficiency, and reduce brake operation.

When the front load is greater than the rear load by a standard ratio, considering the increase in braking distance, the control unit 150 performs braking control according to the collision risk based on the first and second reference times multiplied by the standard ratio. can do. For example, in a situation where the first reference time and the second reference time are preset to values of 2 seconds and 1.5 seconds, respectively, if the front loading amount is greater than the rear loading amount by a preset standard ratio, the control unit 150 sets the standard ratio at 2 seconds. If the expected collision time is shorter than or equal to 2.2 seconds, which is the value multiplied by (for example, 110%), a signal is output to warn the driver and to perform regenerative braking, and the expected collision time is shorter than 1.65 seconds, which is the value multiplied by 110% by 1.5 seconds. If it is short or equal, a signal can be output to move the battery pack to the lower position and perform step-by-step friction braking.

If it is determined that the expected collision time is less than the first reference time and exceeds the second reference time, the control unit 150 warns the driver of the risk of collision and performs regenerative braking.

The control unit 150 may output a visual and/or auditory warning notification signal to an AVN (Audio/Video/Navigation) system (not shown) to inform the driver of the risk of collision. Additionally, the risk of collision can be notified to the driver using the front cluster, HUD (Head Up Display), and speaker inside the vehicle.

The control unit 150 may output a signal to a regenerative braking system (not shown) to perform regenerative braking based on the regenerative braking level or intensity preset by the driver. The control unit 150 may output a signal to the regenerative braking system to perform regenerative braking using the amount of regenerative braking calculated based on the road slope, speed of the vehicle ahead, distance between vehicles, etc.

After warning the driver and performing regenerative braking, if the expected collision time is determined to be less than the second reference time, the control unit 150 moves the battery pack included in the vehicle to the lower position. At the same time, friction braking is performed step by step based on the front-wheel braking force and rear-wheel braking force determined by the braking force determination unit 130.

The control unit 150 may output a signal to the battery pack movement system 206 to move the battery pack included in the vehicle to a lower position in order to lower the center of gravity of the vehicle and improve driving stability.

The control unit 150 may output a signal to a friction braking system (not shown) to transfer front-wheel braking force and rear-wheel braking force to each of the front and rear wheels in stages. For example, after dividing into two stages and outputting a signal to transmit 0.4 times the value of front-wheel braking force and rear-wheel braking force to the front and rear wheels, if the expected collision time is determined to be less than the preset third reference time, the front wheel braking force is output. A signal can be output to transmit a value that is one times the braking force and rear wheel braking force.

If the front loading amount is greater than the standard ratio than the rear loading amount, the control unit 150 may output a signal in further subdivided steps to prevent or alleviate the pitching phenomenon. For example, after dividing into three stages and outputting a signal to transmit 0.4 times the front-wheel braking force and rear-wheel braking force to the front and rear wheels, the expected collision time is the middle value between the second and third reference times. If it is judged to be less than or equal to 0.7 times the front-wheel braking force and rear-wheel braking force, a signal is output to transmit a value of 0.7 times each of the front-wheel braking force and rear-wheel braking force. If the expected collision time is determined to be less than the third reference time, a value of 1 times each of the front-wheel braking force and rear-wheel braking force is output. A signal can be output to be transmitted.

Figure 3 is a flowchart for explaining a process in which the braking force determination unit included in the front collision avoidance assistance device according to an embodiment of the present disclosure determines front-wheel braking force and rear-wheel braking force.

Referring to FIG. 3, while the vehicle is running, the front load of the front trunk and the rear load of the rear trunk included in the vehicle are measured (S300). The preset reference braking force, which is the braking force required when braking when the front and rear trunks of the vehicle are not loaded, is determined as the front-wheel braking force and rear-wheel braking force (S302).

It is determined whether the front load is greater than the rear load by a preset standard ratio (S304), and if it is determined to be more than the rear load, the front-wheel braking force and rear-wheel braking force are updated to values increased by the standard ratio (S306). This is to increase braking force for stable braking when there is more load on the front trunk.

The sum of the front loading amount and the rear loading amount is determined by comparing it with preset first to third reference values (S308, S310, and S312). If it is determined that the sum of the front load and the rear load is greater than the first reference value and less than the second reference value, the front-wheel braking force and rear-wheel braking force are updated to values increased by 1.04 to 1.06 times, respectively (S314). If it is determined that the sum of the front load and the rear load is greater than the second standard value and less than the third standard value, the front-wheel braking force and rear-wheel braking force are updated to values increased by 1.09 to 1.11 times, respectively (S316). If the sum of the front load and rear load is determined to be greater than the third standard value, the front-wheel braking force and rear-wheel braking power are updated to values increased by 1.14 to 1.16 times, respectively (S318). Processes S314 to S318 are intended to shorten the braking distance by increasing the braking force. Additionally, the specific value of the increase ratio in processes S314 to S318 may be changed in various ways depending on the embodiment of the present disclosure.

It is determined whether the rear load is greater than the front load by a preset standard ratio (S320), and if it is determined to be more than the front load, only the rear wheel braking force is updated to a value increased by the standard ratio (S322). This is because pitching phenomenon can be prevented when more luggage is loaded in the rear trunk.

Figure 4 is a flowchart of a forward collision prevention assistance method according to an embodiment of the present disclosure.

Referring to FIG. 4, the front collision prevention auxiliary device 10 measures the front load of the front trunk and the rear load of the rear trunk included in the vehicle while the vehicle is driving (S400). Based on the measured front load and rear load, the front-wheel braking force transmitted to the front wheels and the rear-wheel braking force transmitted to the rear wheels are determined (S402).

Using at least one of the camera, radar, lidar, and ultrasonic sensor included in the vehicle, the expected collision time between the vehicle and the dangerous object located in front is calculated (S404). A decision is made by comparing the calculated expected collision time with the preset first and second reference times (S406, S408). If it is determined that the calculated expected collision time exceeds the second reference time and is below the first reference time, a warning is given to the driver and regenerative braking is performed at the same time (S410). After performing process S410, if it is determined that the calculated expected collision time is less than the second reference time, friction braking is performed step by step based on the front-wheel braking force and rear-wheel braking force, and at the same time, the battery pack included in the vehicle is moved to the lower position. Do it (S412).

Each component of the device or method according to the present invention may be implemented as hardware or software, or may be implemented as a combination of hardware and software. Additionally, the function of each component may be implemented as software and a microprocessor may be implemented to execute the function of the software corresponding to each component.

Various implementations of the systems and techniques described herein may include digital electronic circuits, integrated circuits, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), computer hardware, firmware, software, and/or combinations thereof. It can be realized with These various implementations may include being implemented as one or more computer programs executable on a programmable system. The programmable system includes at least one programmable processor (which may be a special purpose processor) coupled to receive data and instructions from and transmit data and instructions to a storage system, at least one input device, and at least one output device. or may be a general-purpose processor). Computer programs (also known as programs, software, software applications or code) contain instructions for a programmable processor and are stored on a "computer-readable medium."

Computer-readable recording media include all types of recording devices that store data that can be read by a computer system. These computer-readable recording media are non-volatile or non-transitory such as ROM, CD-ROM, magnetic tape, floppy disk, memory card, hard disk, magneto-optical disk, and storage device. It may be a medium, and may further include a transitory medium such as a data transmission medium. Additionally, the computer-readable recording medium may be distributed in a computer system connected to a network, and the computer-readable code may be stored and executed in a distributed manner.

In the flowchart of this specification, each process is described as being sequentially executed, but this is merely an illustrative explanation of the technical idea of an embodiment of the present disclosure. In other words, a person of ordinary skill in the technical field to which an embodiment of the present disclosure pertains may change the order described in the flowchart of the present specification and execute one of the processes without departing from the essential characteristics of the present specification. Since the above processes can be applied in various modifications and variations by executing them in parallel, the flowchart of this specification is not limited to a time series order.

The above description is merely an illustrative explanation of the technical idea of the present embodiment, and those skilled in the art will be able to make various modifications and variations without departing from the essential characteristics of the present embodiment. Accordingly, the present embodiments are not intended to limit the technical idea of the present embodiment, but rather to explain it, and the scope of the technical idea of the present embodiment is not limited by these examples. The scope of protection of this embodiment should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of rights of this embodiment.

110: weight detection unit 120: front detection unit
130: Braking force determination unit 140: Collision risk calculation unit
150: Control unit 200: Vehicle
202: front trunk 204: rear trunk
206: Battery pack movement system

Claims (13)

A load measurement process of measuring the front load of the front trunk and the rear load of the rear trunk included in the vehicle while the vehicle is running;
A braking force determination process for determining front-wheel braking force transmitted to the front wheels and rear-wheel braking force transmitted to the rear wheels, based on the front load amount and the rear load amount;
An expected collision time calculation process of calculating an expected time-to-collision between the vehicle and a dangerous object located in front, using at least one sensor included in the vehicle;
When the expected collision time is less than a preset first reference time and exceeds a preset second reference time, a first control process that warns the driver and simultaneously performs regenerative braking; and
When the expected collision time is less than or equal to a preset second reference time, a second control process of gradually performing friction braking based on the front wheel braking force and the rear wheel braking force and simultaneously moving the battery pack included in the vehicle to a preset position.
A forward collision prevention assistance method including. According to claim 1,
The braking force determination process is,
Determining the front-wheel braking force and the rear-wheel braking force as a preset reference braking force,
When the front load is greater than the rear load by a preset standard ratio, the front wheel braking force and the rear wheel braking force are respectively updated to values increased by the preset standard ratio,
When the sum of the front load and the rear load is greater than a preset first reference value and less than a preset second reference value, the front wheel braking force and the rear wheel braking force are respectively updated to values increased by 1.04 times to 1.06 times,
When the sum of the front load and the rear load is greater than a preset second reference value and less than a preset third reference value, the front wheel braking force and the rear wheel braking force are updated to values increased by 1.09 times to 1.11 times, respectively,
When the sum of the front load and the rear load is greater than or equal to a preset third reference value, the front wheel braking force and the rear wheel braking force are respectively updated to values increased by 1.14 times to 1.16 times,
A forward collision prevention assistance method that updates the rear wheel braking force to a value increased by the preset standard ratio when the rear load amount is greater than the front load amount by a preset standard ratio. According to clause 2,
The braking force determination process is,
In order to determine the front-wheel braking force and the rear-wheel braking force, a value of 0.3 times the total load that can be maximally loaded on the front trunk and rear trunk of the vehicle is set as the first reference value, and a value of 0.6 times the total load is set as the first reference value. A forward collision prevention assistance method that sets a value as the second reference value and sets a value of 0.9 times the total load as the third reference value. According to claim 1,
The first control process is,
A forward collision prevention assistance method that warns the driver using at least one of visual and auditory means and performs regenerative braking based on a preset regenerative braking stage. According to claim 1,
The second control process is,
Friction braking is performed by transmitting a value of 0.4 times the front wheel braking force to the front wheel and transmitting a value of 0.4 times the rear wheel braking force to the rear wheel,
When the expected collision time is less than or equal to a preset third reference time, a frontal collision in which friction braking is performed by transmitting 1.0 times the front wheel braking force to the front wheels and 1.0 times the rear wheel braking force to the rear wheels. Prevention aids. According to claim 1,
The second control process is,
If the front loading amount is greater than the rear loading amount by a preset standard ratio,
Friction braking is performed by transmitting a value of 0.4 times the front wheel braking force to the front wheel and transmitting a value of 0.4 times the rear wheel braking force to the rear wheel,
If the expected collision time is less than or equal to the middle value of the second reference time and the preset third reference time, a value of 0.7 times the front wheel braking force is transmitted to the front wheels and a value of 0.7 times the rear wheel braking force is transmitted to the rear wheels. to perform friction braking,
When the expected collision time is less than or equal to a preset third reference time, a frontal collision in which friction braking is performed by transmitting 1.0 times the front wheel braking force to the front wheels and 1.0 times the rear wheel braking force to the rear wheels. Prevention aids. A weight sensing unit that measures the front load of the front trunk and the rear load of the rear trunk included in the vehicle while the vehicle is running;
a braking force determination unit that determines front-wheel braking force transmitted to the front wheels and rear-wheel braking force transmitted to the rear wheels, based on the front loading amount and the rear loading amount;
a collision risk calculation unit that calculates an expected collision time between the vehicle and a dangerous object located in front, using at least one sensor included in the vehicle; and
If the expected collision time is less than or equal to the preset first reference time and exceeds the preset second reference time, a warning is given to the driver and regenerative braking is performed at the same time, and if the expected collision time is less than or equal to the preset second reference time, the front wheel braking force and A control unit that outputs a signal to at least one module included in the vehicle to perform friction braking in stages based on the rear wheel braking force and simultaneously moves the battery pack included in the vehicle to a preset position.
Forward collision avoidance assist device including. According to clause 7,
The braking force determination unit,
Determining the front-wheel braking force and the rear-wheel braking force as a preset reference braking force,
When the front load is greater than the rear load by a preset standard ratio, the front wheel braking force and the rear wheel braking force are respectively updated to values increased by the preset standard ratio,
When the sum of the front load and the rear load is greater than a preset first reference value and less than a preset second reference value, the front wheel braking force and the rear wheel braking force are respectively updated to values increased by 1.04 times to 1.06 times,
When the sum of the front load and the rear load is greater than a preset second reference value and less than a preset third reference value, the front wheel braking force and the rear wheel braking force are updated to values increased by 1.09 times to 1.11 times, respectively,
When the sum of the front load and the rear load is greater than or equal to a preset third reference value, the front wheel braking force and the rear wheel braking force are respectively updated to values increased by 1.14 times to 1.16 times,
A forward collision prevention assist device that updates the rear wheel braking force to a value increased by the preset standard ratio when the rear load amount is greater than the front load amount by a preset standard ratio. According to clause 8,
The braking force determination unit,
In order to determine the front-wheel braking force and the rear-wheel braking force, a value of 0.3 times the total load that can be maximally loaded on the front trunk and rear trunk of the vehicle is set as the first reference value, and a value of 0.6 times the total load is set as the first reference value. A forward collision avoidance assistance device that sets a value as the second reference value and sets a value of 0.9 times the total load as the third reference value. According to clause 7,
The control unit,
If the expected collision time is less than or equal to the first reference time and it is determined that the second reference time is exceeded, a signal is output to the AVN system included in the vehicle to warn the driver using at least one of visual and auditory means, and A forward collision prevention assistance device that outputs a signal to the regenerative braking system included in the vehicle to perform regenerative braking based on a set regenerative braking stage. According to clause 7,
The control unit,
When the expected collision time is less than or equal to the second reference time, a friction braking system included in the vehicle is configured to transmit a value of 0.4 times the front wheel braking force to the front wheels and a value of 0.4 times the rear wheel braking force to the rear wheels. Output a signal,
When the expected collision time is less than or equal to a preset third reference time, a signal is output to the friction braking system to transmit a value of 1.0 times the front wheel braking force to the front wheels and a value of 1.0 times the rear wheel braking force to the rear wheels. A forward collision avoidance assist device. According to clause 7,
The control unit,
If the front loading amount is greater than the rear loading amount by a preset standard ratio,
When the expected collision time is less than or equal to the second reference time, a friction braking system included in the vehicle is configured to transmit a value of 0.4 times the front wheel braking force to the front wheels and a value of 0.4 times the rear wheel braking force to the rear wheels. Output a signal,
If the expected collision time is less than or equal to the middle value of the second reference time and the preset third reference time, a value of 0.7 times the front wheel braking force is transmitted to the front wheels and a value of 0.7 times the rear wheel braking force is transmitted to the rear wheels. output a signal to the friction braking system to
When the expected collision time is less than or equal to a preset third reference time, a signal is output to the friction braking system to transmit a value of 1.0 times the front wheel braking force to the front wheels and a value of 1.0 times the rear wheel braking force to the rear wheels. A forward collision avoidance assist device. According to clause 7,
The control unit,
When the expected collision time is less than or equal to a preset second reference time, a forward collision prevention assistance device that outputs a signal to the battery pack movement system included in the vehicle to move the battery pack included in the vehicle to a preset position. .

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