WO2021049790A1 - Dispositif d'assistance au conducteur, véhicule présentant ce dernier et procédé de commande associé - Google Patents

Dispositif d'assistance au conducteur, véhicule présentant ce dernier et procédé de commande associé Download PDF

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Publication number
WO2021049790A1
WO2021049790A1 PCT/KR2020/011450 KR2020011450W WO2021049790A1 WO 2021049790 A1 WO2021049790 A1 WO 2021049790A1 KR 2020011450 W KR2020011450 W KR 2020011450W WO 2021049790 A1 WO2021049790 A1 WO 2021049790A1
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WIPO (PCT)
Prior art keywords
obstacle
information
vehicle
processor
control
Prior art date
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PCT/KR2020/011450
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English (en)
Korean (ko)
Inventor
이재성
Original Assignee
주식회사 만도
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Publication of WO2021049790A1 publication Critical patent/WO2021049790A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0022—Gains, weighting coefficients or weighting functions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0026—Lookup tables or parameter maps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors

Definitions

  • the present invention relates to an anti-collision device for detecting an obstacle and preventing a collision with the detected obstacle, a vehicle having the same, and a control method thereof.
  • a vehicle is a machine that is driven by driving wheels for the purpose of transporting people or cargo, and moves on a road. Such a vehicle may cause an accident due to its own failure, or an accident may occur due to negligence of a driver, negligence of other vehicles, or road conditions.
  • ADAS advanced driver assistance systems
  • the distance to another vehicle is acquired through an electromagnet mounted on the bumper of the vehicle, and the distance to the other vehicle is within a certain distance, it is determined as a collision situation and power is supplied to the electromagnet to generate magnetic force.
  • the electromagnet There is a technology that allows the vehicle to automatically brake in the event of a collision.
  • One aspect is a driver assistance device that checks direction information in which an obstacle in a fixed state exists, increases the weight of the sensor track having the identified direction information, and decreases a reference value for determining whether or not to control, a vehicle having the same, and its control. Provides a way.
  • the other aspect is a driver assistance device that checks direction information in which an obstacle in a fixed state exists, increases the weight of a sensor having the identified direction information among a plurality of sensors, and decreases a reference value for determining whether or not to control it.
  • a vehicle and its control method are provided.
  • a driver assistance apparatus in the driver assistance apparatus that performs at least one of a collision warning with an obstacle and a collision avoidance control, comprising: a sensor having a plurality of tracks having different detection directions for detecting an obstacle; And determining the presence or absence of an obstacle based on signals detected by a plurality of tracks, and if it is determined that the obstacle exists, the distance information and direction information of the detected obstacle are obtained based on the detected signal, and the obtained distance information is Based on the determination of whether the obstacle is a fixed state obstacle, and if the obstacle is determined to be a fixed state obstacle, includes a processor that checks the track corresponding to the direction information of the fixed state obstacle and increases the weight of the identified track by a predetermined value or more. .
  • the processor of the driver assistance apparatus decreases a reference value for determining whether to control the output of a collision warning by a set value.
  • the driver assistance device further includes a plurality of warning units having different direction information, and the processor checks the warning unit having direction information corresponding to the direction information of the fixed obstacle when it is determined that the obstacle is a fixed obstacle. And, the reference value for determining whether to control the operation of the checked warning unit is reduced by a set value.
  • the processor of the driver assistance apparatus decreases a reference value for determining whether to control collision prevention by a set value.
  • a driver assistance apparatus further includes an image acquisition unit for acquiring an image, the processor acquires an object in the acquired image, and if there is a stationary obstacle among the acquired objects, acquires direction information of the stationary obstacle, and The weight of the sensor having the obtained direction information is increased by more than a certain value.
  • the processor of the driver assistance apparatus detects an obstacle in a moving state based on a weight of an elevated track, and controls at least one of a collision warning and a collision avoidance control when an obstacle in the moving state is detected.
  • a driver assistance device that performs at least one of a collision warning with an obstacle and a collision avoidance control, comprising: a plurality of sensors provided at different positions and set differently in detection directions for detecting obstacles; And determining the presence or absence of an obstacle based on signals detected by a plurality of sensors, and when it is determined that the obstacle exists, obtains distance information and direction information of the detected obstacle based on the detected signal, and uses the obtained distance information.
  • a processor that checks a sensor corresponding to the direction information of the fixed state obstacle and increases the weight of the confirmed sensor by a predetermined value or more.
  • the processor of the driver assistance apparatus decreases a reference value for determining whether to control the output of a collision warning by a set value.
  • the processor of the driver assistance apparatus detects an obstacle in a moving state in a direction in which a fixed obstacle exists based on a weight of an elevated sensor and a reduced reference value, and generates a collision warning when the obstacle in the moving state is detected. Control the output.
  • the processor of the driver assistance apparatus decreases a reference value for determining whether to control collision prevention by a set value.
  • the processor of the driver assistance apparatus detects an obstacle in a moving state in a direction in which a fixed obstacle exists based on a weight of an elevated sensor and a reduced reference value, and controls collisions when the obstacle in the moving state is detected. To do.
  • a driver assistance apparatus further includes an image acquisition unit for acquiring an image, the processor acquires an object in the acquired image, and if there is a stationary obstacle among the acquired objects, acquires direction information of the stationary obstacle, and The weight of the sensor having the obtained direction information is increased by more than a certain value.
  • a vehicle includes an image acquisition unit for acquiring an image; A plurality of sensors provided at different positions of the vehicle body and having different detection areas for detecting obstacles; If an object in the acquired image is acquired and there is a fixed obstacle among the acquired objects, the position of the fixed obstacle is checked, the sensor having the confirmed position as the detection area is checked, and the weight of the confirmed sensor is increased by more than a certain value. Letting processor; And a warning unit for outputting collision warning information in response to a control command of the processor.
  • a vehicle includes a location receiving unit for receiving current location information; And a storage unit for storing map information and road information, wherein the processor determines a position where an obstacle in a fixed state exists based on the received current location information and the map information and road information stored in the storage unit, and the plurality of sensors The weight of the sensor having the determined position as the detection area among the detection areas of is increased by a predetermined value or more.
  • the processor of a vehicle when it is determined that the obstacle is a fixed obstacle, decreases a reference value for determining whether to control the output of a collision warning by a set value.
  • a vehicle further includes a braking device for reducing a driving speed in response to a control command from the processor.
  • the processor of a vehicle when it is determined that the obstacle is a fixed obstacle, decreases a reference value for determining whether to control collision prevention by a set value.
  • the processor of the vehicle detects an obstacle in a moving state in a direction in which a fixed obstacle exists based on a weight of an elevated sensor and a reduced reference value, and when an obstacle in the moving state is detected, the collision avoidance control is performed. Controls the braking device to be performed.
  • a method of controlling a vehicle includes acquiring an object in an image acquired by an image acquisition unit, checking the position of the stationary obstacle if there is a stationary obstacle among the acquired objects, and using a plurality of sensors.
  • a first reference value for determining whether to control the output of a collision warning is determined when a sensor having the identified position as a detection area is checked, the weight of the identified sensor is increased by a certain value or more, and when the obstacle is determined to be a fixed obstacle. It is reduced by one set value, and a second reference value for determining whether to control collision prevention is decreased by a second set value.
  • a method of controlling a vehicle includes receiving current location information, determining a location of a fixed obstacle based on the received current location information, map information and road information stored in the storage unit, and It further includes increasing a weight of a sensor having the determined position as a detection area among the sensors by a predetermined value or more.
  • a vehicle control method is to detect an obstacle in a moving state in a direction in which the obstacle in a fixed state exists, based on a weight of an elevated sensor, a reduced first reference value, and a reduced second reference value, and move.
  • performing at least one of output control of a collision warning and a collision avoidance control is to detect an obstacle in a moving state in a direction in which the obstacle in a fixed state exists, based on a weight of an elevated sensor, a reduced first reference value, and a reduced second reference value.
  • the present invention moves abruptly by increasing the weight of the sensor detecting the obstacle in the area corresponding to the area in which the obstacle in the fixed state is present in preparation for the possibility that the obstacle in the moving state is not detected by the obstacle in the fixed state when the obstacle is detected.
  • an obstacle in the state appears, an obstacle in a moving state that appears suddenly can be quickly detected, and accordingly, collision warning and collision avoidance control for the obstacle can be quickly performed. Accordingly, the present invention can prevent a collision with an obstacle, reduce the incidence of additional injury, and improve driving stability.
  • the detection accuracy of the obstacle in the moving state can be increased by adjusting the increase value of the weight of the sensor in proportion to the size of the area occupied by the obstacle in the fixed state.
  • the present invention can improve usability, quality, and marketability of a driver assistance device and a vehicle, and further increase user satisfaction and secure product competitiveness.
  • FIG. 1 is a block diagram of a vehicle according to an exemplary embodiment.
  • FIG. 2 is a block diagram of a driver assistance device provided in a vehicle according to an exemplary embodiment.
  • FIG 3 is an exemplary diagram of a detection area of a camera and a radar included in a driver assistance device of a vehicle according to an exemplary embodiment.
  • FIG. 4 is a block diagram of an apparatus for preventing a collision provided in a vehicle according to an exemplary embodiment.
  • 5A and 5B are exemplary diagrams of lateral angular resolution of an obstacle detection unit in a collision avoidance device provided in a vehicle according to an exemplary embodiment.
  • FIGS. 6A and 6B are diagrams illustrating an example of detecting an obstacle by an obstacle detecting unit provided in a vehicle according to an exemplary embodiment.
  • FIG. 7 is a flowchart illustrating a vehicle control according to an exemplary embodiment.
  • FIG. 8 is an exemplary diagram of an obstacle detection unit provided in a vehicle according to another exemplary embodiment.
  • FIG. 9 is a diagram illustrating an example of detecting an obstacle by an obstacle detecting unit provided in a vehicle of a vehicle according to another exemplary embodiment.
  • FIG. 10 is a flowchart illustrating a vehicle control according to another exemplary embodiment.
  • the term'unit, module, member, block' used in the specification may be implemented in software or hardware, and a plurality of'units, modules, members, blocks' may be implemented as one component or one It is also possible that the'unit, module, member, block' of includes a plurality of components.
  • the identification code is used for convenience of explanation, and the identification code does not describe the order of each step, and each step may be implemented differently from the specified order unless a specific sequence is clearly stated in the context. have.
  • FIG. 1 is a block diagram of a vehicle according to an embodiment.
  • the vehicle according to the embodiment may be a vehicle that travels in response to a driver's driving will or may be an autonomous vehicle that autonomously travels to a destination.
  • the vehicle according to the embodiment may be an internal combustion engine vehicle, a hybrid vehicle, or an electric vehicle.
  • an internal combustion engine vehicle will be described as an example.
  • the vehicle 1 includes an engine 10, a transmission 20, a braking device 30, and a steering device 40.
  • the engine 10 includes a cylinder and a piston, and may generate power for the vehicle 1 to travel.
  • the transmission 20 includes a plurality of gears, and may transmit power generated by the engine 10 to a wheel.
  • the braking device 30 may decelerate the vehicle 1 or stop the vehicle 1 through friction with a wheel.
  • the steering device 40 may change the driving direction of the vehicle 1.
  • the vehicle 1 may include a plurality of electric components.
  • the vehicle 1 includes an engine management system (EMS) 11, a transmission control unit (TCU) 21, and an electronic brake control module ( 31), an Electronic Power Steering (EPS) 41, a Body Control Module (BCM), and a Driver Assistance System (DAS).
  • EMS engine management system
  • TCU transmission control unit
  • EPS Electronic Power Steering
  • BCM Body Control Module
  • DAS Driver Assistance System
  • the engine management system 11 may control the engine 10 in response to a driver's willingness to accelerate through an accelerator pedal or a request from the driver assistance device 100. For example, the engine management system 11 may control the torque of the engine 10.
  • the transmission control unit 21 may control the transmission 20 in response to a driver's shift command through a shift lever and/or a driving speed of the vehicle 1. For example, the transmission control unit 21 may adjust a shift ratio from the engine 10 to a wheel.
  • the electronic braking control module 31 may control the braking device 30 in response to a braking will of a driver through a braking pedal and/or slip of wheels. For example, the electronic braking control module 31 may temporarily release the braking of a wheel in response to a slip of a wheel detected when the vehicle 1 is braking (Anti-lock Braking Systems, ABS).
  • ABS Anti-lock Braking Systems
  • the electronic brake control module 31 may selectively release the brake of the wheel in response to oversteering and/or understeering detected during steering of the vehicle 1 (Electronic stability control, ESC). ).
  • the electronic brake control module 31 may temporarily brake a wheel in response to a slip of a wheel detected when the vehicle 1 is driven (Traction Control System, TCS).
  • TCS Traction Control System
  • the electronic steering control device 41 may assist the operation of the steering device 40 so that the driver can easily manipulate the steering wheel in response to the driver's will to steer through the steering wheel.
  • the electronic steering control device 41 may assist the operation of the steering device 40 so as to decrease the steering force when driving at a low speed or park, and increase the steering force when driving at a high speed.
  • the body control module 51 may control the operation of electronic components that provide convenience to the driver or ensure safety of the driver.
  • the body control module 51 may control a head lamp, a wiper, a cluster, a multi-function switch, and a direction indicator lamp.
  • the driver assistance device 100 may assist a driver in operating (driving, braking, steering) the vehicle 1.
  • the driver assistance device 100 detects the environment around the vehicle 1 (eg, other vehicles, pedestrians, cyclists, lanes, road signs, etc.), and responds to the detected environment.
  • Driving and/or braking and/or steering can be controlled.
  • the driver assistance device 100 may provide various functions to the driver.
  • the driver assistance device 100 includes a lane departure warning (LDW), a lane keeping assist (LKA), a high beam assist (HBA), and an automatic emergency braking ( Autonomous Emergency Braking (AEB), Traffic Sign Recognition (TSR), Smart Cruise Control (SCC), and Blind Spot Detection (BSD) can be provided.
  • LDW lane departure warning
  • LKA lane keeping assist
  • HBA high beam assist
  • AEB Autonomous Emergency Braking
  • TSR Traffic Sign Recognition
  • SCC Smart Cruise Control
  • BSD Blind Spot Detection
  • the driver assistance device 100 may include a collision avoidance device that outputs notification information about a collision with an obstacle or avoids an obstacle in order to prevent a collision with an obstacle.
  • the driver assistance apparatus 100 includes a camera module 101 that acquires image data around the vehicle 1 and a radar module 102 that acquires obstacle data around the vehicle 1.
  • the camera module 101 includes a camera 101a and a controller (Electronic Control Unit, ECU) 101b, and can photograph the front of the vehicle 1 and recognize other vehicles, pedestrians, cyclists, lanes, road signs, etc. I can.
  • ECU Electronic Control Unit
  • the radar module 102 includes a radar 102a and a controller 102b, and can obtain the relative position and relative speed of obstacles (eg, other vehicles, pedestrians, cyclists, etc.) around the vehicle 1. have.
  • obstacles eg, other vehicles, pedestrians, cyclists, etc.
  • the above electronic components may communicate with each other through a vehicle communication network (NT).
  • NT vehicle communication network
  • electronic components transmit data through Ethernet, MOST (Media Oriented Systems Transport), Flexray, CAN (Controller Area Network), and LIN (Local Interconnect Network). You can give and take.
  • MOST Media Oriented Systems Transport
  • Flexray Flexray
  • CAN Controller Area Network
  • LIN Local Interconnect Network
  • the driver assistance device 100 (or driver assistance system) is connected to the engine management system 11, the electronic brake control module 31, and the electronic steering control device 41, respectively, through a vehicle communication network NT, a drive control signal and a brake control. It can transmit signals and steering control signals.
  • FIG. 2 is a configuration diagram of a driver assistance apparatus provided in a vehicle according to an embodiment
  • FIG. 3 is an exemplary view of a detection area of a camera and a radar included in a driver assistance apparatus of a vehicle according to the embodiment.
  • the driver assistance apparatus of the present embodiment may perform a collision avoidance function to prevent collision with an obstacle. That is, the driver assistance device of the present embodiment may be a collision avoidance device.
  • the vehicle 1 may include a braking system 32, a steering system 42, and a driver assistance device 100.
  • the braking system 32 includes an electronic braking control module 31 (see Fig. 1) and a braking device 30 (see Fig. 1) described with reference to Fig. 1, and the steering system 42 includes an electronic steering unit 41 (Fig. 1) and a steering device 40 (see FIG. 1).
  • the driver assistance apparatus 100 may include a front camera 110 as a camera of the camera module 101, and a front radar 120 and a plurality of corner radars 130 as a radar of the radar module 102: 131, 132, 133, 134).
  • the driver assistance device 100 includes a front camera 110 for securing a field of view 110a of the vehicle 1, a front radar 120, and A plurality of corner radars 130 may be included.
  • the front camera 110 may be installed on the front windshield of the vehicle 1.
  • the front camera 110 may photograph the front of the vehicle 1 and acquire image data in front of the vehicle 1.
  • the image data in front of the vehicle 1 may include location information on at least one of other vehicles, pedestrians, cyclists, lanes, curbs, guardrails, street trees, and street lights located in front of the vehicle 1.
  • the front camera 110 may include a plurality of lenses and an image sensor.
  • the image sensor may include a plurality of photodiodes that convert light into an electrical signal, and the plurality of photodiodes may be arranged in a two-dimensional matrix.
  • the front camera 110 may be electrically connected to the first control unit 140.
  • the front camera 110 is connected to the first control unit 140 through a vehicle communication network (NT), or connected to the first control unit 140 through a hard wire, or a printed circuit board ( It may be connected to the first control unit 140 through a printed circuit board (PCB).
  • NT vehicle communication network
  • PCB printed circuit board
  • the front camera 110 may transmit image data in front of the vehicle 1 to the first controller 140.
  • the front radar 120 may have a field of sensing 120a facing the front of the vehicle 1.
  • the front radar 120 may be installed, for example, on a grille or bumper of the vehicle 1.
  • the front radar 120 may include a transmission antenna (or a transmission antenna array) that radiates a transmission wave toward the front of the vehicle 1, and a reception antenna (or a reception antenna array) that receives a reflected wave reflected from an obstacle. have.
  • the front radar 120 may obtain front radar data from a transmitted radio wave transmitted by a transmitting antenna and a reflected radio wave received by a receiving antenna.
  • the front radar data may include location information and speed levels of other vehicles or pedestrians or cyclists located in front of the vehicle 1.
  • the front radar 120 calculates the relative distance to the obstacle based on the phase difference (or time difference) between the transmitted wave and the reflected wave, and calculates the relative speed of the obstacle based on the frequency difference between the transmitted wave and the reflected wave. can do.
  • the front radar 120 may be connected to the first control unit 140 through, for example, a vehicle communication network NT, a hard wire, or a printed circuit board.
  • the front radar 120 may transmit front radar data to the first control unit 140.
  • the plurality of corner radars 130 include a first corner radar 131 installed on the front right side of the vehicle 1, a second corner radar 132 installed on the front left side of the vehicle 1, and the vehicle 1 And a third corner radar 133 installed on the rear right side of the vehicle 1 and a fourth corner radar 134 installed on the rear left side of the vehicle 1.
  • the first corner radar 131 may have a detection field 131a facing the front right side of the vehicle 1.
  • the first corner radar 131 may be installed on the right side of the front bumper of the vehicle 1.
  • the second corner radar 132 may have a detection field 132a facing the front left of the vehicle 1 and may be installed on the left side of the front bumper of the vehicle 1.
  • the third corner radar 133 may have a detection field 133a facing the rear right side of the vehicle 1, and may be installed on the right side of the rear bumper of the vehicle 1.
  • the fourth corner radar 134 may have a detection field 134a facing the rear left side of the vehicle 1, and may be installed on the left side of the rear bumper of the vehicle 1.
  • Each of the first, second, third, and fourth corner radars 131, 132, 133, and 134 may include a transmit antenna and a receive antenna.
  • the first, second, third and fourth corner radars 131, 132, 133, 134 acquire first corner radar data, second corner radar data, third corner radar data, and fourth corner radar data, respectively. can do.
  • the first corner radar data may include distance information and speed levels of other vehicles, pedestrians, or cyclists (hereinafter referred to as "obstacles") located on the right in front of the vehicle 1.
  • the second corner radar data may include distance information and speed level of an obstacle positioned on the front left of the vehicle 1.
  • the third and fourth corner radar data may include distance information and speed information of obstacles located at the rear right of the vehicle 1 and the rear left of the vehicle 1.
  • Each of the first, second, third and fourth corner radars 131, 132, 133, and 134 may be connected to the first control unit 140 through a vehicle communication network NT, a hard wire, or a printed circuit board. .
  • the first, second, third, and fourth corner radars 131, 132, 133, and 134 may transmit first, second, third, and fourth corner radar data to the first control unit 140, respectively. .
  • the first control unit 140 is a controller 101b (see FIG. 1) of the camera module 101 (see FIG. 1) and/or a controller 102b (see FIG. 1) of the radar module 102 (see FIG. 1) and/or separate It may include an integrated controller of.
  • the first control unit 140 includes a processor 141 and a memory 142.
  • the processor 141 processes the front image data of the front camera 110, the front radar data of the front radar 120, and the corner radar data of the plurality of corner radars 130, and the braking system 32 and the steering system ( 42) can generate a braking signal and a steering signal for controlling.
  • the processor 141 is an image signal processor that processes front image data of the front camera 110 and/or a digital signal processor that processes radar data of the radars 120 and 130 and/or a braking signal and steering It may include a micro control unit (Micro Control Unit, MCU) that generates a signal.
  • MCU Micro Control Unit
  • Processor 141 is based on the front image data of the front camera 110 and the front radar data of the front radar 120, obstacles in front of the vehicle 1 (for example, other vehicles, pedestrians, cyclists, curbs, guards) Rails, street trees, street lights, etc.) can be detected.
  • obstacles in front of the vehicle 1 for example, other vehicles, pedestrians, cyclists, curbs, guards
  • the processor 141 may obtain position information (distance and direction) and speed information (relative speed) of obstacles in front of the vehicle 1 based on the front radar data of the front radar 120.
  • Processor 141 is based on the front image data of the front camera 110, position information (direction) and type information of obstacles in front of the vehicle 1 (for example, whether the obstacle is another vehicle or a pedestrian, or a cyclist Whether it is a recognition, or a curb, or a guardrail, or a street tree, or a streetlight, etc.) can be obtained.
  • the processor 141 matches the obstacles detected by the front image data to the obstacles detected by the front radar data, and based on the matching result, the type information, position information, and speed information of the obstacles in front of the vehicle 1 are matched. Can be obtained.
  • the processor 141 may generate a braking signal and a steering signal based on type information, position information, and speed information of obstacles ahead.
  • the processor 141 calculates a time to collision between the vehicle 1 and the front obstacle (Time to Collision, TTC) based on position information (relative distance) and speed information (relative speed) of obstacles in front. And, based on the comparison result between the time until the collision and the predetermined reference time, the driver may be warned of a collision, a braking signal may be transmitted to the braking system 32, or a steering signal may be transmitted to the steering system 42.
  • TTC Time to Collision
  • the processor 141 may output a warning through audio and/or a display.
  • the processor 141 may transmit a pre-braking signal to the braking system 32.
  • the processor 141 may transmit an emergency braking signal to the braking system 32.
  • the second reference time is smaller than the first reference time
  • the third reference time is smaller than the second reference time.
  • the processor 141 may transmit a steering signal to the steering system 42 based on direction information among position information of front obstacles.
  • the processor 141 calculates a distance to collision (DTC) based on speed information (ie, relative speed) of obstacles in front, and compares the distance to collision and the distance to obstacles in front. Based on the result, it is possible to warn the driver of a collision or transmit a braking signal to the braking system 32.
  • DTC distance to collision
  • the processor 141 is based on the corner radar data of the plurality of corner radars 130, the position information (distance and direction) and speed of obstacles in the side of the vehicle 1 (front right, front left, rear right, rear left). Information (relative speed) can be obtained.
  • the memory 142 generates a program and/or data for the processor 141 to process image data, a program and/or data for processing radar data, and the processor 141 to generate a braking signal and/or a steering signal. It is possible to store programs and/or data for doing so.
  • the memory 142 temporarily stores image data received from the front camera 110 and/or radar data received from the radars 120 and 130, and processes the image data and/or radar data of the processor 141 You can remember the results temporarily.
  • the memory 142 includes not only volatile memories such as S-RAM and D-RAM, but also flash memory, Read Only Memory (ROM), and Erasable Programmable Read Only Memory (EPROM). It may include non-volatile memory.
  • FIG. 4 is a block diagram of a collision avoidance device 200 among driver assistance devices 100 provided in a vehicle according to an exemplary embodiment.
  • the collision avoidance device 200 provided in the vehicle 1 includes an image acquisition unit 210, an obstacle detection unit 220, an input unit 230, a second control unit 240, a storage unit 241, and a sound output unit 250. ), a display unit 260 and a position receiving unit 270, and may further include a braking system 32 and a steering system 42.
  • the image acquisition unit 210 acquires an image of a road and transmits information of the acquired image to the second controller 240.
  • the image information may be image data.
  • the image acquisition unit 210 may include a front camera 110, and may acquire image information of a road from front image data captured by the front camera 110 and acquire information of an obstacle.
  • the obstacle detection unit 220 detects obstacles in the front and left and right sides of the own vehicle, and transmits obstacle information on the detected obstacle to the second controller 240.
  • the obstacle information may include position information of the obstacle, and the position information of the obstacle may include distance information and direction information of the obstacle.
  • the obstacle detection unit 220 is a sensor for detecting an obstacle, and may include a front radar 120 and first and second corner radars 131 and 132.
  • the front radar 120 and the first and second corner radars 131 and 132 may be radars of the same model or different models.
  • the front radar 120 may be a radar having the same angular resolution as the first and second corner radars 131 and 132. In addition, the front radar 120 may be a radar having higher angular resolution than the first and second corner radars 131 and 132.
  • the sensors of the obstacle detection unit 220 may have a plurality of tracks in which the detection directions of the obstacles are set differently from each other.
  • each track may detect an obstacle existing in a preset detection direction.
  • the range of the detection direction of each track may have an angular range corresponding to the angular resolution. That is, the sensor may detect obstacles respectively located in the plurality of tracks. This will be described with reference to FIGS. 5A and 5B.
  • the senor when the sensor is a radar of the model LRR-20, the sensor can detect the position of an obstacle existing at a distance of 200 m or more through eight receiving channels with a lateral angular resolution of 5 degrees or less.
  • the eight receiving channels may be eight-track receiving channels.
  • the first track T1 of the sensor detects an obstacle existing between 0 degrees and 5 degrees, but can receive a detection signal through the first channel
  • the second track T2 is 10 degrees from 5 degrees. It detects an obstacle existing between the degrees but can receive a detection signal through the second channel
  • the third track T3 detects an obstacle existing between 10 degrees and 15 degrees, but transmits the detection signal through the third channel. You can receive it.
  • a description of the fourth to eighth tracks will be omitted.
  • the senor transmits and receives signals through eight tracks, but sequentially transmits and receives signals based on a preset order, and detects obstacles present in the detection direction of each track based on the received signals.
  • the direction and distance of the obstacle may be detected based on the signal received through the channel of the track.
  • the sensor when the sensor is a radar of the model MRR-20, the sensor detects the position of an obstacle existing at a distance of about 160 m through four receiving channels having a lateral angular resolution of 10 degrees or less.
  • the four receiving channels may be four-track receiving channels.
  • the transverse direction may be a direction perpendicular to the moving direction of the vehicle.
  • the first track T1 of the sensor detects an obstacle existing between 0 degrees and 10 degrees, but can receive a detection signal through the first channel
  • the second track T2 is between 10 degrees and 20 degrees. It detects an obstacle existing between the degrees but can receive a detection signal through the second channel
  • the third track T3 detects an obstacle existing between 20 degrees and 30 degrees, but transmits the detection signal through the third channel.
  • the fourth track T4 may detect an obstacle existing between 30 degrees and 40 degrees, but may receive a detection signal through the fourth channel.
  • the senor detects each obstacle existing in the detection directions of the four tracks, but may detect the direction and distance of the obstacle based on signals received through the channels of each track.
  • the input unit 230 may receive an on/off command of the collision avoidance mode.
  • the input unit 230 may also receive an on-off command for an operation mode associated with the collision avoidance mode.
  • the operation mode associated with the collision avoidance mode may include an autonomous driving mode.
  • the input unit 230 may receive a warning sound for collision prevention among a plurality of warning sounds.
  • the second controller 240 When the image information is received during the autonomous driving mode, the second controller 240 performs image processing to recognize the lane of the road, and recognizes the own lane on which the own vehicle is traveling based on the position information of the recognized lane. It is determined whether both lanes of the lane are recognized, and when it is determined that both lanes are recognized, autonomous driving may be controlled based on the recognized both lanes.
  • the second control unit 240 identifies objects in the image based on image information acquired by the camera when performing the collision avoidance mode, compares the information of the identified objects with the object information stored in the storage unit, and fixes the objects in the image. It is also possible to determine whether it is an obstacle in a state or an obstacle in a moving state.
  • the second controller 240 may determine the position of the fixed obstacle, check the track of the sensor corresponding to the determined position, and increase the weight of the confirmed track.
  • the second controller 240 acquires a ratio occupied by the obstacle in the fixed state in one image.
  • the second controller 240 may predict a probability that the moving obstacle is hidden by the fixed obstacle by obtaining a ratio of the size of one image and the size of the fixed obstacle.
  • the second control unit 240 acquires the shape of the obstacle based on the information of the identified objects, determines whether the obstacle is a fixed obstacle based on the obtained shape, and if it is determined that the obstacle is a fixed state, the position of the obstacle in the fixed state It is also possible to judge.
  • the shape of the obstacle may be information for recognizing the type of the obstacle.
  • the second controller 240 acquires position information and speed information of the obstacle from image data captured by the front camera, determines whether the obstacle is a fixed obstacle based on the obtained position information and speed information, and determines whether the obstacle is a fixed obstacle. It is also possible to acquire a position.
  • the fixed obstacle may include street trees, street lights, buildings, construction articles, and loads.
  • the second control unit 240 determines whether an obstacle in a fixed state exists around the vehicle based on the current location information received by the location receiving unit 270, map information and road information stored in the storage unit 241, and If it is determined that there is an obstacle, it is possible to determine the position of the obstacle in a fixed state, check the track of the sensor corresponding to the determined position, and control the weight of the confirmed track upward.
  • determining the position of the stationary obstacle may include determining a direction in which the stationary obstacle exists.
  • the second control unit 240 may determine the existence of an obstacle located in front of the vehicle based on the obstacle information detected by the front radar 120 among the obstacle detection unit 220, and detected by the first corner radar 131.
  • the existence of an obstacle located in the right direction of the vehicle can be determined based on the acquired obstacle information, and the existence of an obstacle located in the left direction of the vehicle can be determined based on the obstacle information detected by the second radar 132. have.
  • the second control unit 240 warns the driver of a collision based on the obstacle information detected by the obstacle detection unit 220, transmits a braking signal to the braking system 32, or transmits a steering signal to the steering system. Can be sent to (42).
  • the obstacle information may include information on whether an obstacle exists and location information of the obstacle, and the position information of the obstacle may include a distance value from the obstacle and a direction of the obstacle.
  • the distance to the obstacle is a relative distance between the vehicle and the obstacle
  • the direction of the obstacle may be a relative direction to the vehicle.
  • the second controller 240 may control the output of warning information, and if the distance to the obstacle is the second reference distance, the second controller 240 may control the operation of the braking system for collision avoidance control.
  • the second reference distance may be a distance shorter than the first reference distance.
  • the second controller 240 controls the output of warning information, and if the collision time with the obstacle is the second reference time, the second controller 240 may control the operation of the braking system for collision avoidance control.
  • the second reference time may be shorter than the first reference time.
  • the second control unit 240 determines the presence or absence of an obstacle in the detection direction of each track based on signals detected by a plurality of tracks of any one sensor, and if it is determined that an obstacle exists, based on the detected signal.
  • the distance information of the detected obstacle is obtained, and based on the obtained distance information, it is determined whether the obstacle is a fixed state obstacle. That is, the second control unit 240 determines whether the detected obstacle is a fixed obstacle based on changes in the driving speed, the driving time, and the acquired distance.
  • the second controller 240 checks the track in which the fixed obstacle is detected, and increases the weight of the identified track by a predetermined value or more.
  • the second control unit 240 may increase the sensitivity of the identified track. In addition, when the weight of the identified track is increased by a predetermined value or more, the second controller 240 may increase the number of times of detecting an obstacle using the identified track.
  • the second control unit 240 may increase the signal processing order of the signal received on the channel of the identified track than the signal processing order of the signal received on the channel of the other track. have. That is, the second control unit 240 may increase the priority of signal processing for a signal received on a channel of the identified track.
  • the second controller 240 may obtain a ratio occupied by the stationary obstacle based on signals detected by the plurality of tracks.
  • the second control unit 240 may increase the weight of the identified track by a predetermined value or by a larger value than the predetermined value based on the ratio occupied by the obstacle in the fixed state. This will be described with reference to FIGS. 6A and 6B.
  • the second control unit 240 may increase the weights of the two tracks by a first predetermined value.
  • the second control unit 240 may increase the weights of the three tracks by a second predetermined value. .
  • an obstacle is an obstacle positioned in front of the own vehicle, and is an obstacle that exists in front of the own vehicle based on the front bumper of the own vehicle.
  • the second control unit 240 decreases at least one of the first reference distance, the second reference distance, the first reference time, and the second reference time by a set value. Let it.
  • the second control unit 240 may decrease the first reference distance by a first set value to change it to a first set distance, and decrease the second reference distance by a second set value to change it to a second set distance.
  • the first set value and the second set value are distance values, and may be the same or different.
  • the second control unit 240 may change the first reference time to a first set time by decreasing the first reference time by a first set value, and change the second reference time to a first set time by decreasing the second reference time by a second set value.
  • the first set value and the second set value are time values, and may be the same or different.
  • the second controller 240 acquires a distance to an obstacle existing in the detection direction of the identified track based on a signal received through the channel of the identified track, and collides when the distance to the acquired obstacle is less than the first set distance. It is also possible to control the output of warning information and to control the braking system to perform collision avoidance control when the distance to the acquired obstacle is less than or equal to the second set distance.
  • the second controller 240 may control the operation of a warning lamp or a speaker having direction information corresponding to a direction of an obstacle in a moving state.
  • the braking system 32 may perform braking in response to a braking signal from the second control unit 240.
  • the braking system 32 may also perform emergency braking based on the braking signal of the second control unit 240.
  • the steering system 42 may perform steering in response to a steering signal from the second control unit 240 when preventing collision with an obstacle.
  • the storage unit 241 stores map information and road information.
  • the map information may include location information of roads, location information of buildings around the road, and the like.
  • Road information may include location information of street trees around each road, location information of buildings, loading information of construction items, etc., location information of banners, and the like.
  • Road information may include location information of street trees around intersections, left turn, right turn, and U-turn roads, location information of buildings, loading information of construction items, etc., location information of banners, and the like.
  • the storage unit 241 may store shape information of an obstacle in a fixed state and shape information of an obstacle in a moving state.
  • the obstacle in the moving state may be a pedestrian, a bicycle, a bicycle, or another vehicle.
  • the storage unit 241 may store a first reference distance and a second reference distance, and may store a first setting value and a second setting value for changing the first and second reference distances.
  • the storage unit 241 may store a first reference time and a second reference time, and may store a first setting value and a second setting value for changing the first reference time and the second reference time. .
  • the storage unit 241 may store identification information and location information of a plurality of collision points corresponding to the lateral angular resolution of the front radar.
  • the lateral angular resolution is the ability to separate and recognize a detection area capable of detecting an obstacle using a front radar, and the detection area can be recognized by dividing a preset angle into a reference unit.
  • the storage unit 241 may be a nonvolatile memory device such as a cache, read only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), and flash memory, or It may be implemented as at least one of a volatile memory device such as a random access memory (RAM), a hard disk drive (HDD), or a storage medium such as a CD-ROM, but is not limited thereto.
  • ROM read only memory
  • PROM programmable ROM
  • EPROM erasable programmable ROM
  • EEPROM electrically erasable programmable ROM
  • flash memory or It may be implemented as at least one of a volatile memory device such as a random access memory (RAM), a hard disk drive (HDD), or a storage medium such as a CD-ROM, but is not limited thereto.
  • the storage unit 241 may be a memory implemented as a separate chip from the processor described above with respect to the second control unit 240, or may be implemented as a processor and a single chip.
  • the sound output unit 250 outputs sound in response to a control command of the second control unit 240.
  • the sound output unit 250 outputs a warning sound for preventing collision with an obstacle.
  • the sound output unit 250 may be a speaker. Speakers may be provided in the front left and right, rear left and right inside the vehicle.
  • the display unit 260 may display an image, turn on and turn off, in response to a control command of the second control unit 240.
  • the display unit 260 may display information on execution and non-performance of the collision avoidance mode, and may display information on collision avoidance when the collision avoidance mode is being executed.
  • the display unit 260 may be a lamp such as an LED or a flat panel display device such as an LCD.
  • the display unit 260 may include warning lamps provided at the front left and right of the vehicle interior, and may further include warning lamps provided at the rear left and right respectively.
  • the display unit 260 may also display on-off information of an operation mode associated with the collision avoidance mode. In this case, the display unit 260 may simultaneously display execution information of the collision avoidance mode and execution information of an operation mode linked to the collision avoidance mode.
  • the display unit 260 may display an autonomous driving mode or a manual driving mode.
  • the display unit 260 may display an obstacle acquired by the image acquisition unit 210 in addition to the lane.
  • the location receiving unit 270 receives current location information of the vehicle.
  • Such a location receiver may include a Global Positioning System (GPS) receiver that communicates with a plurality of satellites.
  • GPS Global Positioning System
  • the GPS (Global Positioning System) receiver includes an antenna module for receiving signals from a plurality of GPS satellites. This antenna module may be provided on an antenna provided on an exterior of a vehicle.
  • the signal processing unit includes software that acquires a current location by using distance and time information corresponding to location signals of a plurality of GPS satellites, and an output unit that outputs the acquired location data of the vehicle.
  • the vehicle may further include a speed detector for detecting the driving speed of the vehicle.
  • FIG. 7 is a flowchart illustrating a vehicle control according to an exemplary embodiment.
  • the vehicle may determine the existence of an obstacle based on at least one of map information and road information stored in the image acquisition unit 210, the obstacle detection unit 220, the location receiving unit 270, and the storage unit 241.
  • the vehicle identifies objects in the image based on image information acquired by the front camera, and compares the information of the identified objects with object information stored in the storage to determine whether objects in the image are obstacles. That is, the vehicle can detect the obstacle from the image information.
  • the vehicle may determine whether an obstacle exists around the vehicle based on the current location information received by the location receiving unit 270 and map information and road information stored in the storage unit 241. That is, the vehicle can detect an obstacle from map information and road information.
  • the vehicle may determine the existence of an obstacle based on a signal received from a sensor that is an obstacle detection unit.
  • the vehicle may determine the existence of an obstacle located in front of the vehicle based on the obstacle information detected by the front radar 120, and based on the obstacle information detected by the first corner radar 131
  • the existence of an obstacle positioned in the right direction of the vehicle may be determined, and the existence of an obstacle positioned in the left direction of the vehicle may be determined based on the obstacle information detected by the second corner radar 132. That is, the vehicle can detect the obstacle from the sensing signal of the obstacle detection unit.
  • the vehicle may determine whether an obstacle exists in the detection direction of the track based on the signal received for each track of the sensor.
  • the vehicle detects 301 surrounding obstacles and determines whether the detected obstacle is a fixed obstacle or a moving obstacle.
  • the fixed obstacle may include street trees, street lights, buildings, construction articles, and loads.
  • the vehicle acquires the shape of the obstacle based on the information of the objects identified in the image, and determines whether the obstacle is a fixed obstacle based on the obtained shape. It is also possible to determine the location.
  • the shape of the obstacle may be information for recognizing the type of the obstacle.
  • the vehicle may determine the obstacle included in the road information and the map information as a fixed obstacle.
  • the vehicle may determine the location of the obstacle in the fixed state based on road information, map information, and current location information of the vehicle.
  • the vehicle checks the distance information to the obstacle detected by the obstacle detection unit, determines whether the position of the detected obstacle changes based on the checked distance information, the driving speed and the driving time, and if it is determined that the position of the detected obstacle does not change.
  • the detected obstacle may be determined as a fixed obstacle, and the position of the obstacle may be determined through identification information of a channel receiving a detection signal for the fixed obstacle.
  • the vehicle determines that there is an obstacle in the fixed state (302), the vehicle acquires a ratio occupied by the obstacle in the fixed state (303).
  • the vehicle acquires a ratio occupied by the fixed obstacle in one image. That is, the vehicle can predict the probability that the moving obstacle is hidden by the fixed obstacle by obtaining the ratio of the size of one image and the size of the fixed obstacle.
  • the vehicle may obtain a ratio occupied by the stationary obstacle based on the number of tracks and the total number of tracks on which the detection signal for the stationary obstacle is received.
  • the vehicle checks the track of a sensor having a channel that has received a detection signal for the obstacle in the fixed state, and increases the weight of the identified track (304).
  • the vehicle checks the track with the detection direction corresponding to the direction among the position information of the stationary obstacle and increases the weight of the identified track. It is possible.
  • Increasing the weight of the identified track may include increasing the sensitivity of the identified track.
  • increasing the weight of the identified track may include increasing the number of times of detection of an obstacle through the identified track.
  • Increasing the weight of the identified track may include preferentially processing a signal received on a channel of the identified track.
  • the vehicle may adjust the increased value of the weight of the identified track based on the ratio of the obstacle in the fixed state.
  • the weight of the two tracks can be increased by a predetermined value, and three of the four tracks of the sensor When it is determined that a fixed obstacle is detected through the track, the weights of the three tracks may be increased by a second predetermined value.
  • the vehicle decreases 305 a reference value for determining whether to control the output of the warning information and a reference value for determining whether to control the collision avoidance.
  • the second control unit 240 decreases the first reference distance for determining whether to control the output of warning information by a first set value, changes it to a first set distance, and determines whether or not to control the collision prevention. 2 It is possible to change the reference distance to a second set distance by reducing the second set value.
  • the first set value and the second set value are distance values, and may be the same or different.
  • the vehicle reduces the first reference time for determining whether to control the output of warning information by a first set value and changes it to the first set time, and sets the second reference time for determining whether to control the collision avoidance by the second set value. It is also possible to decrease and change to the first set time.
  • the first set value and the second set value are time values, and may be the same or different.
  • the vehicle determines whether an obstacle in the moving state exists in the detection direction of the identified track based on the signal received through the channel of the identified track (306). Controls the output of collision warning information when the distance to the acquired obstacle is less than the first set distance while acquiring the distance, and controls the braking system to perform collision avoidance control if the distance to the acquired obstacle is less than the second set distance. (307).
  • Collision avoidance control may include reducing the driving speed or performing braking.
  • the vehicle acquires a distance to an obstacle existing in the detection direction of another track based on a signal received through a channel of a track other than the identified track, and a collision warning if the distance to the acquired obstacle is less than the first reference distance. It controls the output of information, and controls the braking system to perform collision avoidance control when the distance to the acquired obstacle is less than or equal to the second reference distance.
  • FIG. 8 is an exemplary diagram illustrating an obstacle detection unit provided in a vehicle according to another exemplary embodiment
  • FIG. 9 is an exemplary diagram illustrating an obstacle detection unit provided in a vehicle of a vehicle according to another exemplary embodiment.
  • the vehicle is an obstacle detection unit for detecting an obstacle, and may include a plurality of sensors S1-S7.
  • the obstacle detection unit 220 may include a plurality of radar sensors, and may include a plurality of lidar sensors.
  • LiDAR Light Detection And Ranging
  • LiDAR Light Detection And Ranging
  • the lidar sensor may include a transmitter that transmits a laser, and a receiver that receives a laser that returns after being reflected on a surface of an object existing within the sensor range.
  • a transmitter that transmits a laser
  • a receiver that receives a laser that returns after being reflected on a surface of an object existing within the sensor range.
  • the obstacle detection unit 220 may include a plurality of ultrasonic sensors.
  • the ultrasonic sensor generates ultrasonic waves for a certain period of time and then detects a signal that is reflected off an object and returned.
  • the ultrasonic sensor can be used to determine the presence or absence of an obstacle such as a pedestrian within a short range.
  • the second controller 240 When performing the collision avoidance mode, the second controller 240 identifies objects in the image based on image information acquired by the camera, determines whether at least one of the identified objects is a fixed obstacle, and indicates that it is a fixed obstacle. If determined, it is possible to determine the position of the obstacle in the fixed state, check the sensor corresponding to the position, and increase the weight of the confirmed sensor.
  • the second controller 240 may acquire a ratio occupied by the obstacle in a fixed state based on the image information, and adjust the increased value of the weight of the identified sensor based on the obtained ratio.
  • the second control unit 240 determines whether an obstacle in a fixed state exists around the vehicle based on the current location information received by the location receiving unit 270, map information and road information stored in the storage unit 241, and If it is determined that there is an obstacle, it is possible to determine the position of the obstacle in a fixed state, check a sensor corresponding to the determined position, and increase the weight of the confirmed sensor.
  • determining the position of the stationary obstacle may include determining a direction in which the stationary obstacle exists.
  • the second controller 240 determines the presence or absence of an obstacle in the detection direction of each sensor based on signals detected by the plurality of sensors, and if it is determined that the obstacle exists, the detected obstacle is determined based on the detected signal.
  • the distance information is obtained, and based on the obtained distance information, it is determined whether the obstacle is an obstacle in a fixed state. That is, the second control unit 240 determines whether the detected obstacle is a fixed obstacle based on changes in the driving speed, the driving time, and the acquired distance.
  • the plurality of sensors may have different detection directions for detecting an obstacle.
  • the detection direction of these sensors may be preset.
  • the second controller 240 checks a sensor that detects the fixed obstacle and increases the weight of the confirmed sensor by a predetermined value or more.
  • the second controller 240 may obtain a ratio occupied by the obstacle in the fixed state based on signals detected by the plurality of sensors.
  • the second control unit 240 may increase the weight of the identified sensor by a predetermined value or by a larger value than the predetermined value based on the ratio occupied by the obstacle in the fixed state.
  • the second control unit 240 increases the weights of the two sensors by a first predetermined value. If it is determined that a fixed obstacle is detected through the three sensors, the weights of the three sensors can be increased by a second predetermined value. In addition, it is possible to increase the weights of the three sensors, but increase them differently.
  • the second control unit 240 decreases at least one of the first reference distance, the second reference distance, the first reference time, and the second reference time by a set value. Let it.
  • the second control unit 240 may change the first reference time to a first set time by decreasing the first reference time by a first set value, and change the second reference time to a first set time by decreasing the second reference time by a second set value.
  • the first set value and the second set value are time values, and may be the same or different.
  • the second controller 240 acquires a distance to an obstacle existing in the detection direction of the identified sensor based on a signal received through the identified sensor, and if the distance to the acquired obstacle is less than the first set distance, collision warning information It is also possible to control the output of and control the braking system to perform collision avoidance control when the distance to the acquired obstacle is less than or equal to the second set distance.
  • the second controller 240 may control the operation of a warning lamp or a speaker having direction information corresponding to a direction of an obstacle in a moving state.
  • the second controller 240 checks the distance to the detected obstacle, and if the distance to the identified obstacle is a first reference distance. If the warning information is output and the distance to the obstacle is the second reference distance, the operation of the braking system may be controlled for collision avoidance control.
  • FIG. 10 is a flowchart illustrating a vehicle control according to another exemplary embodiment.
  • the vehicle may determine the existence of an obstacle based on at least one of map information and road information stored in the image acquisition unit 210, the obstacle detection unit 220, the location receiving unit 270, and the storage unit 241.
  • the vehicle identifies objects in the image based on image information acquired by the front camera, and compares the information of the identified objects with object information stored in the storage to determine whether objects in the image are obstacles. That is, the vehicle can detect the obstacle from the image information.
  • the vehicle may determine whether an obstacle exists around the vehicle based on the current location information received by the location receiving unit 270 and map information and road information stored in the storage unit 241. That is, the vehicle can detect an obstacle from map information and road information.
  • the vehicle may determine the existence of an obstacle based on signals received from a plurality of sensors, which are obstacle detection units.
  • the vehicle detects the surrounding obstacles 311 and determines whether the detected obstacle is a fixed obstacle or a moving obstacle.
  • the vehicle acquires the shape of the obstacle based on the information of the objects identified in the image, and determines whether the obstacle is a fixed obstacle based on the obtained shape. It is also possible to determine the location.
  • the shape of the obstacle may be information for recognizing the type of the obstacle.
  • the vehicle may determine the obstacle included in the road information and the map information as a fixed obstacle.
  • the vehicle may determine the location of the obstacle in the fixed state based on road information, map information, and current location information of the vehicle.
  • the vehicle checks the distance information to the obstacle detected through the plurality of sensors, and determines whether the position of the detected obstacle changes based on the determined distance information, the driving speed, and the driving time, and the detected position of the obstacle is If it is determined that it does not change, the detected obstacle may be determined as a fixed obstacle, and the position (ie, direction) of the obstacle may be determined through identification information of a sensor that has received a detection signal for the fixed obstacle.
  • the vehicle determines that there is an obstacle in the fixed state (312), the vehicle acquires a ratio occupied by the obstacle in the fixed state (313).
  • the vehicle acquires a ratio occupied by the fixed obstacle in one image. That is, the vehicle can predict the probability that the moving obstacle is hidden by the fixed obstacle by obtaining the ratio of the size of one image and the size of the fixed obstacle.
  • the vehicle may obtain a ratio occupied by the stationary obstacle based on the number of sensors that have received the detection signal for the stationary obstacle and the total number of sensors.
  • the vehicle checks the sensor that has received the detection signal for the obstacle in the fixed state, and increases the weight of the confirmed sensor (314).
  • the vehicle checks a sensor having a detection direction corresponding to the direction among the position information of the stationary obstacle and increases the weight of the confirmed sensor. It is possible.
  • Increasing the weight of the identified sensor may include increasing the sensitivity of the identified sensor.
  • increasing the weight of the identified sensor may include increasing the number of times of detection of an obstacle through the identified sensor.
  • increasing the weight of the identified sensor may include preferentially processing a signal received by the identified sensor.
  • the vehicle may adjust the increased value of the weight of the identified sensor based on the ratio of the obstacle in the fixed state.
  • the weight of the two sensors can be increased by a first predetermined value, and the obstacle in the fixed state through three sensors If it is determined that it is detected, the weights of the three sensors may be increased by a second predetermined value.
  • the vehicle decreases 315 a reference value for determining whether to control the output of the warning information and a reference value for determining whether to control the collision prevention.
  • the second control unit 240 decreases the first reference distance for determining whether to control the output of warning information by a first set value, changes it to a first set distance, and determines whether or not to control the collision prevention. 2 It is possible to change the reference distance to a second set distance by reducing the second set value.
  • the first set value and the second set value are distance values, and may be the same or different.
  • the vehicle reduces the first reference time for determining whether to control the output of warning information by a first set value and changes it to the first set time, and sets the second reference time for determining whether to control the collision avoidance by the second set value. It is also possible to decrease and change to the first set time.
  • the first set value and the second set value are time values, and may be the same or different.
  • the vehicle determines whether an obstacle in the moving state exists in the detection direction of the identified sensor based on the signal received through the confirmed sensor (316), and if it is determined that there is an obstacle in the moving state, the distance to the obstacle in the moving state is determined. If the acquired and acquired distance to the obstacle is less than or equal to the first set distance, control the output of collision warning information, and if the distance to the acquired obstacle is less than or equal to the second set distance, control the braking system to perform collision avoidance control (307 )do.
  • Collision avoidance control may include reducing the driving speed or performing braking.
  • the vehicle acquires a distance to an obstacle existing in the detection direction of another sensor based on a signal received through a sensor other than the identified sensor, and if the distance to the acquired obstacle is less than the first reference distance, the collision warning information is displayed.
  • the output is controlled, and when the obtained distance to the obstacle is less than or equal to the second reference distance, the braking system is controlled to perform collision avoidance control.
  • the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer.
  • the instruction may be stored in the form of a program code, and when executed by a processor, a program module may be generated to perform the operation of the disclosed embodiments.
  • the recording medium may be implemented as a computer-readable recording medium.
  • Computer-readable recording media include all types of recording media in which instructions that can be read by a computer are stored. For example, there may be read only memory (ROM), random access memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage device, and the like.
  • ROM read only memory
  • RAM random access memory
  • magnetic tape magnetic tape
  • magnetic disk magnetic disk
  • flash memory optical data storage device

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)

Abstract

Un véhicule selon la présente invention comprend : une unité d'acquisition d'image destinée à acquérir une image ; une pluralité de capteurs qui sont disposés au niveau de différentes positions d'un châssis et dont des régions de détection destinées à détecter des obstructions sont configurées différemment ; un processeur qui acquiert des objets dans l'image acquise, confirme la position d'une obstruction dans un état fixe si l'obstruction dans un état fixe est présente parmi les objets acquis, confirme un capteur présentant la position confirmée comme région de détection et augmente la pondération du capteur confirmé d'au moins une valeur prédéterminée ; et une unité d'avertissement destinée à émettre des informations d'avertissement de collision en réponse à une instruction de commande du processeur.
PCT/KR2020/011450 2019-09-09 2020-08-27 Dispositif d'assistance au conducteur, véhicule présentant ce dernier et procédé de commande associé WO2021049790A1 (fr)

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KR1020190111346A KR20210030529A (ko) 2019-09-09 2019-09-09 운전자 보조 장치, 그를 가지는 차량 및 그 제어 방법
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