WO2022131786A1 - Système d'aide à la conduite et procédé de commande associé - Google Patents

Système d'aide à la conduite et procédé de commande associé Download PDF

Info

Publication number
WO2022131786A1
WO2022131786A1 PCT/KR2021/019064 KR2021019064W WO2022131786A1 WO 2022131786 A1 WO2022131786 A1 WO 2022131786A1 KR 2021019064 W KR2021019064 W KR 2021019064W WO 2022131786 A1 WO2022131786 A1 WO 2022131786A1
Authority
WO
WIPO (PCT)
Prior art keywords
driver
vehicle
detection area
area
basic
Prior art date
Application number
PCT/KR2021/019064
Other languages
English (en)
Korean (ko)
Inventor
박지열
Original Assignee
주식회사 만도모빌리티솔루션즈
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 만도모빌리티솔루션즈 filed Critical 주식회사 만도모빌리티솔루션즈
Publication of WO2022131786A1 publication Critical patent/WO2022131786A1/fr

Links

Images

Classifications

    • 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
    • B60W40/08—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 drivers or passengers
    • 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
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
    • 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
    • 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
    • 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
    • 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
    • B60W2050/143—Alarm means
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/225—Direction of gaze
    • 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
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/08—Predicting or avoiding probable or impending collision

Definitions

  • a driver assistance system is an adaptive cruise control (ACC) system that maintains a vehicle-to-vehicle distance from a preceding vehicle, or an automatic emergence braking (AEB) system that prevents a collision through emergency braking in dangerous situations. and the like.
  • ACC adaptive cruise control
  • AEB automatic emergence braking
  • the control unit may increase the control sensitivity by changing a distance to the obstacle used for the collision warning or a collision warning timing with the obstacle.
  • the sensing area In enlarging the sensing area than the basic sensing area, if the tracked head direction is the front direction of the vehicle, the sensing area may be enlarged than the basic sensing area based on the tracked gaze direction.
  • FIG. 6 illustrates a control method of a driver assistance system according to an exemplary embodiment.
  • the front radar 120 and the corner radar 130 may acquire the relative positions, relative speeds, etc. of objects (eg, other vehicles, pedestrians, etc.) existing in front and around the vehicle.
  • the front radar 120 and the corner radar 130 may be connected to the control unit 200 through a vehicle communication network or a hard wire or a printed circuit board.
  • the front radar 120 and the corner radar 130 may transmit radar data to the controller 200 .
  • radars may be implemented as Lidar.
  • the processor 210 may include an image signal processor that processes front image data of the front camera 110 and driver image data of the driver camera 150 , and radar data of the radars 120 and 130 . It may include a digital signal processor for processing. Also, the processor 210 may include a micro control unit (MCU).
  • MCU micro control unit
  • G ⁇ 1 and G ⁇ 2 have higher angle values from 0° to 180°.
  • driver's gaze direction is within an angle range between G ⁇ 1 and G ⁇ 2, it is determined that the driver's gaze is directed to the front.
  • the controller 200 tracks the direction of the driver's head based on the driving image data received from the driver's camera 150 ( 302 ).
  • the controller 200 tracks the driver's gaze direction ( 306 ).
  • the detection area is enlarged in one direction or in both directions according to the head direction when the face does not stare at the front, but the present invention is not limited thereto.
  • the sensing area may be unidirectionally enlarged in the opposite direction to the gaze direction.

Landscapes

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

Abstract

Un mode de réalisation de l'invention concerne un système d'aide à la conduite comprenant : un appareil de prise de vues de conducteur destiné à capturer une image de conducteur comprenant un visage d'un conducteur ; et une unité de commande destinée à suivre une direction de tête et une direction de regard du conducteur à partir de données de l'image de conducteur acquises par l'appareil de prise de vues de conducteur, à étendre une zone de détection afin qu'elle soit plus grande qu'une zone de détection de base en s'appuyant sur la direction suivie de la tête et de la direction suivie du regard, et à commander un véhicule en appliquant la zone de détection étendue.
PCT/KR2021/019064 2020-12-15 2021-12-15 Système d'aide à la conduite et procédé de commande associé WO2022131786A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020200175264A KR20220085876A (ko) 2020-12-15 2020-12-15 운전자 보조 시스템 및 그 제어 방법
KR10-2020-0175264 2020-12-15

Publications (1)

Publication Number Publication Date
WO2022131786A1 true WO2022131786A1 (fr) 2022-06-23

Family

ID=82057900

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2021/019064 WO2022131786A1 (fr) 2020-12-15 2021-12-15 Système d'aide à la conduite et procédé de commande associé

Country Status (2)

Country Link
KR (1) KR20220085876A (fr)
WO (1) WO2022131786A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230256988A1 (en) * 2022-02-17 2023-08-17 Gm Cruise Holdings Llc Dynamic lidar adjustments based on av road conditions

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012048460A (ja) * 2010-08-26 2012-03-08 Denso Corp 走行支援装置
KR20140098598A (ko) * 2013-01-31 2014-08-08 한국전자통신연구원 차량 속도 적응형 장애물 검출 장치 및 방법
JP2016035634A (ja) * 2014-08-01 2016-03-17 株式会社デンソー 運転支援装置
KR20160056189A (ko) * 2014-11-11 2016-05-19 경희대학교 산학협력단 보행자 검출 경보 장치 및 방법
JP2019011055A (ja) * 2018-10-01 2019-01-24 株式会社デンソー 運転支援装置

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5028302B2 (ja) 2008-03-05 2012-09-19 本田技研工業株式会社 車両用警報装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012048460A (ja) * 2010-08-26 2012-03-08 Denso Corp 走行支援装置
KR20140098598A (ko) * 2013-01-31 2014-08-08 한국전자통신연구원 차량 속도 적응형 장애물 검출 장치 및 방법
JP2016035634A (ja) * 2014-08-01 2016-03-17 株式会社デンソー 運転支援装置
KR20160056189A (ko) * 2014-11-11 2016-05-19 경희대학교 산학협력단 보행자 검출 경보 장치 및 방법
JP2019011055A (ja) * 2018-10-01 2019-01-24 株式会社デンソー 運転支援装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230256988A1 (en) * 2022-02-17 2023-08-17 Gm Cruise Holdings Llc Dynamic lidar adjustments based on av road conditions

Also Published As

Publication number Publication date
KR20220085876A (ko) 2022-06-23

Similar Documents

Publication Publication Date Title
JP5345350B2 (ja) 車両の運転支援装置
EP1245443B1 (fr) Système de surveillance de l'environnement d'un véhicule
JP3239521B2 (ja) 移動体認識装置
WO2018070655A1 (fr) Dispositif et procédé d'avertissement de collision d'objet en mouvement pour gros véhicule
EP3737084B1 (fr) Élément d'imagerie à semi-conducteur, dispositif d'imagerie et procédé de commande d'élément d'imagerie à semi-conducteur
WO2020145441A1 (fr) Dispositif électronique pour véhicule et procédé pour faire fonctionner le dispositif électronique pour véhicule
JP2007172035A (ja) 車載画像認識装置、車載撮像装置、車載撮像制御装置、警告処理装置、画像認識方法、撮像方法および撮像制御方法
CA2585982A1 (fr) Systeme ameliore d'acquisition et de traitement d'images pour la commande d'equipements de vehicules
JP2006318093A (ja) 車両用移動物体検出装置
JP3246243B2 (ja) 車線逸脱警報装置
JP2006033264A (ja) 車々間通信制御システム、車載通信システムおよび通信状態表示装置
JP4661339B2 (ja) 車両用移動物体検出装置
WO2022131786A1 (fr) Système d'aide à la conduite et procédé de commande associé
WO2023146071A1 (fr) Appareil de contrôle de conditions dans un véhicule extérieur de zone latérale avant
US20200404187A1 (en) In-vehicle information recording device
US11025828B2 (en) Imaging control apparatus, imaging control method, and electronic device
WO2021241360A1 (fr) Dispositif de détection, système de détection et procédé de détection
WO2018124389A1 (fr) Procédé et appareil pour empêcher une collision entre véhicules
US11152726B2 (en) Connector device and connector system
EP4371822A1 (fr) Système de conduite auxiliaire et véhicule
WO2019117572A1 (fr) Dispositif électronique de véhicule et procédé de fonctionnement de dispositif électronique de véhicule
JP4415909B2 (ja) 車両用走行支援装置
JP2020109559A (ja) 信号機認識方法及び信号機認識装置
WO2021182190A1 (fr) Dispositif d'imagerie, système d'imagerie et procédé d'imagerie
KR102697664B1 (ko) 차량의 차선 유지 장치 및 그 제어 방법

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21907090

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21907090

Country of ref document: EP

Kind code of ref document: A1