WO2023136390A1

WO2023136390A1 - Brake assistance system and brake assistance method

Info

Publication number: WO2023136390A1
Application number: PCT/KR2022/001454
Authority: WO
Inventors: 김석현; 홍주표; 류명재
Original assignee: 주식회사 미래오토스
Priority date: 2022-01-12
Filing date: 2022-01-27
Publication date: 2023-07-20
Also published as: KR20230108932A

Abstract

A brake assistance system according to an exemplary embodiment of the present invention comprises a control unit which, when at least one of a road surface condition and a wheel condition of a vehicle is out of a normal state, puts forward the operation timing of an auxiliary operation of a brake system of the vehicle or increases the operation intensity thereof. In an abnormal situation, such as a slippery road surface or a decrease in tire friction, the auxiliary operation of the brake system may be started earlier than in a normal condition or performed with a greater operating intensity than in the normal condition, thereby significantly reducing the risk of accidents.

Description

Brake assist system and brake assist method

One embodiment of the present invention relates to braking assistance in a vehicle.

Driver assistance systems are being developed to improve safety related to vehicle operation, and technology related to vehicle braking assistance is introduced in Patent Document 1.

Functions such as lane keeping, maintaining distance from the vehicle in front, emergency braking, and parking assistance are implemented through driver assistance systems.

Patent Document 1 KR 10-2190163 B

One aspect of the present invention may provide a braking assistance system that assists braking by reflecting a state of a road surface or a state of a wheel in braking assistance.

An aspect of the present invention may provide a braking assistance method for assisting braking by reflecting a state of a road surface or a state of a wheel in braking assistance.

A braking assistance system according to an exemplary embodiment of the present invention, when at least one of a road surface condition and a wheel condition of a vehicle is out of a normal state, advances the operation timing of an auxiliary operation of the vehicle's brake system or increases the operation intensity. It includes; control unit.

At this time, the vehicle further includes a wheel state analyzer for analyzing at least one of tire abrasion, tire air pressure, and wheel alignment, and the control unit assists the brake system of the vehicle by using the analysis result of the wheel state analyzer. It is desirable to control the operation.

In addition, a first camera installed on the side of the vehicle to look backward from the front wheel of the vehicle; further comprising, wherein the wheel condition analysis unit analyzes the image captured by the first camera to analyze the tire wear it is desirable

The driving characteristic analyzer may further include a driving characteristic analyzer configured to analyze the driving characteristic of the vehicle, wherein the control unit compares the steady state driving characteristic with the driving characteristic at a first time point by using the analysis result value of the driving characteristic analyzing unit. It is desirable to control the braking device auxiliary operation after the first point in time.

In addition, a road surface condition analyzer for analyzing at least one of the curvature, material, reflectivity, and slipperiness of the road surface is further included, and the control unit determines that the road surface condition is slippery than a reference value by using the analysis result value of the road surface condition analyzer. If it is judged that it is, it is desirable to determine that it is out of the normal state.

A braking assistance system according to an exemplary embodiment of the present invention includes a first camera installed on a side of a vehicle so as to look backward from the front of a front wheel of a vehicle; a wheel condition analyzer for analyzing at least one of tire abrasion, tire air pressure, and wheel alignment of the vehicle; a road surface condition analyzer that analyzes at least one condition among curvature, material, reflectivity, and slippage of the road surface; a driving characteristic analysis unit analyzing driving characteristics of the vehicle; a database unit for storing analysis results of the wheel condition analysis unit, the road surface condition analysis unit, and the driving characteristic analysis unit; and a control unit that controls an auxiliary operation of the braking device of the vehicle by using analysis results of the wheel condition analyzer, the road surface condition analyzer, and the driving characteristic analyzer.

At this time, the database unit includes a driving characteristic DB, a road surface condition DB, and a wheel condition DB, and the control unit advances the operation timing of the auxiliary operation of the brake system when at least one of the road surface condition and the wheel condition is out of a normal state. working strength can be increased.

Further, a second camera is installed to face the front of the vehicle, and the database unit includes a driving characteristics DB, a road surface state DB, and a wheel state DB, and the driving characteristics DB includes a vehicle state in a normal state A result obtained by analyzing the driving characteristic analysis unit for the image captured by the second camera is stored as a steady-state driving characteristic, and the control unit compares the steady-state driving characteristic with the driving characteristic at a first time point, It is possible to control the auxiliary operation of the braking device after the first point in time.

A braking assistance method according to an exemplary embodiment of the present invention includes deriving a driving characteristic at a first time point; comparing the driving characteristics at the first time point with the steady-state driving characteristics to determine a degree of abnormality; and reflecting the degree of abnormality, the operation timing of the auxiliary operation of the brake system of the vehicle may be advanced or the operation strength may be increased.

In this case, it is preferable that the steady state driving characteristics are driving characteristics derived by analyzing a photographed image during driving in a steady state in which at least one of the road surface state and the wheel state is normal.

According to one embodiment of the present invention, it provides a useful effect of providing a braking assistance system that assists braking by reflecting the state of the road surface or the state of the wheel in the braking assistance.

In one embodiment, the braking assistance system, in an abnormal situation, such as a slippery road surface or a reduced tire frictional force, initiates the brake assist operation earlier than normal or activates the operating strength stronger than normal, thereby reducing the risk of accidents. It can provide a useful effect that can significantly reduce.

1 is a block diagram schematically illustrating a braking assistance system according to an embodiment of the present invention;

2 is a diagram for explaining a first camera direction of a braking assistance system according to an embodiment of the present invention;

3 is a diagram for explaining the relationship between a first camera and a wheel in a braking assistance system according to an embodiment of the present invention;

4 is a flowchart schematically illustrating a process of securing steady-state driving characteristics in a braking assistance method according to an embodiment of the present invention;

5 is a flowchart illustrating a braking assistance method according to an embodiment of the present invention.

Advantages and features of the present invention, and methods of achieving them, will become clear with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in a variety of different forms. These embodiments may be provided to complete the disclosure of the present invention and to fully inform those skilled in the art of the scope of the invention to which the present invention belongs. Like reference numerals designate like elements throughout the specification.

Terms used herein are for describing embodiments and are not intended to limit the present invention. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. As used herein, 'comprise' and/or 'comprising' means that a stated component, step, operation, and/or element is the presence of one or more other components, steps, operations, and/or elements. or do not rule out additions.

In addition, the embodiments described in this specification will be described with reference to cross-sectional views and/or plan views, which are ideal exemplary views of the present invention. In the drawings, detailed sizes, shapes, thicknesses, curvatures, and the like of each component are exaggerated or schematized for effective description of technical contents, and the shapes may be modified due to tolerances.

Hereinafter, the configuration and operational effects of the present invention will be described in more detail with reference to the accompanying drawings.

1 is a block diagram schematically illustrating a braking assistance system 1000 according to an embodiment of the present invention, and FIG. 2 is a first camera 10 of the braking assistance system 1000 according to an embodiment of the present invention. 3 is a diagram for explaining the relationship between the first camera 10 and the wheel in the braking assistance system 1000 according to an embodiment of the present invention, and FIG. It is a flowchart schematically illustrating a process of securing a steady-state driving characteristic in a braking assistance method according to an embodiment, and FIG. 5 is a flowchart illustrating the braking assistance method according to an embodiment of the present invention.

A braking assist system 1000 according to an embodiment of the present invention includes a controller 100, and the controller 100 controls a brake assist operation using at least one of a road surface condition and a wheel condition. In one embodiment, the control of the brake device auxiliary operation may be to advance the operation timing or increase the operation strength of the brake device auxiliary operation. In one embodiment, the control unit 100 may advance the operation timing of the auxiliary operation of the braking system or increase the operation intensity when at least one of the road surface condition and the wheel condition is out of the normal state. A steering unit 410, a driving unit 420, and a braking unit 430 are basically provided in the vehicle 1, and in this specification, the auxiliary operation of the brake device is the vehicle 1 regardless of the driver's operation. This refers to an operation of decelerating or stopping the vehicle 1 by automatically operating the braking unit 430 . In one embodiment, at least one of the steering unit 410 and the driving unit 420 may be further controlled by the control unit 100 for the auxiliary operation of the braking device.

The braking assist system 1000 according to an embodiment of the present invention includes a first camera 10, a second camera 20, a wheel condition analyzer 210, a road surface condition analyzer 220, a driving characteristic analyzer ( 230), a database unit 300, an acceleration sensor 510, an air pressure sensor 520, a steering unit 410, a driving unit 420, a braking unit 430, and an image processing unit 50. can

In the braking assist system 1000 according to an embodiment of the present invention, the first camera 10 is provided on the side surface 1-1 of the vehicle 1, and the front wheel 2 of the vehicle 1 is provided from the front to the rear. (or in the direction of the rear wheel 3). In one embodiment, it is preferable that the acute angle θ1 formed by the directing direction of the first camera 10 with respect to the direction perpendicular to the ground is less than 90 degrees. Among conventional cameras for a vehicle 1, a camera provided on the side of the vehicle 1 is mainly used as a substitute for a side mirror, and in this camera, the front wheel 2 tire is not included in the field of view. However, in the braking assistance system 1000 according to an embodiment of the present invention, the first camera 10 includes the front wheels 2 tires within the field of view, and in particular, when at least a portion of the front wheels 2 protrudes outside the vehicle body. In this case (eg, when the steering wheel of the vehicle 1 is rotated clockwise or counterclockwise), the surface of the tire of the front wheel 2, in particular, the contact surface may be included in the field of view of the first camera 10 . As described above, in the braking assistance system 1000 according to an embodiment of the present invention, an image of the surface of the tire including the contact surface of the tire of the front wheel 2 can be acquired through the first camera 10, It is possible to analyze the condition of the wheels by using images, etc. Among existing vehicle cameras, the camera provided on the side of the vehicle (1) was often used as a substitute for a side mirror, and the front wheel (2) tire was not included in the angle of view, but the braking assistance system according to an embodiment of the present invention ( The first camera 10 of 1000 can be used to detect whether or not the front wheel 2 tire surface is abnormal, the road surface condition DB 320, etc., in addition to its function as a side-rear camera.

In the braking assistance system 1000 according to an embodiment of the present invention, the second camera 20 is installed to look forward of the vehicle 1 . In one embodiment, the image captured by the second camera 20 may be used for processes such as road surface condition DB 320 analysis, driving condition analysis, and wheel condition analysis.

In one embodiment, images captured by the first camera 10 and the second camera 20 may be provided to the controller 100 through an image processing process of the image processing unit 50 . At this time, the image processing process may include various image processing processes and techniques such as filtering, edge detection, binarization, histogram analysis, and smoothing.

The braking assistance system 1000 according to an embodiment of the present invention may analyze the wheel condition and reflect the analyzed wheel condition to the braking assistance. In one embodiment, the control unit 100 may control the auxiliary operation of the braking device of the vehicle 1 by using the analysis result of the wheel state analyzer 210 . For example, when the wheel state is out of the normal state, the operation timing of the braking device auxiliary operation may be advanced or the operating strength may be increased. In one embodiment, since the braking force decreases as the tire wear increases, the brake assist operation may be started more quickly, or the operating strength of the brake assist operation may be increased so that the braking force generated by the brake assist operation becomes stronger. .

In one embodiment, the wheel condition analyzer 210 may be connected to the air pressure sensor 520 to receive tire air pressure information.

In one embodiment, the wheel state analyzer 210 may analyze the wheel alignment state. In an embodiment, the wheel condition analyzer 210 may analyze the wheel alignment state by analyzing the direction of the wheel versus the steering angle of the steering unit 410 and the driving direction versus the steering angle of the steering unit 410 .

In one embodiment, the wheel condition analyzer 210 may analyze tire wear by analyzing the image of the contact surface of the front wheel 2 tire photographed by the first camera 10 .

The braking assistance system 1000 according to an embodiment of the present invention may analyze the state of at least one of curvature, material, reflectivity, and slippage of the road surface 4 on the road on which the vehicle 1 is traveling. The road surface condition DB 320 may include an analysis unit.

The braking assistance system 1000 according to an embodiment of the present invention may include a driving characteristic analyzer 230 , and the driving characteristic analyzer 230 may analyze driving characteristics of the vehicle 1 . In one embodiment, the driving characteristic analysis unit 230 may analyze and store an image captured while driving in a normal state of the wheel state, road surface state DB 320 and the like as the steady state driving characteristic. In addition, after analyzing the captured image at a specific point in time, the degree of abnormality is determined by comparing with driving characteristics in a normal state, and the control unit 100 may control the auxiliary operation of the braking device according to the degree of abnormality.

The braking assistance system 1000 according to an embodiment of the present invention may include a database unit 300 . In one embodiment, the database unit 300 may store analysis results of the wheel condition analyzer 210 , the road surface condition analyzer 220 , and the driving characteristic analyzer 230 . To this end, the database unit 300 may include a driving characteristics DB 310, a road surface condition DB 320, and a wheel condition DB 330. In one embodiment, in the driving characteristic DB 310, the driving characteristic analysis unit 230 analyzes the image captured by the second camera 20 while the vehicle 1 is in a normal state, and the result value derived is the steady state driving. It can be stored as a property. In addition, the control unit 100 may compare the steady state driving characteristics with the driving characteristics at the first time point to control the auxiliary operation of the braking device after the first time point. In addition, the wheel state may be inferred by comparing the driving characteristics in the steady state with the driving characteristics at the first time point.

In one embodiment, the driving characteristics DB 310, the road surface condition DB 320, and the wheel condition DB 330 may be matched and stored. For example, the road condition DB 320 data derived as a result of analyzing the image captured at the first time point may be matched with the driving characteristic data derived as a result of analyzing the image taken at the first time point. In addition, the wheel condition data derived as a result of analyzing the image captured at the first point of view may be matched with the driving characteristic data derived as a result of analyzing the image captured at the first point of view.

Referring to FIG. 4 , if it is determined that the normal state is determined (S110), the photographed image is analyzed (S120), the driving characteristics are derived (S130), and the derived driving characteristics are stored as the steady state driving characteristics (S140). ) can be performed. In one embodiment, the normal state may mean a case where the wheel condition is normal. In another embodiment, the normal state may mean a case in which the road surface condition DB 320 is normal. In another embodiment, the normal state may mean a case in which both the road surface condition DB 320 and the wheel conditions are normal.

Referring to FIG. 5 , in one embodiment, a braking device auxiliary operation may be controlled by utilizing a steady-state driving characteristic. After the step of analyzing the image captured at a specific point in time (S210) is performed, the process of comparing with the driving characteristics in the steady state (S220) may be performed. Next, after the process of determining the degree of abnormality compared to the steady state driving characteristics (S230) is performed, the step of controlling the auxiliary operation of the braking device according to the degree of abnormality (S240) may be performed.

Although representative embodiments of the present invention have been described in detail above, those skilled in the art will understand that various modifications are possible to the above-described embodiments without departing from the scope of the present invention. . Therefore, the scope of the present invention should not be limited to the described embodiments and should not be defined, and should be defined by not only the claims to be described later, but also those equivalent to these claims.

1000: brake assist system

1: vehicle 2: front wheel

3: rear wheel 4: road surface

10: first camera 20: second camera

50: image processing unit 100: control unit

210: wheel condition analysis unit 220: road surface condition analysis unit

230: driving characteristics analysis unit 300: database unit

310: driving characteristics DB 320: road condition DB

330: wheel condition DB 410: steering unit

420: driving unit 430: braking unit

510: acceleration sensor 520: air pressure sensor

Braking assistance technology according to an embodiment of the present invention can be used for improving the safety of vehicles such as automobiles and for the advancement of autonomous driving functions, and thus can be used in industries related to overall means of transportation such as automobiles.

Claims

A braking assist system comprising: a control unit that advances the operation timing of an auxiliary operation of the vehicle's brake system or increases the operation intensity when at least one of the road surface condition and the vehicle's wheel condition is out of the normal state.
The method of claim 1,

A wheel condition analyzer configured to analyze at least one of tire abrasion, tire air pressure, and wheel alignment of the vehicle, wherein the control unit performs an auxiliary operation of the braking device of the vehicle using the analysis result of the wheel condition analyzer. Braking assistance system, characterized in that for controlling.
The method of claim 2,

A first camera installed on the side of the vehicle to look backward from the front of the front wheel of the vehicle; further comprising,

The wheel condition analysis unit analyzes the tire wear by analyzing the image captured by the first camera.
The method of claim 1,

Further comprising a; driving characteristics analysis unit for analyzing the driving characteristics of the vehicle,

Wherein the control unit compares the steady state driving characteristics and the driving characteristics at a first time point using the analysis result value of the driving characteristic analysis unit to control an auxiliary operation of the braking device after the first time point.
The method of claim 1,

It further includes; a road surface condition analyzer for analyzing at least one state of the curvature, material, reflectivity, and slipperiness of the road surface;

Wherein the control unit determines that the road surface condition is slippery than the reference value using the analysis result value of the road surface condition analysis unit, and determines that the condition is out of the normal state.
A first camera installed on the side of the vehicle to look backward from the front of the front wheel of the vehicle;

a wheel condition analyzer for analyzing at least one of tire abrasion, tire air pressure, and wheel alignment of the vehicle;

a road surface condition analyzer that analyzes at least one condition among curvature, material, reflectivity, and slippage of the road surface;

a driving characteristic analysis unit analyzing driving characteristics of the vehicle;

a database unit for storing analysis results of the wheel condition analysis unit, the road surface condition analysis unit, and the driving characteristic analysis unit; and

and a control unit that controls an auxiliary operation of the brake device of the vehicle using analysis results of the wheel condition analyzer, the road surface condition analyzer, and the driving characteristics analyzer.
The method of claim 6,

The database unit includes a driving characteristic DB, a road surface condition DB, and a wheel condition DB.

The braking assistance system of claim 1 , wherein the control unit advances the operation timing of the braking device auxiliary operation or increases the operation intensity when at least one of the road surface condition and the wheel condition is out of a normal state.
The method of claim 7,

A second camera installed to face the front of the vehicle; further comprising,

The database unit includes a driving characteristic DB, a road surface condition DB, and a wheel condition DB.

In the driving characteristic DB, a result value derived by analyzing the driving characteristic analysis unit for an image captured by the second camera in a state in which the vehicle state is normal is stored as a steady state driving characteristic;

The control unit compares the steady-state driving characteristics with the driving characteristics at a first time point to control an auxiliary operation of the braking device after the first time point.
In the braking assistance method using the braking assistance system according to claim 1,

Deriving driving characteristics at a first point in time;

comparing the driving characteristics at the first time point with the steady-state driving characteristics to determine a degree of abnormality; and

A braking assistance method comprising advancing the operation timing of the auxiliary operation of the brake system of the vehicle or increasing the operation intensity by reflecting the degree of abnormality.
The method of claim 9,

The steady-state driving characteristics,

A braking assisting method characterized in that the driving characteristics are derived by analyzing a photographed image of driving in a normal state in which at least one of the road surface condition and the wheel condition is normal.