KR20090128873A - Adaptive distance control system - Google Patents
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B60W2554/00—Input parameters relating to objects
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- B60W2554/803—Relative lateral speed
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- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
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- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/08—Predicting or avoiding probable or impending collision
- 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
- B60Y2300/14—Cruise control
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Abstract
Translated fromKoreanDescription
Translated fromKorean본 발명은 적응형 차간거리 제어시스템에 관한 것으로, 보다 상세하게는 후측방에서 급격히 끼어드는(cut-in) 차량에 민감하게 반응하여, 조기에, 끼어든 차량을 차간거리 제어 대상의 전방 차량으로 인식하고, 상황 대처를 할 수 있는 적응형 차간거리 제어시스템에 관한 것이다.The present invention relates to an adaptive inter-vehicle distance control system, and more particularly, to sensitively react to a vehicle cut-in from the rear side in advance, thereby prematurely turning the intervening vehicle into a vehicle ahead of the inter-vehicle distance control target. The present invention relates to an adaptive inter-vehicle distance control system capable of recognizing and coping with situations.
최근 들어, 적응형 차간거리 제어(ACC) 시스템의 제어 가능한 속도 영역이 점차 확대되어가는 추세에 있으며, 선진 경쟁사의 경우에는 정지 및 출발(stop & go) 기능까지 포함된 전 구간 적응형 차간거리 제어(Full Speed Range ACC) 시스템까지 출시하고 있다. 이러한 전 구간 차간거리 제어시스템의 핵심 기술요소는 저속 근거리 영역에서의 장해물 검지 및 제어 신뢰성을 확보하는 것과 더불어 제어 차량 가까이에서 끼어드는 차량을 조기 인식하여 이에 적절한 차량 제어를 하는 것에 있다.In recent years, the controllable speed range of the ACC system has been gradually increasing, and in the case of advanced competitors, all-vehicle adaptive distance control including stop and go functions Full Speed Range ACC is also available. A key technology element of the entire distance-to-vehicle distance control system is to secure obstacle detection and control reliability in the low-speed short-range area, and to recognize the vehicle intervening near the control vehicle and to control the vehicle appropriately.
일부 업체에서는 근거리에서 광각 영역을 검지할 수 있는 근거리 광각 레이더를 장착함으로써, 같은 차로를 주행하는 선행 차량뿐만 아니라 근거리의 인접 차로를 주행하는 측전방 차량도 광범위하게 인식할 수 있도록 하고 있다. 이러한 시 스템은 끼어드는 차량이 있을 경우 끼어드는 차량을 검지하여 차간거리 제어 대상 전방차량으로 인식하는 알고리즘을 갖추고 있어, 기존의 차간거리 제어시스템의 성능을 상당 부분 향상시킨 점은 있으나, 도 1에 도시된 바와 같이, 후측방으로부터 접근한 인접차로의 전방차량이 너무 가까이에서 급하게 끼어드는 경우는 적절히 대응하지 못한다. 즉, 끼어드는 차량이 신뢰성이 보장되는 레이더 검지 영역 안으로 들어오기 전까지는 차간거리 제어시스템이 적절히 대응하지 못하게 되어 결과적으로 운전자에게 불안감을 유발시킨다.Some companies are equipped with a short-range wide-angle radar that can detect a wide-angle area at a short distance, so that not only a preceding vehicle traveling in the same lane but also a front-side vehicle driving in a nearby lane can be widely recognized. Such a system is equipped with an algorithm that detects an interrupted vehicle and recognizes the interrupted vehicle as a vehicle ahead of the distance control, and improves the performance of a conventional inter-vehicle distance control system. As shown in the drawing, the case where the front vehicle of the adjacent lane approaching from the rear side cuts in too close too quickly does not respond properly. That is, the inter-vehicle distance control system does not respond properly until the interrupted vehicle enters the radar detection area where the reliability is guaranteed, resulting in anxiety for the driver.
본 발명과 관련한 종래기술로 공개특허 제2003-6060호의 "자동차의 지능형 순항제어 시스템 및 그 방법", 공개특허 제2004-2073호의 "차량의 후측방 경보 제어장치 및 방법"이 참조 될 수 있을 것이다.As the related art related to the present invention, reference may be made to "Intelligent cruise control system and method of an automobile" of Korean Patent No. 2003-6060, and "A device and method for controlling a rear side warning of a vehicle" of Korean Patent Publication No. 2004-2073. .
본 발명은 상술한 바와 같은 문제점을 해결하기 위하여 제안된 것으로, 후측방으로부터 급격하게 끼어드는 차량을 조기 인식하여 보다 안전하고 신뢰성 있는 차간거리 제어가 가능한 적응형 차간거리 제어시스템을 제공함에 목적이 있다.SUMMARY OF THE INVENTION The present invention has been proposed to solve the above problems, and an object of the present invention is to provide an adaptive inter-vehicle distance control system capable of safer and more reliable inter-vehicle distance control by early recognition of a vehicle that is rapidly interrupted from the rear side. .
상기의 목적을 달성하기 위한 본 발명에 따른 적응형 차간거리 제어시스템은, 차속 검출부; 전방 차량의 상대거리 및 방위를 검출하는 전방 감지부; 및 전방 차량과의 상대속도를 산출하여 차간거리를 제어하되, 후측방 경보 시스템의 검지 영역 내에 추월 예상차량이 접근하면, 상기 전방 감지부의 유효신호 판단 문턱 값을 하향 조정하는 제어부;를 포함한다.An adaptive inter-vehicle distance control system according to the present invention for achieving the above object, the vehicle speed detection unit; A front sensor detecting a relative distance and azimuth of the front vehicle; And a control unit for controlling the inter-vehicle distance by calculating a relative speed with the front vehicle, and adjusting the effective signal determination threshold value of the front detection unit when the estimated overtaking vehicle approaches the detection area of the rear side warning system.
상기 추월 예상차량은 후측방 경보 시스템의 검지 영역 내에 접근한 후측방 차량의 위치 및 속도 정보를 기초로 추정될 수 있으며, 상기 전방 감지부는 레이더센서일 수 있다.The overtaking anticipated vehicle may be estimated based on the position and speed information of the rear side vehicle approaching the detection area of the rear side warning system, and the front sensing unit may be a radar sensor.
한편, 본 설명에서 차간거리 제어시스템의 감지 대상을 전방 차량으로 한정하여 기재하고 있으나, 이는 편의에 따른 것일 뿐, 시스템의 감지 대상은 차량 이외에 전방의 모든 물체가 포함됨은 당연하다.Meanwhile, in the present description, the sensing target of the inter-vehicle distance control system is limited to the front vehicle, but this is merely for convenience, and the sensing target of the system includes all the objects in front of the vehicle.
상술한 바와 같은 적응형 차간거리 제어시스템은, 후측방경보 시스템으로부터 얻을 수 있는 인접차선의 추월 예상차량에 대한 주행정보(위치 및 속도)를 활용 하여, 후측방에서 급격하게 끼어드는 차량을 조기 인식할 수 있으므로, 보다 안전하고 신뢰성 있는 차간거리 제어가 가능하다.As described above, the adaptive inter-vehicle distance control system uses the driving information (position and speed) of the predicted vehicle to pass the adjacent lane that can be obtained from the rear-side warning system, and recognizes a vehicle that is rapidly interrupted from the rear side. As a result, safer and more reliable inter-vehicle distance control is possible.
이하에서는 첨부된 도면을 참조하여 본 발명의 바람직한 실시예에 따른 적응형 차간거리 제어시스템에 대하여 살펴본다.Hereinafter, an adaptive inter-vehicle distance control system according to a preferred embodiment of the present invention will be described with reference to the accompanying drawings.
도 2에서 보듯이, 그 제어시스템은 차속 검출부, 전방 감지부와 더불어 후측방 경보 시스템으로부터 수신되는 정보를 기초로 제어부가 차량의 섀시부를 제어하여 전방 차량과의 차간거리를 유지할 수 있도록 구성된다.As shown in FIG. 2, the control system is configured such that the control unit controls the chassis of the vehicle based on the information received from the rear side warning system together with the vehicle speed detector and the front sensor to maintain the distance between the vehicle and the vehicle ahead.
차속 검출부에는 통상적으로 휠 속도센서가 이용될 것이나, 기타 제어 차량의 속도를 측정할 수 있는 각종 센서 또는 장치의 이용이 배제되지 않는다.A wheel speed sensor will typically be used for the vehicle speed detector, but the use of various sensors or devices capable of measuring the speed of other control vehicles is not excluded.
전방 감지부는 전파(주로 초음파)나 레이저를 전방을 향해 조사하여 전방 차량으로부터 반사된 반사파를 수신하는 레이더 센서일 수 있다. 전방 감지부는 수신된 반사파 신호 정보를 제어부로 송신한다.The front sensing unit may be a radar sensor that receives reflected waves reflected from the front vehicle by radiating a radio wave (mainly ultrasonic wave) or a laser toward the front. The front detector transmits the received reflected wave signal information to the controller.
제어부는 전방 감지부로부터 수신되는 반사파 신호 정보를 이용하여 전방 차량의 상대거리 및 방위를 검출하며, 차속 검출부로부터 제어 차량의 속도를 수신하여 전방 차량과의 상대속도를 산출한다. 상대속도의 산출에 의해 전방 물체가 이동물인지 정지물인지를 판단할 수 있는데, 제어부는 전방 차량의 상대거리 및 상대속도를 기초로 섀시부를 제어하여 전방 차량과의 안전거리를 확보한다.The control unit detects the relative distance and orientation of the front vehicle using the reflected wave signal information received from the front sensing unit, and calculates a relative speed with the front vehicle by receiving the speed of the control vehicle from the vehicle speed detecting unit. It is possible to determine whether the front object is a moving object or a stationary object by calculating the relative speed. The controller controls the chassis based on the relative distance and the relative speed of the front vehicle to secure a safety distance with the front vehicle.
한편, 도 3에서 보듯이, 차간거리 제어시스템은 전방 감지부의 전파 조사축을 기준으로 좌우로 펼쳐진 부채꼴 형상의 검지 영역(확실한 전방 검지영역)을 갖 는다. 따라서, 인접 차로의 후측방으로부터 접근하여 측전방에서 추월 차량이 검지 영역의 경계(불확실한 전방 검지영역)를 거쳐 급격한 끼어들기를 하는 경우, 차간거리 제어시스템은 해당 추월 차량에 민감하게 반응할 수 없는 상황에 처하게 된다. 통상적으로 차간거리 제어시스템은 고속 푸리에 변환(Fast Fourier Transform: FFT)을 통해 검출된 신호 중에서 신뢰성이 있는 검출 정보를 취득하기 위하여 일정 크기, 즉, 유효신호 판단 문턱값 이상의 신호에 대해서만 물리적 정보를 추출하여 클러스터링 프로세스를 거쳐 차량을 검지하는데, 상기한 바와 같은 형태로 불확실한 전방 검지영역로 접근한 끼어들기 차량은 신호가 미약하여 검지되지 않기 때문이다.On the other hand, as shown in Figure 3, the inter-vehicle distance control system has a fan-shaped detection area (definite front detection area) extended to the left and right relative to the radio wave irradiation axis of the front sensing unit. Therefore, when approaching the vehicle from the rear side of the adjacent lane and making a sudden interruption through the boundary of the detection area (an uncertain forward detection area) in the front and rear, the inter-vehicle distance control system cannot react sensitively to the overtaking vehicle. You are in a situation. In general, the inter-vehicle distance control system extracts physical information only for a signal having a predetermined size, that is, a signal exceeding a valid signal determination threshold, in order to acquire reliable detection information from signals detected through a fast Fourier transform (FFT). The vehicle is detected through the clustering process, because the interrupted vehicle approaching the uncertain front detection area in the form described above is not detected because the signal is weak.
위와 같은 문제의 해결을 위해, 실시예에 따른 차간거리 제어시스템은, 후측방 경보 시스템(사각지대에 있는 후측방 차량의 검지 및 경보 발생을 위한 시스템으로서, 공지기술에 따라 다양하게 구성될 수 있을 것이다)을 이용하여, 후측방 경보 시스템의 검지 영역 내에 추월 예상차량이 접근하면 유효신호 판단 문턱값을 하향 조정한다. 즉, 도 3에서 보듯이, 후측방 경보 시스템에서 후측방 차량을 검지하면, 해당 차량의 주행정보, 특히 위치(x1,y1), 속도(u1,v1)를 검출 및 추적하여, 후측방 차량의 예상 주행 경로를 추정하고, 만일, 후측방 차량이 제어 차량을 추월하여 불확실한 전방 검지영역으로 진입((x2,y2), (u2,v2))될 것이 예상된다면, 시스템의 제어부는 유효신호 판단 문턱값을 하향 조정한다. 물론, 제어부는 후측방 검지영역 내에서 후측방 차량을 추적하여 해당 후측방 검지영역을 전방 측으로 벗어나면 추월 예상차량으로 판단하여, 유효신호 판단 문턱값을 하향 조정하도록 구 성될 수 있을 것이다.In order to solve the above problems, the inter-vehicle distance control system according to the embodiment, the rear side warning system (system for detecting and generating the rear side of the vehicle in the blind spot, which may be variously configured according to the known technology. If the predicted overtaking vehicle approaches the detection area of the rear side alarm system, the effective signal determination threshold is adjusted downward. That is, as shown in FIG. 3, when the rear side vehicle detection system detects the rear side vehicle, the driving information of the vehicle, particularly the position (x1, y1) and the speed (u1, v1), is detected and tracked. If the estimated driving path is estimated, and the rear side vehicle is expected to pass the control vehicle and enter the uncertain forward detection area ((x2, y2), (u2, v2)), the control unit of the system determines the effective signal judgment threshold. Adjust the value down. Of course, the control unit may be configured to track the rear side vehicle in the rear side detection area and determine the overtake prediction vehicle when the rear side detection area leaves the front side, and adjust the effective signal determination threshold downward.
도 4에 도시된 진폭 스펙트럼을 참조하여 유효신호 판단 문턱값의 하향 조정의 효과를 살펴본다.With reference to the amplitude spectrum shown in Figure 4 looks at the effect of the downward adjustment of the effective signal determination threshold.
도 4에서 보듯이, 차간거리 제어시스템은 정상상태에서, 제어 차량의 전방에 위치한 차량으로부터의 반사파 신호의 크기가 미리 설정된 유효신호 판단 문턱값 이상이 되어야 차간거리의 제어가 필요한 전방 차량(도 4에서 ①,②,③,④로 표시된 피크 참조)인 것으로 인지한다. 그리고, 차간거리 제어시스템은, 후측방 경보 시스템의 검지 영역 내에 추월 예상차량이 접근하면, 유효신호 판단 문턱값을 정상상태에서의 상기 문턱값 보다 낮게 설정한다. 따라서, 추월 예상차량이 후측방으로부터 접근하여 제어 차량의 측전방에서 끼어들면서 불확실한 전방 검지영역에 들어설 경우, 전방 감지부에서 검지되는 끼어들기 차량의 신호가 미약하지만, 유효신호 판단 문턱값이 이미 하향 조정되어 있으므로, 시스템은 해당 추월 차량을 조기에 전방 차량으로 인식(도 4에서 ⑤,⑥으로 표시된 피크 참조)하여 대응할 수 있게 된다.As shown in FIG. 4, in a vehicle-to-vehicle distance control system, a vehicle in front of a vehicle in need of control of the distance between vehicles when the magnitude of the reflected wave signal from a vehicle located in front of the control vehicle is greater than or equal to a predetermined effective signal determination threshold in a steady state (FIG. 4). (See peaks marked with ①, ②, ③, and ④). Then, the inter-vehicle distance control system sets the valid signal determination threshold lower than the threshold value in the steady state when the estimated overtaking vehicle approaches the detection area of the rear-side warning system. Therefore, if the predicted passing vehicle enters the uncertain front detection area while approaching from the rear side and entering the front side of the control vehicle, the signal of the interrupting vehicle detected by the front sensing unit is weak, but the effective signal determination threshold is already downward. Since it is adjusted, the system can recognize the overtaking vehicle early as a forward vehicle (see the peaks indicated by 5 and 6 in Fig. 4) and respond.
이상, 본 발명의 특정 실시예에 관하여 도시하고 설명하였지만, 본 발명의 기술분야에서 통상의 지식을 가진 자라면 하기의 특허 청구의 범위에 기재된 본 발명의 사상 및 영역으로부터 벗어나지 않는 범위 내에서 본 발명을 다양하게 수정 및 변경시킬 수 있음이 이해될 필요가 있다.While specific embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that the present invention may be made without departing from the spirit and scope of the invention as set forth in the claims below. It is to be understood that various modifications and changes can be made.
도 1은 종래의 차간거리 제어시스템의 문제점 설명을 위한 도면,1 is a view for explaining a problem of a conventional inter-vehicle distance control system,
도 2는 본 발명의 실시예에 따른 차간거리 제어시스템의 구성도,2 is a block diagram of the inter-vehicle distance control system according to an embodiment of the present invention,
도 3은 본 발명의 실시예에 따른 차간거리 제어시스템의 끼어들기 차량에 대한 차간거리 제어 방법의 설명을 위한 도면,3 is a view for explaining a distance control method for the intervening vehicle of the inter-vehicle distance control system according to an embodiment of the present invention,
도 4는 도 3은 본 발명의 실시예에 따른 차간거리 제어시스템에 있어 유효신호 판단 문턱값의 하향 조정 효과의 설명을 위한 도면이다.4 is a view for explaining the effect of the downward adjustment of the effective signal determination threshold in the inter-vehicle distance control system according to an embodiment of the present invention.
Claims (3)
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2423902A1 (en)* | 2010-08-27 | 2012-02-29 | Scania CV AB (publ) | Safety system and method |
| EP3018029A1 (en)* | 2014-11-04 | 2016-05-11 | Volvo Car Corporation | Method and system for assisting overtaking |
| US9746550B2 (en) | 2014-10-08 | 2017-08-29 | Ford Global Technologies, Llc | Detecting low-speed close-range vehicle cut-in |
| CN110696836A (en)* | 2018-07-09 | 2020-01-17 | 上海汽车集团股份有限公司 | Behavior decision method and device for intelligently driving vehicle |
- 2008
- 2008-06-11KRKR1020080054842Apatent/KR20090128873A/ennot_activeCeased
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2423902A1 (en)* | 2010-08-27 | 2012-02-29 | Scania CV AB (publ) | Safety system and method |
| US9746550B2 (en) | 2014-10-08 | 2017-08-29 | Ford Global Technologies, Llc | Detecting low-speed close-range vehicle cut-in |
| EP3018029A1 (en)* | 2014-11-04 | 2016-05-11 | Volvo Car Corporation | Method and system for assisting overtaking |
| US9533685B2 (en) | 2014-11-04 | 2017-01-03 | Volvo Car Corporation | Method and system for assisting overtaking |
| CN110696836A (en)* | 2018-07-09 | 2020-01-17 | 上海汽车集团股份有限公司 | Behavior decision method and device for intelligently driving vehicle |
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