KR102303648B1 - Apparatus for controlling safety driving of vehicle and method thereof - Google Patents

Abstract

Provided are an apparatus and method for controlling safe driving of a vehicle. A vehicle safe driving control device according to an embodiment of the present invention includes a sensing unit detecting surrounding information of the own vehicle, a GPS receiving unit receiving GPS information from a GPS satellite, a storage unit storing map information of navigation, and a sensing unit, a GPS receiving unit, and and a control unit communicatively connected to the storage unit. Here, the control unit determines whether or not the own vehicle enters the merging road using GPS information, the map information of the navigation, the own vehicle information, and the detection result of the sensing unit, and drives the main road based on the turning radius of the own vehicle entering the merging road. Calculates the intersection point of the target car and the host vehicle, calculates the time required for the host vehicle and the target vehicle to reach the intersection point, and performs collision warning or collision avoidance deceleration control according to the time required for the host vehicle and target vehicle to reach the intersection point configured to control.

Description

Apparatus for controlling safety driving of vehicle and method thereof

The present invention relates to an apparatus for controlling safe driving of a vehicle and a method therefor.

As the demand for vehicle safety and convenience as well as vehicle performance increases in recent years, ADAS (Advanced Driver Assist System) that assists vehicle control based on information obtained through sensors has been applied to the vehicle to help the driver while driving. Support. ADAS enables a smooth and safe driving experience by adapting, automating and improving vehicle systems.

On the other hand, the current BSD (Blind Spot Detection) system warns/avoids a collision with an opposing vehicle through a collision hazard warning and control function for a vehicle rapidly approaching from a blind spot area or from a distance using only the rear-side radar sensor. it's technology

However, in a situation where driving on a curved road, especially a merging road and merging with a straight road, a main road, it is difficult to avoid dangerous situations because accurate identification of the merging road is impossible only with the current rear-side radar.

US 2007-0101561 A

In order to solve the problems of the prior art as described above, an embodiment of the present invention can support safe driving by adding a collision determination and control function for the front side while maintaining the rear side warning function when entering the main road from the merging road. An object of the present invention is to provide a vehicle safe driving control device and method therefor.

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

According to one aspect of the present invention for solving the above problems, a sensing unit for sensing information around the own vehicle; GPS receiver for receiving GPS information from GPS satellites; a storage unit storing map information of navigation; and a control unit communicatively connected to the sensing unit, the GPS receiving unit, and the storage unit, wherein the control unit joins the own vehicle using the GPS information, the navigation map information, the own vehicle information, and the detection result of the sensing unit It is determined whether or not to enter the road, and an intersection point of the target car traveling on the main road and the host vehicle is calculated based on the turning radius of the own vehicle entering the merging road, and the own vehicle and the target vehicle reach the intersection point A vehicle safe driving control device is provided, configured to calculate a time required to perform a collision and control to perform a collision warning or collision avoidance deceleration control according to a time required for the host vehicle and the target vehicle to reach the intersection point.

In one embodiment, the control unit may be configured to calculate the intersection point of the equation of the circle according to the turning radius of the host vehicle and the equation of the straight line according to the path of the target vehicle as the intersection point.

In one embodiment, the control unit calculates the turning radius of the own vehicle based on the steering angle or yaw-rate of the own vehicle, and converts the position and velocity vectors of the target vehicle into the coordinate system of the own vehicle, , may be configured to calculate an intersection point of the equation of the circle and the equation of the straight line in the coordinate system of the host vehicle.

In an embodiment, the control unit may be configured to calculate the velocity vector using longitudinal and lateral velocities of the target difference.

In one embodiment, the control unit calculates a distance from the position of the target car to the intersection point and divides it by the speed vector of the target car to calculate the time it takes for the target car to reach the intersection point, and the own vehicle After calculating the distance from the front corner of the junction to the intersection point, dividing by the speed of the host vehicle may be configured to calculate the time required for the host vehicle to reach the intersection point.

In an embodiment, the control unit includes a first threshold value for determining whether all of the time required for the host vehicle and the target vehicle to reach the intersection point is within a possible collision range, and a second threshold value for determining whether collision avoidance deceleration control is performed. It is determined whether or not it is smaller than a threshold value, and if both the time required for the host vehicle and the target vehicle to reach the intersection point is less than the first threshold value and any one is greater than or equal to the second threshold value, the collision warning is executed and when both the time taken for the host vehicle and the target vehicle to reach the intersection point is less than the first threshold value and less than the second threshold value, the collision avoidance deceleration control may be performed.

In one embodiment, the control unit may be configured to control to perform the collision warning visually or audibly.

In an embodiment, the control unit may be configured to activate the safe driving module to perform collision avoidance deceleration control based on the speed and steering angle of the host vehicle and the speed of the target vehicle.

In one embodiment, the vehicle safe driving control device includes a mirror indicator visually indicating the collision warning; Alternatively, it may further include at least one of a cluster visually or audibly indicating the collision warning.

In an embodiment, the sensing unit includes an image sensor for capturing an image of the surroundings of the own vehicle; and at least one radar (RADAR) sensor for detecting the position and speed of the target vehicle.

According to another aspect of the present invention, a first determining step of determining whether the own vehicle enters the merging road; a first calculation step of calculating an intersection point of a target car traveling on a main road and the host vehicle based on a turning radius of the own vehicle entering the merging road; a second calculation step of calculating a time required for the host vehicle and the target vehicle to reach the intersection point; and performing a collision warning or collision avoidance deceleration control according to a time required for the host vehicle and the target vehicle to reach the intersection point.

In an embodiment, the first determining step may determine whether to enter the merging road using GPS information received from a GPS satellite, map information of navigation, own vehicle information, and a detection result of the surroundings of the own vehicle.

In an embodiment, in the first calculation step, an intersection point of an equation of a circle according to a rotation radius of the host vehicle and an equation of a straight line according to a path of the target vehicle may be calculated as the intersection point.

In an embodiment, the first calculating step calculates a turning radius of the own vehicle based on a steering angle or yaw-rate of the own vehicle, and sets the position and velocity vectors of the target vehicle in a coordinate system of the own vehicle. , and an intersection point of the equation of the circle and the equation of the straight line can be calculated in the coordinate system of the host vehicle.

In an embodiment, the first calculating step may calculate the velocity vector using longitudinal and lateral velocities of the target difference.

In one embodiment, the second calculating step calculates the distance from the position of the target car to the crossing point and divides it by the velocity vector of the target difference to calculate the time it takes for the target car to reach the crossing point, , the distance from the front corner of the host vehicle to the intersection point may be calculated and divided by the speed of the host vehicle to calculate the time required for the host vehicle to reach the intersection point.

In an embodiment, the performing includes: a first threshold for determining whether both the host vehicle and the target vehicle reach the intersection point in a collision possible range, and determining whether to control collision avoidance deceleration a second determining step of determining whether it is smaller than a second threshold; a warning step of performing the collision warning when both the time taken for the host vehicle and the target vehicle to reach the intersection point is less than the first threshold value and any one is greater than or equal to the second threshold value; and an avoidance control step of performing the collision avoidance deceleration control when both the time taken for the host vehicle and the target vehicle to reach the intersection point is less than the first threshold value and less than the second threshold value. .

In one embodiment, the warning step may perform a warning visually or audibly.

In an embodiment, the avoidance control step may activate the safe driving module to perform collision avoidance deceleration control based on the speed and steering angle of the host vehicle and the speed of the target vehicle.

A vehicle safety driving control apparatus and method according to an embodiment of the present invention add a collision determination and control function for the front side while maintaining the rear side warning function when entering the main road from the merging road, thereby preventing the driver's carelessness or driving on the merging road It is possible to support safe driving even in inexperienced cases, thereby improving the driver's convenience.

In addition, the apparatus and method for controlling safe driving of a vehicle according to an embodiment of the present invention perform deceleration control when the expected collision time is less than the time required for the driver to cope with the expected collision, thereby reducing the vehicle speed with the target vehicle driving on the main road. Since collisions can be avoided, safe driving can be supported more effectively.

In addition, the apparatus and method for controlling safe vehicle driving according to an embodiment of the present invention provides a visual or auditory warning to the driver when the expected collision time is greater than the time required for the driver to cope with the expected collision, so that the driver can be on the main road. Since it is possible to recognize an expected collision when entering the road, it is possible to improve the driver's convenience and promote driving safety.

1 is an exemplary view showing a process in which a vehicle equipped with a vehicle safe driving control device according to an embodiment of the present invention enters a main road from a merging road;
2 is a block diagram of a vehicle safe driving control device according to an embodiment of the present invention;
3 is a view for explaining the calculation of an intersection point in the vehicle safe driving control apparatus according to an embodiment of the present invention;
4 is a view for explaining the calculation of the intersection point when the merging road is a straight line in the vehicle safe driving control apparatus according to an embodiment of the present invention;
5 is a flowchart of a vehicle safe driving control method according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, the embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. The present invention may be embodied in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and the same reference numerals are assigned to the same or similar components throughout the specification.

The embodiments of the present invention are provided to more completely explain the present invention to those of ordinary skill in the art, and the embodiments described below may be modified in various other forms, The scope is not limited to the following examples. Rather, these examples are provided so as to more fully and complete the present invention, and to fully convey the spirit of the present invention to those skilled in the art.

1 is an exemplary diagram illustrating a process in which a vehicle equipped with a vehicle safe driving control device enters a main road from a merging road according to an embodiment of the present invention.

Referring to FIG. 1 , when the own vehicle 10 enters the main road 1 from the merging road 2 , the driving speed is determined in consideration of whether or not it collides with the target car 11 traveling on the main road 1 . have to slow down Here, the main road 1 is mainly a straight road and means a main road. The merging road 2 means a connecting road for entering the main road 1 . In addition, the merging road 2 may include a straight road as well as a curved road.

At this time, the own vehicle 10 first determines the state of entry into the main road 1 from the merging road 2, and the target car 11 driving on the main road 1 is located near the merging road 2 ( 10) to predict the possibility of collision with

To this end, the present invention determines the situation of entering the main road 1 from the merging road 2, and in this case, it is possible to temporarily add a front-side collision determination and control function while maintaining the rear-side warning function.

Accordingly, the present invention can improve the driver's convenience by supporting safe driving through collision warning or collision avoidance control even when the driver is negligent or inexperienced in driving on a merging road.

2 is a block diagram of an apparatus for controlling safe driving of a vehicle according to an embodiment of the present invention, and FIG. 3 is a view for explaining the calculation of an intersection point in the apparatus for controlling safe driving of a vehicle according to an embodiment of the present invention, FIG. 4 is a view for explaining the calculation of the intersection point when the merging road is a straight line in the apparatus for controlling safe driving of a vehicle according to an embodiment of the present invention.

Referring to FIG. 2 , the vehicle safety driving control device 100 includes a sensing unit 110 , a GPS receiving unit 120 , a control unit 130 , a storage unit 140 , a mirror indicator 150 , a cluster 160 , and a safety device. It may include a driving module 170 .

The sensing unit 110 may sense surrounding information of the own vehicle 10 . The detector 110 may include a radar sensor 112 and an image sensor 114 .

A plurality of radar sensors 112 may be provided at the front, side, or rear of the own vehicle 10 . Here, the radar sensor 112 may detect the position and speed of the target car 11 . In this case, the radar sensor 112 may detect the position and speed by dividing the longitudinal direction and the lateral direction.

The image sensor 114 acquires an image around the own vehicle 10 . The image sensor 114 may include at least one of a camera sensor and a lidar sensor. In addition, a plurality of image sensors 114 may be provided at the front, side, or rear of the host vehicle 10 . Here, the image sensor 114 may acquire an image of the target car 11 traveling on the main road 1 or the lane 2 ′ on the merging road 2 .

The GPS receiver 120 may receive GPS information from a GPS satellite. Here, the GPS information may include terrain and road information according to the current location of the host vehicle 10 . Also, the GPS receiver 120 may store the received GPS information in the storage 140 .

The storage unit 140 may store navigation map information. Also, the storage unit 140 may store GPS information received from the GPS receiver 120 .

The mirror indicator 150 may visually indicate a collision warning under the control of the controller 130 . Also, the mirror indicator 150 may be provided on a side mirror outside the host vehicle 10 . In this case, the mirror indicator 150 may visually indicate a collision warning so that the user can recognize it by blinking by a flashing means such as an LED.

The cluster 160 may visually or audibly display a collision warning under the control of the controller 130 . In addition, the cluster 160 may be configured to perform a collision warning so that the user can recognize it inside the own vehicle 10 . In this case, the visual collision warning may be performed by blinking by a blinking means such as an LED. In addition, the auditory collision warning may be performed by voice or sound by a speaker of the audio device.

The safe driving module 170 may be a module for controlling safe driving of the own vehicle 10 . The safe driving module 170 may control an engine and a steering device of the own vehicle 10 . In this case, the safe driving module 170 may be configured to control the deceleration of the own vehicle 10 based on the speed and the steering angle of the own vehicle 10 and the speed of the target vehicle 11 .

The control unit 130 may be communicatively connected to the sensing unit 110 , the GPS receiving unit 120 , the storage unit 140 , the mirror indicator 150 , the cluster 160 , and the safe driving module 170 . Here, the controller 130 may be the ECU of the own vehicle 10 . Optionally, the controller 130 may be a controller separately provided for safe driving control of the host vehicle 10 .

In addition, the control unit 130 uses the GPS information received from the GPS receiver 120 , the map information of the navigation stored in the storage unit 140 , the own vehicle information, and the detection result of the sensing unit 110 , ) can be configured to determine whether to enter. In this case, the detection result of the sensing unit 110 is image information around the vehicle through the front image sensor 114 , and may be information on the surrounding lane 2 ′ of the merging road 2 . That is, the controller 130 may be configured to recognize the shape of the lane 2 ′ and recognize that it is the merging road 2 of the curve.

In addition, when it is determined that the controller 130 is the merging road 2 , the target car 11 driving the main road 1 based on the turning radius R of the own vehicle 10 entering the merging road 2 ) and may be configured to calculate the intersection point CP of the host vehicle 10 .

Referring to FIG. 3 , the intersection point of the own vehicle 10 and the target vehicle 11 is the own vehicle entering into the merging road 2 of the straight direction and the curved line of the target vehicle 11 driving the main road 1 in a straight line. (10) can be expressed as the intersection of the rotation directions. Therefore, the control unit 130 calculates the intersection point of the equation of the circle C according to the turning radius R of the host vehicle 10 and the equation of the straight line L according to the path of the target vehicle 11 as the intersection point CP. can be configured to

In this case, the controller 130 may be configured to calculate the turning radius R of the host vehicle 10 based on the steering angle or yaw-rate of the host vehicle 10 .

In addition, the controller 130 may be configured to calculate the velocity vector V using the longitudinal velocity Vx and the lateral velocity Vy of the target vehicle 11 received through the radar sensor 112 . . Referring to FIG. 1 , the velocity vector V may be a composite value of a longitudinal velocity Vx and a lateral velocity Vy.

In this case, the controller 130 may be configured to convert the position and velocity vectors V of the target car 11 into the coordinate system of the host vehicle 10 . Therefore, the control unit 130 may be configured to calculate the intersection point of the equation of the circle (C) and the equation of the straight line (L) in the own vehicle coordinate system. Here, the equation of the circle C may be considered as a circle having a radius R based on the front corner of the host vehicle 10 in a direction close to the target car 11 . For example, in the case of a Left Hand Drive (LHD) system, the left front corner of the own vehicle 10 may be the reference, and in the case of the Right Hand Drive (RHD) system, the right front corner of the own vehicle 10 may be the reference. In addition, when the root of the quadratic equation is calculated by synthesizing the equation of the straight line L and the equation of the circle C, the intersection point CP may be calculated.

Referring to FIG. 4 , when the merging road 2 is a straight line, the turning radius R converges to infinity. Therefore, the equation of the circle C can be regarded as the equation of the straight line C1. In this case, the intersection point CP may be calculated by calculating the root of the linear equation by synthesizing the equations of the two straight lines L and C1.

In addition, the control unit 130 may be configured to calculate a time required for the host vehicle 10 and the target vehicle 11 to reach the intersection point CP. Here, the time required to reach the intersection point CP may be expressed as a time to collision (TTC).

In this case, the control unit 130 may be configured to calculate a distance from the position of the target car 11 detected by the front/rear side radar sensor 112 or the side image sensor 114 to the intersection point CP. Next, the controller 130 may be configured to calculate the expected collision time TTC1 of the target car 11 by dividing the distance to the intersection point CP by the velocity vector V of the target car 11 .

Also, the controller 130 may be configured to calculate a distance from the front corner of the host vehicle 10 to the intersection point CP. For example, the distance from the left front corner of the host vehicle 10 to the intersection point CP may be calculated. Next, the controller 130 may be configured to calculate the expected collision time TTC2 of the host vehicle 10 by dividing the distance to the intersection point CP by the speed of the host vehicle 10 .

In addition, the controller 130 may be configured to control to perform a collision warning or collision avoidance deceleration control according to the expected collision time TTC1 of the target car 11 and the expected collision time TTC2 of the host vehicle 10 . . That is, the collision warning or collision avoidance deceleration control may be separately performed according to the time to reach the intersection point CP according to the positions of the host vehicle 10 and the target vehicle 11 .

For example, the controller 130 may be configured to determine whether both the expected collision time TTC1 of the target car 11 and the expected collision time TTC2 of the host vehicle 10 are less than the first threshold value Th1. can Here, the first threshold value Th1 is a reference time for determining whether a collision is possible according to a time required for the host vehicle 10 and the target vehicle 11 to reach the intersection point CP.

In addition, the control unit 130 may be configured to determine whether both the expected collision time TTC1 of the target car 11 and the expected collision time TTC2 of the host vehicle 10 are less than the second threshold value Th2. have. Here, the second threshold value Th2 is a reference time for determining whether to control the collision avoidance deceleration according to the time required for the host vehicle 10 and the target vehicle 11 to arrive at the intersection point CP. It can be set based on the time it takes to deal with a conflict.

At this time, if both the expected collision time TTC1 of the target car 11 and the expected collision time TTC2 of the host vehicle 10 are smaller than the first threshold value, and any one is greater than or equal to the second threshold value Th2, the control unit ( 130) may be configured to perform a collision warning. That is, when any one of the time required for the host vehicle 10 and the target vehicle 11 to reach the intersection point CP is sufficient time to cope with a collision expected by the driver, a collision warning so that the driver pays attention can be performed.

As an example, the control unit 130 may be configured to control the collision warning to be performed visually or audibly. Here, the collision warning may be performed through the mirror indicator 150 or the cluster 160 .

Accordingly, the vehicle safe driving control apparatus 100 may allow the driver to recognize an expected collision when entering the main road, thereby improving the driver's convenience and promoting driving safety.

On the other hand, when both the expected collision time TTC1 of the target car 11 and the expected collision time TTC2 of the host vehicle 10 are less than the first threshold value Th1 and less than the second threshold value Th2, the control unit ( 130) may be configured to perform collision avoidance deceleration control. That is, when both the time required for the host vehicle 10 and the target vehicle 11 to reach the intersection point CP is not sufficient time to cope with the collision expected by the driver, the deceleration control is performed to avoid the collision. can be performed.

In this case, the controller 130 may be configured to perform collision avoidance deceleration control based on the speed and steering angle of the host vehicle 10 and the speed of the target vehicle 11 . Here, the control unit 130 may be configured to activate the safe driving module 170 .

Accordingly, the vehicle safe driving control apparatus 100 can automatically and quickly avoid a collision with a target car driving on the main road, and thus can more effectively support safe driving.

Hereinafter, a vehicle safe driving control method according to an embodiment of the present invention will be described with reference to FIG. 5 .

5 is a flowchart of a vehicle safe driving control method according to an embodiment of the present invention.

The vehicle safe driving control method 200 includes the steps of determining whether to enter the merging road (S210), calculating the intersection of the target car and the host vehicle (S220), calculating the time required to reach the intersection (S210) S230 and S240), and performing collision warning or collision avoidance deceleration control according to the time required to reach the intersection (SS250 to S280).

More specifically, as shown in FIG. 5 , first, the apparatus for controlling safe vehicle driving 100 determines whether the host vehicle 10 enters the merging road 2 (step S210 ). At this time, the vehicle safe driving control device 100 uses the GPS information received from the GPS satellite, the map information of the navigation, the own vehicle information, and the detection result of the own vehicle 10 around the own vehicle 10 merging road (2) You can decide whether to enter or not.

Here, the detection result is image information around the vehicle through the front image sensor 114 , and may be information on the surrounding lane 2 ′ of the merging road 2 . That is, the apparatus 100 for controlling safe vehicle driving may recognize the shape of the lane 2 ′ to recognize that it is the merging road 2 of the curve.

As a result of the determination in step S210 , if the vehicle does not enter the merging road 2 , the vehicle safe driving control apparatus 100 continuously monitors whether or not the merging road 2 is entered. In addition, when entering the merging road 2 , the vehicle safe driving control apparatus 100 calculates the intersection point CP of the host vehicle 10 and the target vehicle 11 (step S220 ). At this time, the vehicle safe driving control device 100 calculates the intersection point CP of the target car 11 and the own vehicle 10 traveling on the main road 1 based on the turning radius R of the own vehicle 10 . can do.

More specifically, the vehicle safe driving control device 100 determines the intersection of the equation of the circle C according to the turning radius R of the host vehicle 10 and the equation of the straight line L according to the path of the target vehicle 11 . It can be calculated as the intersection point (CP).

In this case, the apparatus 100 for controlling safe vehicle driving may calculate the turning radius R of the own vehicle 10 based on the steering angle or yaw-rate of the own vehicle 10 .

In addition, the vehicle safe driving control apparatus 100 calculates the velocity vector (V) using the longitudinal velocity (Vx) and the lateral velocity (Vy) of the target car 11 received through the radar sensor 112 . can Here, the velocity vector V may be a composite value of the longitudinal velocity Vx and the lateral velocity Vy.

Also, the apparatus 100 for controlling safe vehicle driving may convert the position and velocity vectors V of the target vehicle 11 into the coordinate system of the host vehicle 10 . Accordingly, the vehicle safe driving control apparatus 100 may calculate the intersection point of the equation of the circle C and the equation of the straight line L in the coordinate system of the host vehicle 10 . Here, the equation of the circle C may be considered as a circle having a radius R based on the front corner of the host vehicle 10 in a direction close to the target car 11 . A left front corner or a right front corner of the host vehicle 10 may be a reference depending on whether the LHD system or the RHD system is used. Also, the apparatus 100 for controlling safe vehicle driving may calculate the intersection point CP by calculating the root of the quadratic equation by synthesizing the equation of the straight line L and the equation of the circle C.

On the other hand, when the merging road 2 is a straight line, the vehicle safe driving control device 100 calculates the intersection point CP by synthesizing the equations of the two straight lines L and C1 and calculating the root of the first equation. have.

Next, the vehicle safe driving control apparatus 100 calculates a time required for the target car 11 to reach the intersection CP (step S230). Here, the time required for the target car 11 to reach the intersection point CP may be expressed as the expected collision time TTC1.

At this time, the vehicle safe driving control device 100 calculates the distance from the position of the target car 11 detected by the front/rear side radar sensor 112 or the side image sensor 114 to the intersection point CP. , by dividing the distance to the intersection point CP by the velocity vector V of the target car 11 , it is possible to calculate the expected collision time TTC1 of the target car 11 .

Next, the device for controlling safe vehicle driving 100 calculates the time required for the host vehicle 10 to reach the intersection CP (step S240). Here, the time required for the host vehicle 10 to arrive at the intersection point CP may be expressed as the expected collision time TTC2.

At this time, the vehicle safe driving control device 100 calculates the distance from the front corner (eg, left front corner) of the own vehicle 10 to the intersection point CP, and then calculates the distance to the intersection point CP of the own vehicle. By dividing by the speed of (10), it is possible to calculate the expected collision time TTC2 of the host vehicle 10 .

Next, the vehicle safe driving control apparatus 100 determines whether both the expected collision time TTC1 of the target car 11 and the expected collision time TTC2 of the host vehicle 10 are less than the first threshold value Th1 A decision is made (step S250). Here, the first threshold value Th1 is a reference time for determining whether a collision is possible according to a time required for the host vehicle 10 and the target vehicle 11 to reach the intersection point CP.

As a result of the determination in step S250, if either one of the expected collision time TTC1 of the target car 11 and the expected collision time TTC2 of the host vehicle 10 is equal to or greater than the first threshold value Th1, the vehicle safe driving control device ( 100) may proceed to step S210 to determine whether to enter another merging road.

As a result of the determination in step S250 , if both the expected collision time TTC1 of the target car 11 and the expected collision time TTC2 of the host vehicle 10 are less than the first threshold value Th1, the vehicle safe driving control device 100 ) determines whether both the expected collision time TTC1 of the target car 11 and the expected collision time TTC2 of the host vehicle 10 are less than a second threshold value Th2 (step S260). Here, the second threshold value Th2 is a reference time for determining whether a collision warning is generated according to the time required for the host vehicle 10 and the target vehicle 11 to reach the intersection point CP, and the driver expects a collision It can be set based on the time it takes to respond.

In addition, as a result of the determination in step S260 , if both the expected collision time TTC1 of the target car 11 and the expected collision time TTC2 of the host vehicle 10 are less than the second threshold value Th2, the vehicle safe driving control device (100) performs collision avoidance deceleration control (step S270). At this time, since both the time required for the host vehicle 10 and the target vehicle 11 to reach the intersection point CP are not sufficient to cope with the collision expected by the driver, the vehicle safe driving control device 100 is Deceleration control can be performed to avoid collision.

For example, the apparatus 100 for controlling safe vehicle driving may perform collision avoidance deceleration control based on the speed and steering angle of the host vehicle 10 and the speed of the target vehicle 11 .

As a result of the determination in step S260, if either one of the expected collision time TTC1 of the target car 11 and the expected collision time TTC2 of the host vehicle 10 is equal to or greater than the second threshold value Th2, the vehicle safe driving control device ( 100) performs a collision warning (step S280). At this time, since any one of the time required for the host vehicle 10 and the target vehicle 11 to reach the intersection point CP is sufficient time to cope with a collision expected by the driver, the vehicle safe driving control device 100 ) can perform a collision warning to get the driver to pay attention.

For example, the vehicle safe driving control apparatus 100 may perform a collision warning visually or audibly. Here, the vehicle safe driving control apparatus 100 may perform a collision warning through the mirror indicator 150 or the cluster 160 .

Accordingly, the vehicle safe driving control method 200 can support safe driving even when the driver's negligence or inexperienced driving on the merging road, thereby improving the driver's convenience, and collision with the target car driving on the main road. Because it can avoid the collision, it can support safe driving more effectively, and it can make the driver recognize an expected collision when entering the main road, thereby improving the driver's convenience and promoting driving safety.

The above methods may be implemented by the vehicle safe driving control apparatus 100 as shown in FIG. 1 , and in particular, may be implemented as a software program for performing these steps, in this case, these programs are computer-readable It may be stored in a possible recording medium or transmitted by a computer data signal combined with a carrier wave in a transmission medium or a communication network. In this case, the computer-readable recording medium may include any type of recording device in which data readable by a computer system is stored.

Although one embodiment of the present invention has been described above, the spirit of the present invention is not limited to the embodiments presented herein, and those skilled in the art who understand the spirit of the present invention can add components within the scope of the same spirit. , changes, deletions, additions, etc. may easily suggest other embodiments, but this will also fall within the scope of the present invention.

100: vehicle safe driving control device 110: sensing unit
112: radar sensor 114: image sensor
120: GPS receiver 130: control unit
140: storage unit 150: mirror indicator
160: cluster 170: safe driving module

Claims (19)

a sensing unit for detecting surrounding information of the own vehicle;
GPS receiver for receiving GPS information from GPS satellites;
a storage unit storing map information of navigation; and
a control unit communicatively connected to the sensing unit, the GPS receiving unit, and the storage unit;
The control unit is
determining whether or not the own vehicle enters the merging road using the GPS information, the map information of the navigation, the own vehicle information, and the detection result of the sensing unit;
calculating the intersection point of the target car traveling on the main road and the own vehicle based on the turning radius of the own vehicle entering the merging road,
calculating the time it takes for the host vehicle and the target vehicle to reach the intersection point;
and control to perform collision warning or collision avoidance deceleration control according to a time required for the host vehicle and the target vehicle to reach the intersection point,
The control unit is
It is determined whether both the time required for the host vehicle and the target vehicle to reach the intersection point is less than a first threshold value for determining whether a collision is possible within a range and a second threshold value for determining whether to control collision avoidance deceleration do,
If both the time required for the host vehicle and the target vehicle to reach the intersection point is less than the first threshold value and any one is greater than or equal to the second threshold value, the collision warning is performed,
and perform the collision avoidance deceleration control when both the time taken for the host vehicle and the target vehicle to reach the intersection point is less than the first threshold value and less than the second threshold value. According to claim 1,
The control unit is configured to calculate the intersection point of the equation of the circle according to the turning radius of the host vehicle and the equation of the straight line according to the path of the target vehicle as the intersection point. 3. The method of claim 2,
The control unit is
Calculate the turning radius of the own vehicle based on the steering angle or yaw-rate of the host vehicle,
Converting the position and velocity vectors of the target car into the coordinate system of the host vehicle,
The apparatus for controlling safe vehicle driving is configured to calculate an intersection point of the equation of the circle and the equation of the straight line in the coordinate system of the host vehicle. 4. The method of claim 3,
The control unit is configured to calculate the speed vector by using the longitudinal and lateral velocities of the target car. According to claim 1,
The control unit is
After calculating the distance from the position of the target car to the crossing point, dividing by the velocity vector of the target car calculates the time it takes for the target car to reach the crossing point,
The apparatus for controlling safe vehicle driving is configured to calculate a distance from the front corner of the host vehicle to the intersection point and divide by the speed of the host vehicle to calculate a time required for the host vehicle to reach the intersection point. delete According to claim 1,
The control unit is configured to control to visually or audibly perform the collision warning. According to claim 1,
The control unit is configured to activate the safe driving module to perform collision avoidance deceleration control based on the speed and steering angle of the host vehicle and the speed of the target vehicle. According to claim 1,
a mirror indicator visually indicating the collision warning; or
The vehicle safety driving control device further comprising at least one of a cluster visually or audibly indicating the collision warning. According to claim 1,
The sensing unit,
an image sensor that captures images around the vehicle; and
A vehicle safe driving control apparatus including at least one radar (RADAR) sensor for detecting the position and speed of the target vehicle. a first determining step of determining whether the own vehicle enters the merging road;
a first calculation step of calculating an intersection point of a target car traveling on a main road and the host vehicle based on a turning radius of the own vehicle entering the merging road;
a second calculation step of calculating a time required for the host vehicle and the target vehicle to reach the intersection point; and
performing a collision warning or collision avoidance deceleration control according to the time required for the host vehicle and the target vehicle to reach the intersection point,
The performing step is,
It is determined whether both the time required for the host vehicle and the target vehicle to reach the intersection point is less than a first threshold value for determining whether a collision is possible within a range and a second threshold value for determining whether to control collision avoidance deceleration a second determining step;
a warning step of performing the collision warning when both the time taken for the host vehicle and the target vehicle to reach the intersection point is less than the first threshold value, and any one is greater than or equal to the second threshold value; and
and an avoidance control step of performing the collision avoidance deceleration control when both the time taken for the host vehicle and the target vehicle to reach the intersection point is less than the first threshold value and less than the second threshold value; control method. 12. The method of claim 11,
The first determining step is a vehicle safe driving control method of determining whether to enter a merging road using GPS information received from a GPS satellite, map information of navigation, own vehicle information, and a detection result of the surroundings of the own vehicle. 12. The method of claim 11,
In the first calculation step, the intersection point of the equation of a circle according to the turning radius of the host vehicle and the equation of a straight line according to the path of the target vehicle is calculated as the intersection point. ◈Claim 14 was abandoned at the time of payment of the registration fee.◈ 14. The method of claim 13,
The first operation step is
Calculate the turning radius of the own vehicle based on the steering angle or yaw-rate of the host vehicle,
Converting the position and velocity vectors of the target car into the coordinate system of the host vehicle,
A vehicle safe driving control method for calculating an intersection point of the equation of the circle and the equation of the straight line in the coordinate system of the host vehicle. ◈Claim 15 was abandoned when paying the registration fee.◈ 15. The method of claim 14,
The first calculation step is a vehicle safe driving control method of calculating the speed vector by using the longitudinal and lateral speeds of the target car. 12. The method of claim 11,
The second operation step is
After calculating the distance from the position of the target car to the crossing point, dividing by the velocity vector of the target car calculates the time it takes for the target car to reach the crossing point,
A vehicle safe driving control method for calculating a time required for the host vehicle to reach the intersection by calculating the distance from the front corner of the own vehicle to the intersection point and dividing by the speed of the host vehicle. delete 12. The method of claim 11,
The warning step is a vehicle safe driving control method for performing a warning visually or audibly. 12. The method of claim 11,
The avoidance control step includes activating a safe driving module to perform collision avoidance deceleration control based on the speed and steering angle of the host vehicle and the speed of the target vehicle.

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