KR19980050727A - Vehicle safety distance maintainer - Google Patents

Vehicle safety distance maintainer Download PDF

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Publication number
KR19980050727A
KR19980050727A KR1019960069572A KR19960069572A KR19980050727A KR 19980050727 A KR19980050727 A KR 19980050727A KR 1019960069572 A KR1019960069572 A KR 1019960069572A KR 19960069572 A KR19960069572 A KR 19960069572A KR 19980050727 A KR19980050727 A KR 19980050727A
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KR
South Korea
Prior art keywords
vehicle
preceding vehicle
distance
safety distance
braking
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KR1019960069572A
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Korean (ko)
Inventor
이원희
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박병재
현대자동차 주식회사
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Priority to KR1019960069572A priority Critical patent/KR19980050727A/en
Publication of KR19980050727A publication Critical patent/KR19980050727A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Traffic Control Systems (AREA)

Abstract

본 발명은 차량 안전거리 유지장치에 관한 것으로, 차량(1)의 프론트 범퍼 양단부에 초음파센서(10)를 설치하여 당해차량 전방에 선행차량이 주행하거나 또는 차선을 변경할 경우 반사되는 반사파를 통해 선행차량을 감지하고, 반사되어 돌아온 반사파는 E.C.U(20)에서 소정의 연산수단에서 거리를 산출하고 판단과정을 거쳐 선행차량과 당해차량이 위험거리 내에 위치하는지를 판단하게 되며, 만약 선행차량이 당해차량과 위험거리 내에 위치할 경우 상기 E.C.U(20)에서 제동장치(30)의 유압을 제어하여 자동으로 제동시켜 추돌을 방지함과 동시에 전조등을 점멸시켜 선행차량의 운전자에게 주의를 환기시키게 됨.The present invention relates to a vehicle safety distance maintaining apparatus, by installing the ultrasonic sensors 10 at both ends of the front bumper of the vehicle 1, the preceding vehicle through the reflected wave reflected when the preceding vehicle travels or changes lanes in front of the vehicle. After detecting the reflected wave, the reflected wave returns the calculated distance from the ECU by the predetermined calculation means, and determines whether the preceding vehicle and the vehicle are located within the dangerous distance. When the vehicle is located within a distance, the ECU 20 controls the hydraulic pressure of the brake device 30 to automatically brake to prevent a collision and at the same time flashes the headlight to draw attention to the driver of the preceding vehicle.

Description

차량 안전거리 유지장치Vehicle safety distance maintainer

본 발명은 선행차량과 안전거리를 자동으로 유지하기 위한 장치에 관한 것으로, 특히 주행중 갑자기 차선을 변경하여 끼어드는 차량이나 선행차량이 급브레이크를 밟을 경우 일정거리를 유지할 수 있도록 하는 차량 안전거리 유지장치에 관한 것이다.The present invention relates to an apparatus for automatically maintaining a safety distance with a preceding vehicle, and in particular, a vehicle safety distance maintaining apparatus for maintaining a certain distance when an interrupted vehicle or a preceding vehicle presses a sudden brake while driving. It is about.

일반적으로 주행시 무리한 끼어들기 차량에 대해 운전자 의지와 관계없이 추돌하는 상황, 선행차량이 급제동시 전방 주위소홀로 발생하는 추돌상황 등 여러 가지 유형의 위험상황 등이 비일비재하지만 이에 대한 사전 예방조치를 취할 수 있는 장치등이 없어 예기치 못한 대형사고가 발생하고 있다.In general, there are various types of dangerous situations, such as collisions with unreasonable driver's intentions when driving, irrespective of the driver's intention, and collisions caused by the small amount of front surroundings when sudden braking. Unexpected major accidents occur because there are no devices.

본 발명은 이러한 점을 감안하여 안출된 것으로, 특히 선행차량과 안전거리를 자동으로 유지할 수 있도록 하여 급격한 상황변동에 따른 추돌사고를 사전에 방지할 수 있는 차량 안전거리 유지장치를 제공하는데 그 목적이 있다.The present invention has been made in view of this point, in particular to provide a vehicle safety distance maintenance device that can prevent the collision accident caused by a sudden situation change by maintaining the safety distance with the preceding vehicle automatically have.

이러한 목적을 달성하기 위한 본 발명의 차량 안전거리 유지장치는 선행차량의 유무를 감지하는 선행차량 감지수단과, 상기 선행차량 감지수단으로 부터 반사된 신호를 근거로 선행차량과 당해차량과의 거리를 계산하는 연산수단과, 상기 연산수단에서 연산된 선행차량과의 거리를 설정된 안전거리와 비교하여 위험거리 범위내에 당해차량이 위치하는지를 판단하는 판단수단과, 상기 판단수단에서 판단된 논리에 따라 소정의 제어신호를 출력하여 당해차량을 제동시키는 제동수단 및 선행차량 경고수단으로 구성됨을 특징으로 한다.The vehicle safety distance maintaining apparatus of the present invention for achieving the above object is the preceding vehicle detecting means for detecting the presence of the preceding vehicle and the distance between the preceding vehicle and the vehicle based on the signal reflected from the preceding vehicle detecting means. Determining means for determining whether the vehicle is within a dangerous distance range by comparing the distance between the calculating means and the preceding vehicle calculated by the calculating means with a set safety distance, and according to a logic determined by the determining means. And a braking means for braking the vehicle by outputting a control signal, and a preceding vehicle warning means.

상기 선행차량 감지수단은 초음파나 또는 레이저를 발사하여 감지하도록 함을 특징으로 한다.The preceding vehicle detecting means is characterized in that to detect by firing an ultrasonic wave or a laser.

상기 선행차량 경고수단은 전조등이 반복적으로 점멸되게 함을 특징으로 한다.The preceding vehicle warning means is characterized in that the headlight repeatedly blinks.

상기 판단수단은 당해차량의 차속에 따라 안전거리에 대한 기준값이 변화되게 함을 특징으로 한다.The determination means is characterized in that the reference value for the safety distance is changed according to the vehicle speed of the vehicle.

이러한 구성에 의하면, 본 발명은 선행차량과의 근접시 또는 선행차량이 당해차선으로 급차선변경시 선행차량이 당해차량 안전거리내에 위치할 때 제동시켜 방어운전을 함과 동시에 전조등을 점멸시켜 선행차량 운전자에게 주의를 환기시키게 된다.According to this configuration, the present invention is braking when the preceding vehicle is in close proximity to the preceding vehicle or when the preceding vehicle is changed to the lane, the vehicle is braked when the preceding vehicle is located within the safety distance of the vehicle, and at the same time, the front light by flashing the headlights Attention is drawn to the driver.

도 1은 본 발명의 차량 안전거리 유지장치를 보인 회로도,1 is a circuit diagram showing a vehicle safety distance maintaining apparatus of the present invention,

도 2는 본 발명의 거리연산 방법을 설명하기 위한 도면.2 is a view for explaining a distance calculation method of the present invention.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

10 : 초음파센서 20 : E.C.U10: ultrasonic sensor 20: E.C.U

30 : 제동장치 40 : 전조등30: braking device 40: headlight

50 : 차속센서 RY1 : 릴레이50: vehicle speed sensor RY1: relay

이하, 본 발명의 바람직한 실시예를 첨부된 도면을 통해 상세하게 설명하면 다음과 같다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도1은 본 발명에 따른 차량 안전거리 유지장치를 보인 회로도로써, 차량(1)의 프론트 범퍼 양단부에 초음파센서(10)나 또는 레이저장치를 설치하여 선행차량의 유무를 감지하게 된다. 다시말해 당해차량 전방에 선행차량이 주행하거나 또는 차선을 변경할 경우 반사되는 반사파를 통해 선행차량을 감지하게 된다.1 is a circuit diagram illustrating a vehicle safety distance maintaining apparatus according to an exemplary embodiment of the present invention, in which an ultrasonic sensor 10 or a laser device is installed at both ends of a front bumper of a vehicle 1 to detect the presence of a preceding vehicle. In other words, when the preceding vehicle travels in front of the vehicle or changes lanes, the preceding vehicle is detected through the reflected wave.

이와 같이 반사되어 돌아온 반사파는 E.C.U(20)에서 소정의 연산수단에서 거리를 산출하고 판단과정을 거쳐 선행차량과 당해차량이 위험거리 내에 위치하는지를 판단하게 된다. 만약 선행차량이 당해차량과 위험거리 내에 위치할 경우 상기 E.C.U(20)에서 공지의 제동장치(30)와 전조등(40)을 제어하도록 구성되어 있다.The reflected wave is returned by the E.C.U 20 to calculate a distance by a predetermined calculation means and determines whether the preceding vehicle and the vehicle are located within a dangerous distance through the determination process. If the preceding vehicle is located within a dangerous distance from the vehicle, the E.C.U 20 is configured to control the known braking device 30 and the headlamp 40.

또한 상기 E.C.U(20)에서는 차속센서(60)를 통해 인가된 신호에 의해 차속을 감지하고 이를 근거로 차속에 비례하여 안전거리를 결정하도록 되어 있다. 도면중 미설명 부호 RY1은 전조등에 인가되는 전원을 단속하는 릴레이다.In addition, the E.C.U 20 detects the vehicle speed by a signal applied through the vehicle speed sensor 60 and determines the safety distance in proportion to the vehicle speed. In the figure, reference numeral RY1 denotes a relay which intercepts a power applied to the headlamp.

이하, 상기한 실시예 구성에 따른 본 발명의 작용을 상세하게 설명하면 다음과 같다.Hereinafter, the operation of the present invention according to the above-described embodiment configuration in detail.

국도나 고속도로를 주행중에 당해차량은 초음파센서(10)에서 지속적으로 음파를 방사하게 된다. 이때 동일차선을 주행중인 선행차량이 급제동하거나 또는 인접차선을 주행하던 선행차량이 차선을 변경하여 갑자기 끼어들 경우 E.C.U(20)에서는 초음파센서(10)에서 반사된 반사파를 근거로 도2와 같이 선행차량과 당해차량과의 거리를 연산함과 동시에 차속센서(60)를 통해 당해차량의 속도를 측정하여 제동장치(30) 및 전조등(40)을 제어할지 판단하게 된다.While driving on a national highway or highway, the vehicle continuously emits sound waves from the ultrasonic sensor 10. At this time, when a preceding vehicle driving in the same lane is suddenly braked or the preceding vehicle traveling in an adjacent lane is suddenly interrupted by changing the lane, the ECU 20 advances as shown in FIG. 2 based on the reflected wave reflected from the ultrasonic sensor 10. The distance between the vehicle and the vehicle is calculated, and the speed of the vehicle is measured through the vehicle speed sensor 60 to determine whether to control the braking device 30 and the headlamp 40.

즉, 선행차량과 당해차량과의 거리(L)=C.t/2(m)의 연산식에 의해 구해진다.여기서, C=331+0.6θ(m/s)이고, t는 반사되어 되돌아 오기까지의 시간(S)을 의미한다.In other words, the distance between the preceding vehicle and the vehicle (L) = Ct / 2 (m) is obtained by the formula: where C = 331 + 0.6θ (m / s), until t is reflected and returned Means the time (S).

이와 같은 연산식에 의해 구해진 선행차량과의 거리가 E.C.U(20)에서 설정된 거리 즉, 당해차량의 현재차속에 따른 안전거리 범위내에 근접되어 있을 경우 상기 E.C.U(20)에서는 제어신호를 출력하여 제동장치(30)를 통해 차량을 제동하여 안전거리를 유지함과 동시에 전조등(40)을 점멸시켜 선행차량의 운전자에게 주의를 환기시키게 된다.The ECU 20 outputs a control signal when the distance to the preceding vehicle determined by the above formula is close to the distance set by the ECU 20, that is, the safety distance range according to the current vehicle speed of the vehicle. Braking the vehicle through 30 maintains the safety distance and at the same time flashes the headlamp 40 to draw attention to the driver of the preceding vehicle.

본 발명은 당해차량의 차속에 따라 안전거리를 다르게 설정하게 되는데, 일예로 차속이 100Km/h일 경우에는 안전거리를 80m로 설정하고, 80Km/h일 경우에는 안전거리를 40m로 설정하여 불필요한 제동 및 전조등을 점멸시켜 선행차량의 운전자가 놀라지 않도록 한다.According to the present invention, the safety distance is set differently according to the vehicle speed of the vehicle. For example, when the vehicle speed is 100 Km / h, the safety distance is set to 80 m, and in the case of 80 Km / h, the safety distance is set to 40 m. And flashing the headlights so that the driver of the preceding vehicle is not surprised.

또한 차속에 따라 설정된 안전거리는 제동시 선행차량과 추돌하지 않고 안전하게 제동할 수 있는 거리로 경우에 따라서는 변경실시도 가능하다.In addition, the safety distance set according to the vehicle speed can be safely braking without colliding with the preceding vehicle during braking.

이상에서 설명한 바와 같이 본 발명은 인접차량이 급차선 변경하거나 또는 선행차량이 급제동시 운전자가 제동을 걸기 이전에 추돌을 예상하고 자동으로 차량을 제동시킴과 동시에 전조등을 점멸시켜 운전자 주의를 환시시킬 수 있도록 함으로써 예기치 못한 사고를 예방할 수 있다.As described above, the present invention predicts a crash before the driver brakes when the adjacent vehicle changes the vehicle lane or when the preceding vehicle suddenly brakes, and automatically brakes the vehicle and simultaneously flashes the headlight to illuminate the driver's attention. By doing so, unexpected accidents can be prevented.

Claims (4)

선행차량의 유무를 감지하는 선행차량 감지수단과, 상기 선행차량 감지수단으로 부터 반사된 신호를 근거로 선행차량과 당해차량과의 거리를 계산하는 연산수단과, 상기 연산수단에서 연산된 선행차량과의 거리를 설정된 안전거리와 비교하여 위험거리 범위내에 당해차량이 위치하는지를 판단하는 판단수단과, 상기 판단수단에서 판단된 논리에 따라 소정의 제어신호를 출력하여 당해차량을 제동시키는 제동수단 및 선행차량 경고수단으로 구성됨을 특징으로 하는 차량 안전거리 유지장치.Preceding vehicle detecting means for detecting the presence or absence of a preceding vehicle, calculating means for calculating a distance between the preceding vehicle and the vehicle based on a signal reflected from the preceding vehicle detecting means, and the preceding vehicle calculated by the calculating means; Judging means for judging whether the vehicle is located within a dangerous distance range by comparing the distance with the set safety distance, and a braking means and a preceding vehicle for braking the vehicle by outputting a predetermined control signal according to the logic determined by the judging means. Vehicle safety distance maintenance device characterized in that configured as a warning means. 제1항에 있어서, 상기 선행차량 감지수단은 초음파나 또는 레이저를 발사하여 감지하도록 함을 특징으로 하는 차량 안전거리 유지장치.The vehicle safety distance maintaining apparatus according to claim 1, wherein the preceding vehicle detecting means detects by firing ultrasonic waves or a laser. 제1항에 있어서, 상기 선행차량 경고수단은 전조등이 반복적으로 점멸되게 함을 특징으로 하는 차량 안전거리 유지장치.The vehicle safety distance maintenance apparatus according to claim 1, wherein the preceding vehicle warning means causes the headlight to blink repeatedly. 제1항에 있어서, 상기 판단수단은 당해차량의 차속에 따라 안전거리에 대한 기준값이 변화됨을 특징으로 하는 차량 안전거리 유지장치.The apparatus of claim 1, wherein the determination means changes a reference value for the safety distance according to the vehicle speed of the vehicle.
KR1019960069572A 1996-12-21 1996-12-21 Vehicle safety distance maintainer KR19980050727A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100789674B1 (en) * 2007-03-22 2008-01-03 정규성 Automotive covering safety distance alarm system
CN114148257A (en) * 2020-09-04 2022-03-08 合肥杰发科技有限公司 Early warning method, device, receiver and early warning system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100789674B1 (en) * 2007-03-22 2008-01-03 정규성 Automotive covering safety distance alarm system
WO2008114940A1 (en) * 2007-03-22 2008-09-25 Gyu Sung Jung Automotive covering safety distance alarm system
CN114148257A (en) * 2020-09-04 2022-03-08 合肥杰发科技有限公司 Early warning method, device, receiver and early warning system

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