KR20000033971A - Method and device of collision alarm - Google Patents

Method and device of collision alarm Download PDF

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Publication number
KR20000033971A
KR20000033971A KR1019980051061A KR19980051061A KR20000033971A KR 20000033971 A KR20000033971 A KR 20000033971A KR 1019980051061 A KR1019980051061 A KR 1019980051061A KR 19980051061 A KR19980051061 A KR 19980051061A KR 20000033971 A KR20000033971 A KR 20000033971A
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relative
distance
speed
alarm
vehicle
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KR1019980051061A
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Korean (ko)
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안재현
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윤종용
삼성전자 주식회사
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Priority to KR1019980051061A priority Critical patent/KR20000033971A/en
Publication of KR20000033971A publication Critical patent/KR20000033971A/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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/08—Predicting or avoiding probable or impending collision
    • B60Y2300/095—Predicting travel path or likelihood of collision
    • B60Y2300/0952—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/301—Sensors for position or displacement
    • B60Y2400/3017—Radars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/303—Speed sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/90—Driver alarms

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

PURPOSE: A method and a device of collision alarm is provided to calculate a precise alarm distance for determining alarm timing by using the change of each vehicle velocity. CONSTITUTION: A method and a device of collision alarm comprises: a measurement unit of self-velocity (210); a measurement unit of relative distance (220) to measure a relative distance with front vehicle using a distance-measurement device; a calculation unit of relative velocity (230) to calculate a gradient of a relative distance from the measurement unit of relative distance; a calculation unit of velocity of front vehicle (240) to calculate a velocity of front vehicle using a measured self-velocity and calculated relative velocity; a calculation unit of relative acceleration (250) based on a gradient of a relative velocity from the measurement unit of relative velocity; a calculation unit of alarm distance (260) based on self-velocity, velocity of front vehicle and relative acceleration; a decision unit of alarm (270) to compare a calculated alarm distance with a measured relative distance and to generate an alarm signal or not.

Description

충돌경보장치 및 그 방법Collision alarm device and method

본 발명은 충돌경보장치 및 그 방법에 관한 것이다.The present invention relates to a collision warning device and a method thereof.

보다 상세하게는 차량을 이용하여 주행중인 차량의 경보장치의 경보시점을 결정하는 경보거리를 산출하는데 있어 주행중 발생되는 전방차량과의 가감속을 이용하여 정확한 경보거리가 산출되도록 하는 충돌경보장치 및 그 방법에 관한 것이다.More specifically, in calculating an alarm distance for determining an alarm point of an alarm device of a driving vehicle using a vehicle, a collision warning device for calculating an accurate alarm distance by using acceleration and deceleration with the front vehicle generated during driving and its It is about a method.

일반적으로 자동차는 문명이 발달함에 따라 발전되어 온 기계 및 전자기술 등이 총체적으로 집약된 것으로서, 최근 생활의 윤택함과 더불어 시시각각으로 크게 변화되는 환경에 발맞추어 원활한 업무, 일상 생활의 편리, 여가 활용 등을 위해 보급이 크게 확대되고 있다.In general, automobiles are a collection of mechanical and electronic technologies that have been developed with the development of civilization.They are in line with the recent changes in the daily life and the ever-changing environment. The supply is expanding greatly for this purpose.

이와 같은 자동차를 운행할 때 운전자는 각종 안전사고의 예방을 위해 다른 자동차와의 안전거리를 유지하는 것이 반드시 필요하다.When driving such a car, it is necessary for the driver to maintain a safe distance from other cars in order to prevent various safety accidents.

그렇지만 운전자는 자동차 운행시 다른 자동차 특히, 앞선 차량과의 거리 계산을 시각적으로만 판단하기 때문에 경우에 따라 운전자의 착각으로 인해 추돌 등의 안전사고가 발생될 우려가 있었다.However, since the driver only visually judges distance calculation with other vehicles, especially the preceding vehicle, when driving a car, there is a concern that a safety accident such as a collision may occur due to the driver's mistake.

그러므로 최근에는 운전자의 편의를 도모하기 위해 자동차의 전방에 센서를 설치하여 다른 자동차와의 거리를 자동으로 계산한 후 충돌우려가 있는 거리 이내에 자동차가 있는 경우 경보음을 울려 운전자의 주의를 환기시키는 자동차 충돌경보장치가 개발되어 사용되고 있다.Therefore, recently, for the convenience of the driver, a sensor is installed at the front of the car to automatically calculate the distance from other cars, and if there is a car within a distance that is likely to crash, an alarm sounds to alert the driver. A collision warning device has been developed and used.

도 1은 종래 기술에 따른 충돌경보장치의 구성을 설명하기 위한 개략적인 블록도이다.1 is a schematic block diagram for explaining the configuration of a collision warning device according to the prior art.

도시된 바와 같이, 자차속도 측정장치를 이용하여 자차의 속도를 측정하는 자차속도 측정부(110)와, 거리측정장치를 이용하여 전방 차량과의 상대거리를 측정하는 상대거리 측정부(120)와, 상기 상대거리 측정부(120)에서 측정된 상대거리의 변화율에 대해 시간의 변화율로 상대속도를 계산하는 상대속도 계산부(130)와, 상기 측정된 자차속도에 계산된 상대속도를 가산시켜 선행 차속도를 계산하는 선행 차속도 계산부(140)와, 상기 측정된 자차속도, 계산된 선행차속도에 의해 경보거리를 산출하는 경보거리 산출부(150)와, 상기 경보거리 산출부(150)에서 산출된 경보거리와 상대거리 측정부(120)에서 측정된 상대거리를 비교 결과, 위험 상황이라 판정되는 경우 경보신호 발생제어신호를 출력하는 경보 판정부(160)로 구성된다.As shown, the vehicle speed measurement unit 110 for measuring the speed of the vehicle using the vehicle speed measurement device, and the relative distance measurement unit 120 for measuring the relative distance with the vehicle ahead using the distance measuring device and In addition, the relative speed calculation unit 130 that calculates the relative speed as a change rate of time with respect to the rate of change of the relative distance measured by the relative distance measuring unit 120, and adds the relative speed calculated to the measured host vehicle speed preceding A preceding vehicle speed calculating unit 140 for calculating a vehicle speed, an alarm distance calculating unit 150 for calculating an alarm distance based on the measured own vehicle speed and the calculated preceding vehicle speed, and the alarm distance calculating unit 150. Comparing the alarm distance calculated by the relative distance measured by the relative distance measuring unit 120 as a result, it is composed of an alarm determination unit 160 for outputting an alarm signal generation control signal when it is determined that the dangerous situation.

상술한 것과 같이 구성된 차량 충돌경보장치는 대상체와의 상대거리의 시간변화율로 상대속도를 계산하고, 측정된 자차속도와 상대속도를 이용하여 선행차속도를 계산하며, 계산된 선행차속도와 자차속도를 이용하여 경보거리를 계산한다.The vehicle collision warning device configured as described above calculates the relative speed by the rate of change of the relative distance to the object, calculates the preceding vehicle speed using the measured host speed and the relative speed, and calculates the preceding vehicle speed and the host vehicle speed. Calculate the alarm distance using.

상술한 것과 같이 계산된 경보거리와 상대거리 측정부(120)에서 측정된 상대거리를 비교하여 경보여부를 판정하게 된다.The alarm distance calculated as described above is compared with the relative distance measured by the relative distance measuring unit 120 to determine whether the alarm.

즉, 상술한 것과 같이 측정되거나 계산된 선행차속도와 자차속도를 이용한 경보거리는 다음과 같은 [수학식 1]에 의해 쉽게 얻어지게 된다.That is, the alarm distance using the preceding vehicle speed and the own vehicle speed as described above can be easily obtained by the following Equation 1.

[수학식 1][Equation 1]

여기서, DW는 경보거리(m), Vf는 자차속도(m/s), Vl은 선행차량속도(m/s), TR은 운전자 반응시간(sec), αfmax는 자차 최대감속도(m/s2), αf는 상대가속도(m/s2)이다.Where D W is the alarm distance (m), V f is the host vehicle speed (m / s), V l is the preceding vehicle speed (m / s), T R is the driver response time (sec), and α fmax is the maximum vehicle deceleration. (M / s 2 ), α f is the relative acceleration (m / s 2 ).

이때, 상술한 수식에서 첫 번째 항은 자차의 제동거리이고, 두 번째 항은 자차의 공주거리이며, 세 번째 항은 선행차의 제동거리를 계산함으로써 자차의 제동거리와 공주거리로 구성되는 정지거리에서 선행차의 제동거리를 감산함으로써 경보거리를 산출하게 된다.At this time, in the above formula, the first term is the braking distance of the vehicle, the second term is the princess distance of the vehicle, and the third term is the stopping distance composed of the braking distance and the princess distance of the vehicle by calculating the braking distance of the preceding vehicle. The alarm distance is calculated by subtracting the braking distance of the preceding vehicle.

그러나, 위와 같은 종래 기술에서 차량충돌 경보장치를 이용하여 경보시점을 산출하는 경우 자차와 선행차의 최대 제동거리 산출을 위해 고정된 자차 및 선행차 가감속도를 적용하여 경보거리를 계산하며, 경보거리를 계산하는 시점에서 각 차량이 정속주행을 한다고 가정하게 된다. 따라서, 각 차량에서 발생될 수 있는 가감속도를 고려하지 않기 때문에 일정한 상대거리에서 자차가 가속을 하고, 선행차가 감속을 하여 발생되는 상대가속도에서 발생될 수 있는 긴박한 상황에서 이를 정확히 인식할 수 없게 되어 경보 발생이 지연되거나 경보 발생을 하지 않아 사고를 유발시킬 수 있다는 문제점이 있었다.However, when calculating the alarm time point using the vehicle collision warning device in the prior art as described above, to calculate the maximum braking distance of the own vehicle and the preceding vehicle, applying the fixed own vehicle and preceding vehicle acceleration / deceleration, calculate the alarm distance, the alarm distance It is assumed that each vehicle is driving at speed at the time of calculating. Therefore, it does not take into account the acceleration and deceleration that can occur in each vehicle, so the host vehicle accelerates at a certain relative distance and the preceding vehicle cannot decelerate correctly in the dire situation that may occur in the relative acceleration generated by deceleration. There has been a problem that an alarm may be delayed or an alarm may not be generated, causing an accident.

따라서, 본 발명의 목적은 전술한 문제점을 해결할 수 있도록 차량을 이용하여 주행중인 차량의 경보장치의 경보시점을 결정하는 경보거리를 산출하는데 있어 주행중 발생되는 전방차량과의 가감속을 이용하여 정확한 경보거리가 산출되도록 하는 충돌경보장치 및 방법을 제공함에 있다.Accordingly, an object of the present invention is to calculate an alarm distance for determining an alarm time point of an alarm device of a vehicle that is being driven by using a vehicle to solve the above-described problems, and to accurately correct the alarm by using acceleration and deceleration with the front vehicle generated during driving. The present invention provides a collision warning device and a method for calculating a distance.

도 1은 종래 기술에 따른 충돌경보장치의 구성을 설명하기 위한 개략적인 블록도,1 is a schematic block diagram for explaining the configuration of a collision warning device according to the prior art,

도 2는 본 발명에 따른 충돌경보장치의 구성을 설명하기 위한 개략적인 블록도,2 is a schematic block diagram for explaining the configuration of a collision warning device according to the present invention;

도 3은 본 발명에 따른 충돌경보장치를 구현하기 위한 충돌경보방법을 설명하기 위한 동작흐름도,3 is a flowchart illustrating a collision warning method for implementing a collision warning device according to the present invention;

도 4는 충돌경보장치에서 상대가속도를 적용했을 경우와 적용하지 않았을 경우 경보발생 상태를 도시한 그래프이다.4 is a graph showing an alarm occurrence state when the relative acceleration is applied and when the collision alarm device is not applied.

*도면의 주요부분에 대한 부호설명** Description of Signs of Main Parts of Drawings *

210 : 자차속도 측정부 220 : 상대거리 측정부210: vehicle speed measuring unit 220: relative distance measuring unit

230 : 상대속도 계산부 240 : 선행차속도 계산부230: relative speed calculation unit 240: leading vehicle speed calculation unit

250 : 상대가속도 계산부 260 : 경보거리 산출부250: relative acceleration calculation unit 260: alarm distance calculation unit

270 : 경보 판정부270: alarm determination unit

이와 같은 목적을 달성하기 위한 본 발명의 충돌경보장치는 자차속도 측정장치를 이용하여 자차의 속도를 측정하는 자차속도 측정부와, 거리측정장치를 이용하여 전방 차량과의 상대거리를 측정하는 상대거리 측정부와, 상기 상대거리 측정부에서 측정된 상대거리의 변화율에 대해 시간의 변화율로 상대속도를 계산하는 상대속도 계산부와, 측정된 자차속도에 계산된 상대속도를 가산시켜 선행 차속도를 계산하는 선행 차속도 계산부와, 상기 상대속도 계산부에서 계산된 상대속도의 변화율에 대해 시간의 변화율로 상대 가속도를 계산하는 상대 가속도 계산부와, 상기 측정된 자차속도, 계산된 선행차속도 및 상대가속도에 의해 경보거리를 산출하는 경보거리 산출부와, 상기 산출된 경보거리와 상대거리 측정부에서 측정된 상대거리를 비교한 결과, 위험 상황이라 판정되는 경우 경보 신호 발생제어신호를 출력하는 경보 판정부로 구성됨을 특징으로 한다.The collision warning device of the present invention for achieving the above object is a host vehicle speed measurement unit for measuring the speed of the host vehicle using the host vehicle speed measurement device, and a relative distance to measure the relative distance with the front vehicle using the distance measuring device The preceding vehicle speed is calculated by adding a relative speed calculation unit that calculates a relative speed as a change rate of time with respect to a rate of change of the relative distance measured by the relative distance measuring unit, and a calculated relative speed. A preceding vehicle speed calculating unit, a relative acceleration calculating unit calculating a relative acceleration with a change rate of time with respect to the rate of change of the relative speed calculated by the relative speed calculating unit, the measured host vehicle speed, the calculated preceding vehicle speed and the relative As a result of comparing the alarm distance calculation unit for calculating the alarm distance by the acceleration and the relative distance measured by the calculated alarm distance and the relative distance measuring unit, When it is determined that the dangerous situation characterized in that it comprises an alarm determination unit for outputting the alarm signal generation control signal.

본 발명의 차량충돌경보방법은 거리측정장치를 이용하여 전방의 차량과의 거리를 측정하고, 측정된 거리를 일정 시간에 대한 변화율로 계산하여 상대속도를 계산하며, 계산된 상대속도를 일정 시간에 대한 변화율로 계산하여 상대가속도를 계산하는 제 1 단계와, 자차의 속도를 측정할 수 있는 장치를 이용하여 자차의 속도를 측정하고, 계산된 상대속도와 측정된 자차속도에 의해 선행차량과의 속도를 계산하는 제 2 단계와, 상기 측정된 자차속도, 계산된 선행차속도, 상대가속도를 이용하여 경보거리를 산출하는 제 3 단계와, 상기 제 3 단계에서 계산된 경보거리와 측정된 상대거리를 비교하여 상대거리가 경보거리보다 작거나 같을 경우 경보를 판정하는 제 4 단계로 이루어짐을 특징으로 한다.The vehicle collision warning method of the present invention measures the distance to the vehicle in front of the vehicle using a distance measuring device, calculates the relative speed by calculating the measured distance as a change rate for a predetermined time, and calculates the calculated relative speed at a predetermined time. The first step of calculating the relative acceleration by calculating the rate of change for the vehicle and the speed of the host vehicle using a device capable of measuring the speed of the host vehicle, and the speed of the preceding vehicle by the calculated relative speed and the measured host vehicle speed The second step of calculating the; and the third step of calculating the alarm distance using the measured own vehicle speed, the calculated preceding vehicle speed, the relative acceleration, and the alarm distance and the measured relative distance calculated in the third step In comparison, the relative distance is less than or equal to the alarm distance, characterized in that the fourth step of determining the alarm.

이하, 첨부한 도면들을 참조하여 본 발명의 바람직한 실시 예를 상세히 기술하기로 한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 2는 본 발명에 따른 충돌경보장치의 구성을 설명하기 위한 개략적인 블록도이다.2 is a schematic block diagram for explaining the configuration of a collision warning device according to the present invention.

도시된 바와 같이, 자차속도 측정장치를 이용하여 자차의 속도를 측정하는 자차속도 측정부(210)와, 거리측정장치를 이용하여 전방 차량과의 상대거리를 측정하는 상대거리 측정부(220)와, 상기 상대거리 측정부(220)에서 측정된 상대거리의 변화율에 대해 시간의 변화율로 상대속도를 계산하는 상대속도 계산부(230)와, 상기 측정된 자차속도에 계산된 상대속도를 가산시켜 선행 차속도를 계산하는 선행 차속도 계산부(240)와, 상기 상대속도 계산부(230)에서 계산된 상대속도의 변화율에 대해 시간 변화율로 상대가속도를 계산하는 상대 가속도 계산부(250)와, 상기 측정된 자차속도, 계산된 선행차속도 및 상대가속도에 의해 경보거리를 산출하는 경보거리 산출부(260)와, 상기 산출된 경보거리와 상대거리 측정부(220)에서 측정된 상대거리를 비교 결과, 위험 상황이라 판정되는 경우 경보신호 발생제어신호를 출력하는 경보 판정부(270)로 구성된다.As shown, the vehicle speed measurement unit 210 for measuring the speed of the vehicle using the vehicle speed measurement device, and the relative distance measuring unit 220 for measuring the relative distance with the vehicle ahead using the distance measuring device; In addition, by adding the relative speed calculation unit 230 for calculating the relative speed as a change rate of time with respect to the rate of change of the relative distance measured by the relative distance measuring unit 220, and by adding the relative speed calculated to the measured host speed A preceding vehicle speed calculator 240 for calculating a vehicle speed, a relative acceleration calculator 250 for calculating relative acceleration as a time change rate with respect to the rate of change of the relative speed calculated by the relative speed calculator 230, and Comparison result of the alarm distance calculation unit 260 for calculating an alarm distance by the measured own vehicle speed, the calculated preceding vehicle speed and the relative acceleration, and the relative distance measured by the calculated alarm distance and the relative distance measurement unit 220. , danger When it is determined as sulfur consists alarm determining section 270 for outputting the generated alert signal control signal.

상술한 자차속도 측정부(210)에서 자차의 속도를 측정하는데 이용되는 장치는 차속 센서이며, 상술한 상대거리 측정부(220)에서 선행 차량과의 차간거리를 측정할 수 있는 장치는 레이다 거리 측정장치이다.The apparatus used to measure the speed of the host vehicle in the above-described vehicle speed measuring unit 210 is a vehicle speed sensor, and the apparatus capable of measuring the inter-vehicle distance from the preceding vehicle in the above-mentioned relative distance measuring unit 220 may measure a radar distance. Device.

이와 같이 구성된 본 발명에 따른 차량 충돌경보장치의 동작을 첨부한 도면 도 1내지 도 3을 참조하여 좀 더 구체적으로 설명한다.The operation of the vehicle collision warning apparatus according to the present invention configured as described above will be described in more detail with reference to FIGS. 1 to 3.

도 3은 본 발명에 따른 충돌경보장치를 구현하기 위한 충돌경보방법을 설명하기 위한 동작흐름도이다.3 is a flowchart illustrating a collision warning method for implementing a collision warning device according to the present invention.

도시된 바와 같이, 먼저 상대거리 측정부(220)는 거리측정장치인 레이다 거리측정장치를 이용하여 선행 차량과의 거리를 측정(S311)하고, 상술한 상대거리 측정부(220)에서 측정된 거리는 상대속도 계산부(230)로 입력되어 후술하려고 하는 [수학식 2]에 적용되어 상대속도(Vr)가 계산(S312)된다.As shown, first, the relative distance measuring unit 220 measures the distance with the preceding vehicle by using the radar distance measuring device which is a distance measuring device (S311), and the distance measured by the relative distance measuring unit 220 described above is It is input to the relative speed calculation unit 230 is applied to [Equation 2] to be described later is calculated relative speed (V r ) (S312).

이렇게 상대속도 계산부(230)에서 계산된 상대속도(Vr)는 상대가속도 계산부(250)로 입력되어 후술하려고 하는 [수학식 3]에 적용되어 상대가속도(αr)가 계산(S313)됨으로 자차와 선행 차량 상호간에서 발생하는 상대가속도를 계산하기 위한 모든 과정(S310)이 종료된다.Thus, the relative speed (V r ) calculated by the relative speed calculation unit 230 is input to the relative acceleration calculation unit 250 is applied to [Equation 3] to be described later is calculated relative acceleration (α r ) (S313) As a result, all processes (S310) for calculating the relative acceleration occurring between the host vehicle and the preceding vehicle are completed.

[수학식 2][Equation 2]

[수학식 3][Equation 3]

상술한 상대 가속도(αr)는 자차의 속도와 선행차량의 속도에 다음 표에서 나타내는 것과 같은 범위를 갖게 된다.The relative acceleration α r described above has a range as shown in the following table in the speed of the host vehicle and the speed of the preceding vehicle.

[표][table]

자차 가속Self-acceleration 선행차 감속Preceding car deceleration 상대 가속도 ＜ 0Relative acceleration <0 자차 가속Self-acceleration 선행차 정속Preceding vehicle 상대 가속도 ＜ 0Relative acceleration <0 자차 정속Own car constant speed 선행차 감속Preceding car deceleration 상대 가속도 ＜ 0Relative acceleration <0 자차 정속Own car constant speed 선행차 정속Preceding vehicle 상대 가속도 = 0Relative Acceleration = 0

또한, 자차속도 측정부(210)는 자차속도를 측정할 수 있는 장치인 차속센서를 이용하여 자차의 속도를 측정(S321)하고, 자차속도 측정부(210)에서 측정된 자차의 속도 및 전술한 상대속도 계산부(230)에서 계산된 상대속도(Vr)는 선행 차속도 계산부(240)로 입력되고, 선행 차속 계산부(240)는 입력된 두 값을 후술하려고 하는 [수학식 4]에 적용하여 선행차량의 속도를 계산(S322)(S320)한다.In addition, the host vehicle speed measuring unit 210 measures the speed of the host vehicle using a vehicle speed sensor which is a device capable of measuring the host vehicle speed (S321), and the speed of the host vehicle measured by the host vehicle speed measuring unit 210 and the above-mentioned. The relative speed V r calculated by the relative speed calculator 230 is input to the preceding vehicle speed calculator 240, and the preceding vehicle speed calculator 240 tries to describe the inputted two values later. It is applied to calculate the speed of the preceding vehicle (S322) (S320).

[수학식 4][Equation 4]

Vl= Vf+ Vr V l = V f + V r

여기서, Vf는 자차속도이고, Vr은 상대속도이다.Where V f is the host speed and V r is the relative speed.

그러면, 경보거리 산출부(260)는 운전자의 반응시간, 자차 최대 감속도, 선행차 최대감속도를 미리 설정된 값으로 입력받고, 상술한 선행차속도 계산부(240)에 의해 계산된 선행차량의 속도(Vl), 상대 가속도 계산부(250)에 의해 계산된 선행차량과의 상대가속도(αr) 및 자차속도 측정부(210)에 의해 측정된 자차속도(Vf)를 입력받아 경보시점을 판정하는데 사용되는 경보거리(DW)를 후술하려고 하는 [수학식 5]에 적용시켜 계산(S330)하고, 계산된 결과값을 경보 판정부(270)로 출력한다.Then, the alarm distance calculator 260 receives the driver's response time, the maximum vehicle deceleration, and the maximum vehicle deceleration as preset values, and calculates the preceding vehicle speed calculated by the preceding vehicle speed calculator 240. alarm time receives the speed (V l), the relative acceleration calculation unit 250, the relative acceleration a deviation velocity (V f), measured by the (α r) and a deviation rate measurement unit 210 of the preceding vehicle calculated by the The alarm distance D W used to determine the result is applied to Equation 5 to be described later (S330), and the calculated result is output to the alarm determination unit 270.

[수학식 5][Equation 5]

여기서, DW는 경보거리(m), Vf는 자차속도(m/s), Vl은 선행차량속도(m/s), TR은 운전자 반응시간(sec), αfmax는 자차 최대감속도(m/s2), αf는 상대가속도(m/s2), t는 안전율(sec)이다.Where D W is the alarm distance (m), V f is the host vehicle speed (m / s), V l is the preceding vehicle speed (m / s), T R is the driver response time (sec), and α fmax is the maximum vehicle deceleration. The degree (m / s 2 ), α f is the relative acceleration (m / s 2 ), and t is the safety factor (sec).

상술한 수식을 좀더 상세히 설명하면, 은 자차의 제동거리를 나타내고, Vf×TR 는 자차의 공주거리를 나타내며, 는 선행차량의 제동거리를 나타내고, 는 상대가속도에 의해 가감되는 상대거리를 나타낸다.In more detail the above-described formula, Represents the braking distance of the vehicle, V f × T R Represents the princess street of Jacha, Represents the braking distance of the preceding vehicle, Represents the relative distance added or subtracted by the relative acceleration.

그러므로, 경보 판정부(270)는 상술한 단계(S330)에서 계산된 경보거리(DW)와 상대거리 측정부(220)에서 측정된 상대거리를 비교하여 상대거리가 경보거리보다 작거나 같을 경우 위험 상황이라 판정하고, 경보발생 제어신호를 경보 발생부(도면에 도시되어 있지 않음)로 경보신호가 발생되도록 하므로 운전자가 선행차량과의 관계, 즉 근접한 거리를 쉽게 인식할 수 있도록 한다.Therefore, the alarm determining unit 270 compares the alarm distance D W calculated in the above-described step S330 and the relative distance measured by the relative distance measuring unit 220 and the relative distance is less than or equal to the alarm distance. It is determined that it is a dangerous situation and the alarm generation control signal is generated by the alarm generation unit (not shown in the figure) so that the driver can easily recognize the relationship with the preceding vehicle, that is, the close distance.

도 4는 충돌경보장치에서 상대가속도를 적용했을 경우와 적용하지 않았을 경우 경보발생 상태를 도시한 그래프로서, a는 경보거리이며, b는 상대가속도를 고려한 경보거리이며, c는 상대가속도를 고려하지 않은 경보거리이며, d는 자차 속도이고, e는 선행 차속도로서, 충돌경보장치에 상대가속도를 적용할 경우 자차와 선행차량의 속도에 대해 좀더 정확한 경보거리를 산출할 수 있다.4 is a graph showing an alarm occurrence state when the relative acceleration is applied or not applied in the collision alarm device, a is an alarm distance, b is an alarm distance considering the relative acceleration, and c is not considering the relative acceleration. It is not the alarm distance, d is the own vehicle speed, e is the preceding vehicle speed, and when the relative acceleration is applied to the collision warning device, it is possible to calculate a more accurate alarm distance for the speed of the own vehicle and the preceding vehicle.

따라서, 상술한 바와 같이 본 발명은 상대가속도를 고려한 경보거리 산출 알고리즘을 차간 충돌경보장치에 적용할 경우 위험한 상황 즉, 자차가 가속을 하고, 선행차가 감속 또는 정속주행을 하는 경우 또는 자차가 정속주행을 하고 선행차가 감속주행을 하는 경우 등의 다양한 경우에 적응하여 각 상황에 적절히 대응하는 경보장치를 제공하여 정확한 시점에서 경보신호를 발생시켜 줌으로 안전주행이 이루어질 수 있다는 효과가 있다.Therefore, as described above, in the present invention, when an alarm distance calculation algorithm considering a relative acceleration is applied to a collision collision warning device, a dangerous situation, that is, the host vehicle accelerates, the preceding vehicle decelerates or runs at a constant speed, or the host vehicle runs at a constant speed In this case, it is possible to adapt to various cases, such as when the preceding vehicle is decelerating, and to provide an alarm device that appropriately responds to each situation to generate an alarm signal at an accurate time, thereby enabling safe driving.

Claims (3)

자차속도 측정장치를 이용하여 자차의 속도를 측정하는 자차속도 측정부;A self-vehicle speed measurement unit for measuring the speed of the own vehicle using the own-vehicle speed measuring device; 거리측정장치를 이용하여 전방 차량과의 상대거리를 측정하는 상대거리 측정부;Relative distance measuring unit for measuring the relative distance with the front vehicle using the distance measuring device; 상기 상대거리 측정부에서 측정된 상대거리의 변화율에 대해 시간의 변화율로 상대속도를 계산하는 상대속도 계산부;A relative speed calculator configured to calculate a relative speed based on a change rate of time with respect to a change rate of the relative distance measured by the relative distance measurer; 상기 측정된 자차속도에 계산된 상대속도를 가산시켜 선행 차속도를 계산하는 선행 차속도 계산부;A preceding vehicle speed calculator configured to calculate a preceding vehicle speed by adding the calculated relative speed to the measured host vehicle speed; 상기 선행 차속도 계산부에서 계산된 상대속도의 변화율에 대해 시간의 변화율로 계산하여 상대가속도를 계산하는 상대가속도 계산부;A relative acceleration calculation unit calculating a relative acceleration by calculating a change rate of time with respect to the change rate of the relative speed calculated by the preceding vehicle speed calculation unit; 상기 측정된 자차속도, 계산된 선행차속도 및 상대가속도에 의해 경보거리를 산출하는 경보거리 산출부; 및An alarm distance calculator configured to calculate an alarm distance based on the measured own vehicle speed, the calculated preceding vehicle speed, and the relative acceleration; And 상기 산출된 경보거리와 상대거리 측정부에서 측정된 상대거리를 비교 결과, 위험 상황이라 판정되는 경우 경보신호 발생제어신호를 출력하는 경보 판정부로 구성됨을 특징으로 하는 충돌경보장치.And a warning determination unit configured to output an alarm signal generation control signal when it is determined that the dangerous situation is determined as a result of the comparison between the calculated alarm distance and the relative distance measured by the relative distance measuring unit. 거리측정장치를 이용하여 전방의 차량과의 거리를 측정하고, 측정된 거리를 일정 시간에 대한 변화율로 상대속도를 계산하며, 계산된 상대속도를 일정 시간에 대한 변화율로 상대가속도를 계산하는 제 1 단계;A first distance measuring distance with a vehicle in front of the vehicle using a distance measuring device, calculating a relative speed as a change rate for a predetermined time, and calculating a relative acceleration as a change rate for a predetermined time; step; 자차의 속도를 측정할 수 있는 장치를 이용하여 자차의 속도를 측정하고, 계산된 상대속도와 측정된 자차속도에 의해 선행차량과의 속도를 산출하는 제 2 단계;A second step of measuring a speed of the own vehicle using a device capable of measuring the speed of the own vehicle and calculating a speed between the preceding vehicle based on the calculated relative speed and the measured own vehicle speed; 상기 측정된 자차속도, 계산된 선행차속도, 상대가속도를 이용하여 경보거리를 산출하는 제 3 단계; 및A third step of calculating an alarm distance by using the measured own vehicle speed, calculated preceding vehicle speed, and relative acceleration; And 상기 제 3 단계에서 계산된 경보거리와 측정된 상대거리를 비교하여 상대거리가 경보거리보다 작거나 같을 경우 경보를 판정하는 제 4 단계로 이루어진 것을 특징으로 하는 충돌경보방법.And a fourth step of determining an alarm when the relative distance is less than or equal to the alarm distance by comparing the alarm distance calculated in the third step and the measured relative distance. 제 1 항에 있어서, 상기 제 3 단계에서 산출된 경보거리는 다음 수학식에 의해 얻어짐을 특징으로 하는 충돌경보방법.The collision warning method according to claim 1, wherein the alarm distance calculated in the third step is obtained by the following equation. 여기서, DW는 경보거리(m), Vf는 자차속도(m/s), Vl은 선행차량속도(m/s), TR은 운전자 반응시간(sec), αfmax는 자차 최대감속도(m/s2), αf는 상대가속도(m/s2)이다.Where D W is the alarm distance (m), V f is the host vehicle speed (m / s), V l is the preceding vehicle speed (m / s), T R is the driver response time (sec), and α fmax is the maximum vehicle deceleration. (M / s 2 ), α f is the relative acceleration (m / s 2 ).
KR1019980051061A 1998-11-26 1998-11-26 Method and device of collision alarm KR20000033971A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100906667B1 (en) * 2007-12-12 2009-07-07 현대자동차주식회사 System for Automatic Controlling Longitudinal Speed of a Vehicle
CN114537277A (en) * 2020-11-26 2022-05-27 大众汽车股份公司 Method for displaying virtual elements

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100906667B1 (en) * 2007-12-12 2009-07-07 현대자동차주식회사 System for Automatic Controlling Longitudinal Speed of a Vehicle
CN114537277A (en) * 2020-11-26 2022-05-27 大众汽车股份公司 Method for displaying virtual elements

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