KR20090078976A - Control method for warning and preventing collision with pedestrian in vehicle - Google Patents

Control method for warning and preventing collision with pedestrian in vehicle Download PDF

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KR20090078976A
KR20090078976A KR1020080004865A KR20080004865A KR20090078976A KR 20090078976 A KR20090078976 A KR 20090078976A KR 1020080004865 A KR1020080004865 A KR 1020080004865A KR 20080004865 A KR20080004865 A KR 20080004865A KR 20090078976 A KR20090078976 A KR 20090078976A
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collision
vehicle
threat
pedestrian
warning
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KR1020080004865A
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Korean (ko)
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황재영
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주식회사 만도
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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
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
  • Regulating Braking Force (AREA)

Abstract

A control method for warning and preventing collision of a vehicle with a pedestrian improves a control effect by varying the control method depending on whether a collision object is a vehicle or a pedestrian. A control method for warning and preventing collision of a vehicle with a pedestrian comprises: a step(S10) of receiving a speed signal from a speed sensor and sensing signals of a front object from front detection sensors; a step(S20) of calculating a speed of collision with the front object, a risk of collision with the front object, and type of the front object; a step of calculating threats of respective objects from the calculated collision speed, collision risk and front object type; a step of calculating radiuses from the calculated threats and TTC(Threat Control and Containment); a step(S30) of determining an object having a minimum value among the calculated radiuses as the most dangerous object; a step of comparing radius of the determined most dangerous object with an already defined critical value; and a step(S40) of performing warning and braking control according to the comparison result.

Description

차량의 보행자 충돌 경고 및 예방 제어 방법{Control method for warning and preventing collision with pedestrian in vehicle}Control method for warning and preventing collision with pedestrian in vehicle}

도 1은 본 발명이 적용되는 시스템을 개략적으로 도시한 블록 구성도이다.1 is a block diagram schematically illustrating a system to which the present invention is applied.

도 2는 본 발명에 따른 차량의 보행자 충돌 경고 및 예방 제어 방법의 흐름을 도시한 도면이다.2 is a diagram illustrating a flow of a pedestrian collision warning and prevention control method of a vehicle according to the present invention.

도 3은 본 발명에 따른 방법에서 충돌 위험을 가진 위협을 설명하기 위한 그래프이다.3 is a graph illustrating a threat with a collision risk in the method according to the present invention.

도 4는 본 발명에 따른 방법에서 경고 및 제어를 설명하기 위한 그래프이다.4 is a graph for explaining warning and control in the method according to the invention.

< 도면의 주요부분에 대한 부호의 설명 ><Description of Symbols for Major Parts of Drawings>

10 : 제어부 20 : 전방감지 센서10: control unit 20: front detection sensor

30 : 속도센서 40 : 제동부30: speed sensor 40: braking part

50 : 경고부50: warning unit

본 발명은 차량의 보행자 충돌 경고 및 예방 제어 방법에 관한 것으로, 보다 상세하게는 충돌 대상이 차량인지 보행자인지에 따라 제어방법을 달리함으로써 제 어효과를 향상시키도록 이루어진 차량의 보행자 충돌 경고 및 예방 제어 방법에 관한 것이다.The present invention relates to a pedestrian collision warning and prevention control method of a vehicle, and more particularly to the pedestrian collision warning and prevention control of a vehicle configured to improve the control effect by varying the control method according to whether the collision target vehicle or pedestrian. It is about a method.

현재 차량의 증가에 따라 차량 충돌에 의한 피해가 증가하고 있다. 특히 보행자와 차량의 충돌시에는 보행자의 사망률이 급격하게 증가하고 있다. 이러한 피해를 줄이기 위하여 전방에 레이다 센서, 카메라 등을 장착하여, 차량 전방의 장애물 유무와 장애물의 종류를 감지함으로써, 운전자가 부주위로 감속하지 않더라도 운전자에게 경고와 함께 자동으로 감속하는 장치의 개발이 활발하게 진행중에 있다.As the number of vehicles increases, the damage caused by vehicle collisions is increasing. In particular, the death rate of pedestrians is rapidly increasing when pedestrians collide with vehicles. In order to reduce such damages, a radar sensor and a camera are installed in front of the vehicle to detect the presence of obstacles and types of obstacles in front of the vehicle. Is in progress.

이러한 종래 장치들은 차량 충돌이나 보행자 충돌 중에서 하나만 다루었기 때문에 장애물로 차량만을 인식하거나 보행자만을 인식하려고 하였다.Since these conventional devices deal with only one of a vehicle collision or a pedestrian collision, they attempt to recognize only a vehicle as an obstacle or only a pedestrian.

따라서 종래 장치들은 충돌에 대한 제어 효과가 높지 않다는 문제점이 있었다.Therefore, the conventional devices have a problem that the control effect on the collision is not high.

따라서 본 발명은 상기한 종래 기술의 문제를 해결하기 위해 이루어진 것으로, 충돌 대상이 차량인지 보행자인지에 따라 제어방법을 달리함으로써 제어효과를 향상시키도록 이루어진 차량의 보행자 충돌 경고 및 예방 제어 방법을 제공하고자함에 그 목적이 있다.Accordingly, the present invention has been made to solve the problems of the prior art, to provide a pedestrian collision warning and preventive control method of the vehicle configured to improve the control effect by varying the control method according to whether the collision target is a vehicle or a pedestrian. The purpose is to.

상기한 목적을 달성하기 위해 본 발명에 따른 차량의 보행자 충돌 경고 및 예방 제어 방법은, 속도센서로부터의 속도 신호와 전방 감지 센서들로부터의 전방 물체에 대한 감지신호를 입력받아, 전방 물체와의 충돌 속도, 전방 물체와의 충돌위험 및 전방 물체의 유형을 계산하는 제1단계와; 상기 계산된 충돌 속도와 충돌위험 및 전방 물체의 유형으로부터 각 물체들에 대한 위협을 계산하고, 계산된 위협과 TTC로부터 반경을 계산하는 제2단계와; 상기 계산된 반경 중 최소값을 가지는 물체를 가장 위험한 물체로 결정하고, 상기 결정된 가장 위험한 물체의 반경과 기 정의된 임계값을 비교하며, 그 비교결과에 따라서 경보 및 제동 제어를 수행하는 제3단계를 포함하는 것을 특징으로 한다.In order to achieve the above object, a pedestrian collision warning and prevention control method for a vehicle according to the present invention receives a speed signal from a speed sensor and a detection signal for a front object from front sensing sensors, and collides with a front object. Calculating a speed, a risk of collision with the front object, and a type of the front object; Calculating a threat for each object from the calculated collision speed, collision risk, and type of forward object, and calculating a radius from the calculated threat and the TTC; A third step of determining an object having the minimum value among the calculated radius as the most dangerous object, comparing the determined radius of the most dangerous object with a predefined threshold value, and performing alarm and braking control according to the comparison result It is characterized by including.

이하, 첨부도면을 참조하여 본 발명의 바람직한 실시예에 따른 차량의 보행자 충돌 경고 및 예방 방법에 대하여 상세히 설명한다.Hereinafter, a pedestrian collision warning and prevention method of a vehicle according to a preferred embodiment of the present invention with reference to the accompanying drawings will be described in detail.

도 1은 본 발명이 적용되는 시스템을 개략적으로 도시한 블록 구성도이다. 동 도면에 도시한 바와 같이, 본 발명이 적용되는 시스템은 전방감지 센서(20)와 속도센서(30), 제어부(10), 제동부(40) 및 경고부(50)를 포함한다.1 is a block diagram schematically illustrating a system to which the present invention is applied. As shown in the figure, the system to which the present invention is applied includes a front sensor 20, a speed sensor 30, a control unit 10, a braking unit 40 and a warning unit 50.

상기 전방 감지 센서(20)는 다양한 공지 센서들로 구성되어 차량의 전방 물체(Object)를 감지하기 위한 것이고, 상기 속도센서(30)는 차량의 주행속도를 감지하기 위한 것이다.The front sensor 20 is composed of a variety of known sensors for detecting the front object of the vehicle (Object), the speed sensor 30 is for detecting the running speed of the vehicle.

상기 제어부(10)는 상기 전방 감지 센서(20)와 상기 속도센서(30)로부터의 감지 신호들을 입력받아 본 발명에 따른 보행자 충돌 경고 및 제어 알고리즘을 실행하여, 충돌 가능 전방 물체에 대한 경고 및 제동 제어를 수행한다.The control unit 10 receives the detection signals from the front sensor 20 and the speed sensor 30 to execute a pedestrian collision warning and control algorithm according to the present invention, warning and braking for a collision possible front object. Perform control.

상기 제동부(40)는 상기 제어부(10)의 제어에 따라 차량의 제동 구동을 실행하기 위한 것이고, 상기 경고부(50)는 상기 제어부(10)의 제어에 따라 운전자 등에 게 보행자 등과의 충돌 위험을 경보하기 위한 것이다.The braking unit 40 is for executing braking driving of the vehicle under the control of the controller 10, and the warning unit 50 may collide with a pedestrian or the like to the driver under the control of the controller 10. It is to alarm.

다음으로, 상기 제어부(10)에서의 충돌 경고 및 제어 알고리즘에 대하여 설명한다.Next, the collision warning and control algorithm in the control unit 10 will be described.

도 2에는 제어부(10)에서 수행되는 본 발명에 따른 차량의 보행자 충돌 경고 및 예방 제어 방법의 흐름을 도시한 도면이다.2 is a diagram illustrating a flow of a pedestrian collision warning and prevention control method of a vehicle according to the present invention performed by the control unit 10.

먼저, 상기 제어부(10)에서는 속도센서(30)와 전방 감지 센서(20) 등으로부터 감지된 감지 데이터를 입력받는다(단계 S10).First, the control unit 10 receives the sensed data detected from the speed sensor 30 and the front sensor 20 (step S10).

그후, 상기 제어부(10)에서는 속도센서(30)로부터의 감지된 속도에 근거하여 전방 물체와의 충돌 속도(Collision Speed)를 계산하고, 상기 전방 감지 센서(20)로부터 감지된 감지신호들로부터 전방 물체(들)와의 충돌위험(Collision Risk) 및 전방 물체의 유형(Object Type)(예를 들면 보행자 또는 차량)을 계산한다.Thereafter, the controller 10 calculates a collision speed with the front object based on the detected speed from the speed sensor 30, and forwards the detected signals detected from the front sensor 20. The collision risk with the object (s) and the object type (eg pedestrian or vehicle) in front of the vehicle are calculated.

또한, 상기 제어부(10)에서는 상기 계산된 충돌 속도(Collision Speed)와 충돌위험(Collision Risk) 및 전방 물체의 유형(Object Type)으로부터 각 물체들에 대한 위협(Threat)(Threat1,Threat2,...,Threatn)을 계산하고, 계산된 위협들(Threat1,Threat2,...,Threatn)과 TTC로부터 반경(Radius)(Radius1,Radius2,..., Radiusn)을 계산한다(단계 S20).In addition, the control unit 10 is a threat (Threat 1 , Threat 2 ,) for each object from the calculated collision speed (Collision Speed), collision risk (Collision Risk) and the type of the front object (Threat 1 , Threat 2 , Calculate ..., Threat n , and calculate radius from calculated threats (Threat 1 , Threat 2 , ..., Threat n ) and TTC (Radius 1 , Radius 2 , ..., Radius n ) Is calculated (step S20).

이어, 상기 제어부(10)에서는 각 물체에 대한 반경 중 최소값을 갖는 물체를 가장 위험한 물체(MDO; Most Dangerous Object)로 결정한다(단계 S30).Subsequently, the controller 10 determines the most dangerous object (MDO) as the object having the minimum value among the radii for each object (step S30).

그후, 상기 제어부(10)에서는 결정된 MDO의 반경(Radius)과 기 정의된 임계 값을 비교하고, 그 비교결과에 따라서 상기 제동부(40)와 상기 경고부(50)를 제어하여 경보 및 제동 제어를 수행한다(단계 S40).Thereafter, the controller 10 compares the determined radius of the MDO with a predetermined threshold value, and controls the braking unit 40 and the warning unit 50 according to the comparison result to control alarm and braking. (Step S40).

한편, 상기 위협(Threat)을 연산하는 방법에 대하여 설명한다. 즉, 상기 계산된 충돌 속도와 충동위험 및 물체 유형으로부터 각 물체에 대한 위협을 계산한다. 도 3을 참조하면, 보행자(도 3(a)참조)와 차량(도 3(b)참조)에 대하여 충돌 속도와 충돌위험과의 관계가 도시되어 있다.Meanwhile, a method of calculating the threat will be described. That is, the threat for each object is calculated from the calculated collision speed, impulse risk, and object type. Referring to FIG. 3, the relationship between the collision speed and the collision risk is shown for pedestrians (see FIG. 3 (a)) and vehicles (see FIG. 3 (b)).

상기한 위협은 충돌 속도 대비 사망 가능성(Probability of Death)을 이용하여, 보행자의 위협은 식 1과 같이 표현되고 차량의 위협은 식 2와 같이 표현된다.The threat is expressed using Equation 1 of Probability of Death, where the pedestrian threat is represented by Equation 1 and the vehicle threat is expressed by Equation 2.

Figure 112008003648968-PAT00001
------ (식 1)
Figure 112008003648968-PAT00001
------ (Equation 1)

Figure 112008003648968-PAT00002
---------------------- (식 2)
Figure 112008003648968-PAT00002
---------------------- (Equation 2)

충돌 위험이 1인 경우, 위협(Threat)은 References의 사망 가능성과 일치하게 된다.If the collision risk is 1, the threat is consistent with the likelihood of death of the References.

한편, 상기 반경(Radius)을 연산하는 방법에 대하여 설명한다. 즉, 상기 반경은 확실한 충돌 상태인 최대 위협(ThreatMAX), TTCZERO를 원전으로 하여 계산된 위협(Threat)과 TTC에 대한 타원에서의 원점거리로 정의하고, 식3과 같이 표현한다.Meanwhile, a method of calculating the radius will be described. That is, the radius is defined as the maximum threat (Threat MAX ), which is a sure collision state, the threat calculated by using the TTC ZERO as the nuclear power source, and the origin distance from the ellipse for the TTC, and is expressed as in Equation 3.

Figure 112008003648968-PAT00003
---------------- (식 3)
Figure 112008003648968-PAT00003
---------------- (Equation 3)

여기서, α는 위협과 TTC에 대한 가중치로서 튜닝 파라미터(Tuning Parameter)이다. 각 물체에 대한 반경 값들 중 최소값을 가지는 물체를 MDO(Most Dangerous Object)로 결정하고, MDO의 반경과 정의된 임게값을 비교하여 경보와 ㅈ제동 제어를 수행하게 된다.Where α is a tuning parameter as a weight for threat and TTC. The object having the minimum value among the radius values for each object is determined as MDO (Most Dangerous Object), and the alarm and braking control are performed by comparing the radius of the MDO with the defined threshold value.

한편, 상기 MDO의 반경(Radius)에 대한 경고 및 제동 제어에 대하여 설명한다. 즉, 반경의 변화에 따라 물체 유형별로 도 4와 같이 경고 및 제동 제어를 한다.Meanwhile, the warning and braking control for the radius of the MDO will be described. That is, warning and braking control is performed for each type of object according to the change in radius.

도 4의 (a)에는 차량의 보행자와의 충돌에 대하여 TTC와 위협에 따라 경고 및 제동 제어를 도식적으로 도시되어 있고, 도 4의 (a)는 차량의 전방 차량과의 추돌에 대하여 TTC와 위협에 따라 경고 및 제동 제어를 도식적으로 도시되어 있다.FIG. 4A schematically shows warning and braking control according to the TTC and the threat for the collision with the pedestrian of the vehicle, and FIG. 4A shows the TTC and the threat against the collision with the vehicle in front of the vehicle. The warning and braking control in accordance with the diagram is shown schematically.

여기서, 물체가 보행자인 경우 운전자 경고(Driver Warning)를 빠르게 하여 운전자의 조향이나 브레이크 조작에 의한 충돌 회피를 유도한다. 또, 혼(Horn)을 이용하여 보행자에게 충돌 위험을 알려준다. 물체가 차량인 경우, 높은 위협과 작은 TTC에 대해 경고와 제동을 수행함으로써, 오류 경보율(False Alarm Rate)을 최소화한다. 충돌 완화와 운전자 보호를 위해 편안한 제동(Comfort Braking)을 수행하고, 극히 위험한 상황이거나 확실한 충돌이 예측될 경우 비상제동(Emergency Braking)을 함으로써 충돌 피해를 최소화한다.Here, when the object is a pedestrian, the driver warning is accelerated to induce collision avoidance by steering or brake operation of the driver. In addition, Horn is used to alert pedestrians to the danger of collision. If the object is a vehicle, warning and braking for high threats and small TTCs is minimized, minimizing the false alarm rate. Comfort braking is performed to mitigate collisions and to protect the driver, and emergency braking is minimized when extremely dangerous situations or certain collisions are foreseen.

한편, 본 발명은 상기한 특정 실시예에 한정되는 것이 아니라 본 발명의 요지를 벗어나지 않는 범위 내에서 여러 가지로 변형 및 수정하여 실시할 수 있는 것이다. 이러한 변형 및 수정이 첨부하는 특허청구범위에 속하는 것이라면 본 발명에 포함되는 것임은 자명할 것이다.On the other hand, the present invention is not limited to the above specific embodiments, but can be modified and modified in various ways without departing from the gist of the present invention. If such changes and modifications fall within the scope of the appended claims, it will be apparent that they are included in the present invention.

이상 설명한 바와 같이 본 발명에 의하면, 충돌 대상이 차량인지 보행자인지에 따라 제어방법을 달리함으로써 제어효과를 향상시킬 수 있게 된다.As described above, according to the present invention, the control effect can be improved by changing the control method depending on whether the collision target is a vehicle or a pedestrian.

Claims (6)

속도센서로부터의 속도 신호와 전방 감지 센서들로부터의 전방 물체에 대한 감지신호를 입력받아, 전방 물체와의 충돌 속도, 전방 물체와의 충돌위험 및 전방 물체의 유형을 계산하는 제1단계와;Receiving a speed signal from the speed sensor and a detection signal for the front object from the front sensors, and calculating a collision speed with the front object, a risk of collision with the front object, and a type of the front object; 상기 계산된 충돌 속도와 충돌위험 및 전방 물체의 유형으로부터 각 물체들에 대한 위협을 계산하고, 계산된 위협과 TTC(Threat Control & Containment)로부터 반경을 계산하는 제2단계와;A second step of calculating a threat for each object from the calculated collision speed, collision risk, and type of forward object, and calculating a radius from the calculated threat and Threat Control & Containment (TTC); 상기 계산된 반경 중 최소값을 가지는 물체를 가장 위험한 물체로 결정하고, 상기 결정된 가장 위험한 물체의 반경과 기 정의된 임계값을 비교하며, 그 비교결과에 따라서 경보 및 제동 제어를 수행하는 제3단계를 포함하는 것을 특징으로 하는 차량의 보행자 충돌 경고 및 예방 제어 방법.A third step of determining an object having the minimum value among the calculated radius as the most dangerous object, comparing the determined radius of the most dangerous object with a predefined threshold value, and performing alarm and braking control according to the comparison result; Pedestrian collision warning and prevention control method of a vehicle comprising a. 제1항에 있어서,The method of claim 1, 상기 전방 물체가 보행자인 경우, 상기 위협은 If the front object is a pedestrian, the threat is
Figure 112008003648968-PAT00004
Figure 112008003648968-PAT00004
 에 의하여 계산되는 것을 특징으로 하는 차량의 보행자 충돌 경고 및 예방 제어 방법.Pedestrian collision warning and prevention control method of a vehicle, characterized in that calculated by. 제1항에 있어서,The method of claim 1, 상기 전방 물체가 차량인 경우, 상기 위협은 If the front object is a vehicle, the threat is
Figure 112008003648968-PAT00005
Figure 112008003648968-PAT00005
 에 의하여 계산되는 것을 특징으로 하는 차량의 보행자 충돌 경고 및 예방 제어 방법.Pedestrian collision warning and prevention control method of a vehicle, characterized in that calculated by. 제1항에 있어서,The method of claim 1, 상기 반경은 확실한 충돌 상태인 최대 위협(ThreatMAX), TTCZERO를 원전으로 하여 계산된 위협(Threat)과 TTC에 대한 타원에서의 원점거리로 정의하고The radius is defined as the maximum threat (Threat MAX ), which is the obvious collision state, the threat calculated from the nuclear power source TTC ZERO , and the origin distance from the ellipse for the TTC.
Figure 112008003648968-PAT00006
Figure 112008003648968-PAT00006
 에 의하여 계산되는 것을 특징으로 하는 차량의 보행자 충돌 경고 및 예방 제어 방법.Pedestrian collision warning and prevention control method of a vehicle, characterized in that calculated by. 제1항에 있어서,The method of claim 1, 상기 경보 및 제동 제어는 물체가 보행자인 경우 운전자 경고(Driver Warning)를 빠르게 하여 운전자의 조향이나 브레이크 조작에 의한 충돌 회피를 유 도하고, 혼(Horn)을 이용하여 보행자에게 충돌 위험을 경고하는 제어를 포함하는 것을 특징으로 하는 차량의 보행자 충돌 경고 및 예방 제어 방법.The alarm and braking control speeds up a driver warning when an object is a pedestrian to induce a collision avoidance by steering or brake operation of a driver, and uses a horn to warn pedestrians of a collision risk. Pedestrian collision warning and prevention control method of a vehicle comprising a. 제1항에 있어서,The method of claim 1, 상기 경보 및 제동 제어는 물체가 차량인 경우, 높은 위협과 작은 TTC에 대해 경고와 제동을 수행함으로써 오류 경보율(False Alarm Rate)을 최소화하는 제어를 포함하는 것을 특징으로 하는 차량의 보행자 충돌 경고 및 예방 제어 방법.The alarm and braking control includes a control for minimizing a false alarm rate by performing warning and braking for a high threat and a small TTC when the object is a vehicle. Preventive Control Method.
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CN103818378A (en) * 2012-11-15 2014-05-28 通用汽车环球科技运作有限责任公司 Active safety system and method for operating the same
KR101428339B1 (en) * 2012-12-28 2014-08-07 현대자동차주식회사 System for alarming oncoming traffic by detecting pedestrian in and out of parking vehicle method thereof
DE102015009208A1 (en) 2014-07-16 2016-01-21 Mando Corporation Emergency Brake System for Protecting a Moving Object and Method for Controlling the Same
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KR102190163B1 (en) * 2019-11-01 2020-12-14 주식회사 만도 Vehicle braking assistance system and method
KR20210016940A (en) * 2019-08-06 2021-02-17 현대모비스 주식회사 Autonomous emergency braking apparatus and control method thereof
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103818378A (en) * 2012-11-15 2014-05-28 通用汽车环球科技运作有限责任公司 Active safety system and method for operating the same
US9633565B2 (en) 2012-11-15 2017-04-25 GM Global Technology Operations LLC Active safety system and method for operating the same
KR101428339B1 (en) * 2012-12-28 2014-08-07 현대자동차주식회사 System for alarming oncoming traffic by detecting pedestrian in and out of parking vehicle method thereof
US9561795B2 (en) 2014-05-16 2017-02-07 Hyundai Motor Company Vehicle collision avoidance apparatus and method
DE102015009208A1 (en) 2014-07-16 2016-01-21 Mando Corporation Emergency Brake System for Protecting a Moving Object and Method for Controlling the Same
KR20160009452A (en) 2014-07-16 2016-01-26 주식회사 만도 Emergency braking system for preventing pedestrain and emergency braking conrol method of thereof
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KR20210016940A (en) * 2019-08-06 2021-02-17 현대모비스 주식회사 Autonomous emergency braking apparatus and control method thereof
KR102190163B1 (en) * 2019-11-01 2020-12-14 주식회사 만도 Vehicle braking assistance system and method
US20210245742A1 (en) * 2020-02-11 2021-08-12 Hyundai Motor Company Method for alerting danger situations of moving object and apparatus for the same
US11840221B2 (en) * 2020-02-11 2023-12-12 Hyundai Motor Company Method for alerting danger situations of moving object and apparatus for the same

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