KR20130046136A - System for preventing vehicle collision using ir depth sensor and radar, and method thereof - Google Patents

System for preventing vehicle collision using ir depth sensor and radar, and method thereof Download PDF

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Publication number
KR20130046136A
KR20130046136A KR1020110110516A KR20110110516A KR20130046136A KR 20130046136 A KR20130046136 A KR 20130046136A KR 1020110110516 A KR1020110110516 A KR 1020110110516A KR 20110110516 A KR20110110516 A KR 20110110516A KR 20130046136 A KR20130046136 A KR 20130046136A
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KR
South Korea
Prior art keywords
radar
obstacle
vehicle
depth sensor
control unit
Prior art date
Application number
KR1020110110516A
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Korean (ko)
Inventor
윤명근
서승환
Original Assignee
현대모비스 주식회사
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Priority to KR1020110110516A priority Critical patent/KR20130046136A/en
Publication of KR20130046136A publication Critical patent/KR20130046136A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • 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

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to a vehicle collision avoidance system and method using an infrared depth sensor and a radar. According to the present invention, when the presence of an obstacle is first determined by an infrared depth sensor installed in a vehicle, when the existence of the obstacle is confirmed, the transmission pulse period of the radar is shorter than the default period, and the reference level of the detection signal strength detection of the radar is lower than the default level. By secondly determining the presence of an obstacle through the radar reception signal, the reliability of the existence of the obstacle is improved compared to the case of using the radar only.

Description

System for preventing vehicle collision using IR depth sensor and radar, and method

The present invention relates to a technique for preventing a vehicle collision, and more particularly, to a technique for preventing an collision with an obstacle by detecting an obstacle while driving a vehicle.

A collision damage reduction brake control system is disclosed in Korean Patent Laid-Open Publication No. 10-2009-0063311, the configuration of which is shown in FIG. The collision damage reduction brake control system includes a vehicle speed sensor 16 that detects the speed of a traveling vehicle, a radar 12 that detects and calculates a distance and a relative speed between the own vehicle and a preceding vehicle, and the driver controls the steering wheel. Detecting means consisting of a steering sensor 14 for detecting the steering angle of the steering wheel when rotating, and calculating the TTC (time to collison) using the inter-vehicle distance and relative speed and braking based on the relative speed and the brake deceleration of the driver. Brake device that brakes differently according to the control device 20 for outputting the brake pattern to have different deceleration for each TTC section and the brake pattern output from the control device 20 according to the classification pattern to reduce the collision speed It comprises 30. Accordingly, the collision damage of the vehicle can be reduced. However, according to the related art, a phenomenon in which a still object and a moving target cannot be detected frequently occurs in a short range region. That is, there is a problem in reliability of obstacle detection.

An object of the present invention is to provide a technical solution that can increase the reliability of the detection of obstacles located in the near area in the vehicle driving direction.

The vehicle collision prevention system using an infrared depth sensor and a radar according to an aspect of the present invention for achieving the above object is an infrared depth sensor for detecting whether there is an obstacle in a certain area of the vehicle driving direction, in the driving direction of the vehicle If it is determined that the obstacle exists by the radar for transmitting the signal and receiving the transmitted signal, and the infrared depth sensor, further determining whether the obstacle exists in the area based on the signal received through the radar. And a control unit.

Furthermore, when the presence of the obstacle is detected by the infrared depth sensor, the control unit shortens the emission pulse period of the radar signal to a default setting pulse period, and reduces the received signal intensity detection reference level of the radar signal to a default setting level. Lower. In addition, when it is determined that the obstacle exists as the result of the further determination, the control unit brakes the control to forcibly lower the speed of the vehicle and provides the obstacle presence information to the driver.

On the other hand, the vehicle collision prevention method using an infrared depth sensor and a radar in accordance with an aspect of the present invention for achieving the above object is determined by the infrared depth sensor whether there is an obstacle in the driving direction of the vehicle, and the obstacle If it is determined to exist, it is further determined whether the obstacle is present by receiving a radar signal transmitted in the driving direction of the vehicle, but shortens the pulse pulse of the radar signal than the default pulse period and receives the radar signal And lowering the detection intensity level below the default level to further determine whether the obstacle is present.

Furthermore, if it is determined through the further determination that the obstacle exists, the method may further include braking control to notify the driver of the obstacle or to forcibly lower the speed of the vehicle.

Since the present invention primarily detects an obstacle using an infrared depth sensor and then detects the obstacle second using a radar, the reliability of obstacle detection in a near area (for example, within 15 m) in front of the vehicle is improved. Create an effect that improves. In addition, the present invention creates an effect of preventing the vehicle from colliding with the obstacle by forcibly reducing the speed of the vehicle when the obstacle is detected. In addition, the present invention creates an effect that can notify the driver to the fact that the obstacle is detected quickly.

1 is a block diagram of a conventional crash damage alleviation brake control system.
Figure 2 is a block diagram of a vehicle collision avoidance system using an infrared depth sensor and a radar in accordance with an embodiment of the present invention.
3 is a flowchart illustrating a vehicle collision prevention method using an infrared depth sensor and a radar according to an exemplary embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The foregoing and further aspects of the present invention will become more apparent from the following detailed description of preferred embodiments with reference to the accompanying drawings. Hereinafter, the present invention will be described in detail to enable those skilled in the art to easily understand and reproduce the present invention.

2 is a block diagram of a vehicle collision prevention system using an infrared depth sensor and a radar according to an exemplary embodiment of the present invention.

As shown, the collision avoidance system includes an infrared depth sensor 100, a radar 200, a display module 300, a braking module 400, and a control unit 500. The infrared depth sensor 100 transmits infrared rays, receives infrared rays transmitted and reflected on an object, calculates a time of flight, and is used to estimate the distance from the sensor to the object and the position of the object. . An advantage of infrared depth sensors is that they can facilitate the recognition of objects. Sensing the position and movement of an object may also be easier using an infrared depth sensor. The infrared depth sensor 100 may be installed at the front of the vehicle to detect the presence of an obstacle in front of the vehicle, or may be installed at the rear of the vehicle to detect the presence of an obstacle behind the vehicle. Or it can be installed at both the front and rear of the vehicle.

The radar 200 is a component for generating a radio wave, transmitting the radio wave to the outside, and receiving a radio wave reflected by an object in the vicinity. The radar 200 is used to detect the presence of an obstacle. Like the infrared depth sensor 100, the radar 200 may be installed at the front of the vehicle to detect the presence of an obstacle in front of the vehicle, or may be installed at the rear of the vehicle to detect the presence of an obstacle behind the vehicle. Or it can be installed at both the front and rear of the vehicle. The display module 300 is a configuration for displaying text, an image, and the like on a screen, and may be a liquid crystal display. The braking module 400 is a component for braking the vehicle, and may be formed by an electric booster method. The control unit 500 is a controller for overall control of the collision avoidance system.

Hereinafter, an exemplary embodiment of the collision avoidance system will be described with reference to FIG. 2. Hereinafter, for convenience of description, it is assumed that the vehicle is driving forward and thus detecting whether an obstacle exists in the front. First, the infrared depth sensor 100 transmits data sensed through infrared transmission and reception to the control unit 500. The control unit 500 primarily determines whether an obstacle exists based on the sensing data received from the infrared depth sensor 100. Herein, an area to detect whether an obstacle is present may be within 15 m in front of the vehicle. If it is determined that the obstacle does not exist, the control unit 500 sets the radar 200 to the first operation mode. Herein, the first operation mode refers to a mode in which the transmission pulse period and the reception signal strength detection reference level of the radar 200 are set as defaults. Here, the reference signal detection criteria means a constant false alarm rate (C-FAR). Lowering this C-FAR will allow the recognition of weak signals.

If it is determined that an obstacle exists as a result of the first determination, the control unit 500 sets the radar 200 to the second operation mode. Here, the second operation mode refers to a mode having a transmission pulse period shorter than the transmission pulse period in the first operation mode and having a reception signal strength detection reference level lower than the reception signal strength detection reference level in the first operation mode. Otherwise, the second operation mode refers to a mode having a transmission perth period shorter than the transmission pulse period in the first operation mode or a reception signal strength detection reference level lower than the reception signal strength detection reference level in the first operation mode. That is, the second operation mode is to shorten the signal transmission period and / or lower the received signal strength detection reference level than the default so that the obstacle can be detected better. In detail, the control unit 500 may shorten the pulse transmission period to improve the signal-to-noise ratio (SNR) of the radar signal, and increase the reception rate of the received signal by lowering the received signal strength detection reference level. Therefore, the detection probability of the received signal can be increased while sufficiently removing the noise.

The control unit 500 secondly determines whether an obstacle exists based on the sensed data received from the radar 200. If it is determined through the second determination that the obstacle exists, the control unit 500 performs an operation for preventing the collision. For example, the control unit 500 may output text or image information for notifying that there is an obstacle in front of the display module 300, and may also output audio through a speaker (not shown). In addition, the control unit 500 outputs a braking signal to the braking module 400 to forcibly lower the vehicle speed. Accordingly, the braking module 400 prevents the vehicle from colliding with the obstacle by performing braking.

3 is a flowchart illustrating a vehicle collision prevention method using an infrared depth sensor and a radar according to an exemplary embodiment of the present invention.

The control unit 500 receives infrared sensing data from the infrared depth sensor 100, and based on the received sensing data, the control unit 500 primarily determines whether an obstacle exists within a predetermined distance (eg, 15 m) in the vehicle driving direction. It is determined as (S100) (S200). If it is determined through the first determination that no obstacle exists, the control unit 500 sets the operation mode of the radar 200 to the first operation mode (default mode) (S300). On the contrary, when it is determined that an obstacle exists through the primary determination, the control unit 500 sets the operation mode of the radar 200 to the second operation mode (S400). After S300 or S400, the control unit 500 secondly determines whether an obstacle exists through the received signal of the radar 200 (S500). If it is determined that the obstacle exists through the second determination, the control unit 500 notifies the driver that the obstacle exists through at least one of the display module 300 and the speaker (S600). In addition, the control unit 500 forcibly outputs a braking signal to the braking module 400 to lower the vehicle speed. Accordingly, the braking module 400 performs braking to prevent the vehicle from colliding with an obstacle (S700). ). Subsequently, when the vehicle driving ends, such as starting of the vehicle is turned off, the control unit 500 ends the above-described operation (S800).

So far I looked at the center of the preferred embodiment for the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

100: infrared depth sensor 200: radar
300: display module 400: braking module
500 control unit

Claims (7)

An infrared depth sensor for detecting whether an obstacle exists in a predetermined area of a vehicle driving direction;
A radar for transmitting a signal in a driving direction of the vehicle and receiving the transmitted signal; And
A control unit for further determining whether an obstacle exists in the area based on a signal received through the radar, when it is determined that the obstacle exists by the infrared depth sensor;
Vehicle collision prevention system using an infrared depth sensor and a radar comprising a. The method of claim 1,
And the control unit shortens the emission pulse period of the radar signal to a default setting pulse period when the presence of the obstacle is detected by the infrared depth sensor. The method according to claim 1 or 2,
And when the presence of the obstacle is detected by the infrared depth sensor, the control unit lowers the received signal strength detection reference level of the radar signal to a default setting level. The method of claim 1,
And if the control unit determines that an obstacle exists as a result of the additional determination, the control unit brakes the vehicle in order to forcibly lower the speed of the vehicle. The method of claim 1,
And if the control unit determines that an obstacle exists as a result of the further determination, the control unit provides the obstacle presence information to the driver. Determining whether an obstacle exists in a driving direction of the vehicle through an infrared depth sensor; And
If it is determined that the obstacle exists, it is additionally determined whether the obstacle exists by receiving a radar signal transmitted in the driving direction of the vehicle, and the output pulse period of the radar signal is shorter than a default pulse period and the radar Further determining whether the obstacle is present by lowering a received detection intensity level of the signal to a default level;
Vehicle collision prevention method using an infrared depth sensor and a radar comprising a. The method according to claim 6,
If it is determined through the further determination that the obstacle exists, braking control to notify the driver of the obstacle or to forcibly lower the speed of the vehicle;
Vehicle collision prevention method using an infrared depth sensor and a radar further comprising.
KR1020110110516A 2011-10-27 2011-10-27 System for preventing vehicle collision using ir depth sensor and radar, and method thereof KR20130046136A (en)

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KR1020110110516A KR20130046136A (en) 2011-10-27 2011-10-27 System for preventing vehicle collision using ir depth sensor and radar, and method thereof

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Application Number Priority Date Filing Date Title
KR1020110110516A KR20130046136A (en) 2011-10-27 2011-10-27 System for preventing vehicle collision using ir depth sensor and radar, and method thereof

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