Device and method for preventing vehicle from falling

Abstract

The present invention provides a device and method for preventing a vehicle from falling into a pothole. The device prevents a vehicle from stopping unnecessarily by determining whether to stop the vehicle based on the size of a pothole, while preventing the vehicle from falling into a pothole on the road. The device includes a sensor and a controller, wherein the sensor is mounted on the vehicle to measure the distance to the ground; and the controller determines the size of the pothole based on the distance to the ground and determines whether to stop the vehicle, while preventing the vehicle from falling into a pothole on the road.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2019-0028224, filed on Mar. 12, 2019, which is hereby incorporated by reference in its entirety. Technical Field

[0003] The present invention relates to a technology for preventing a moving vehicle from falling into a pothole on a road, and more particularly, to a technology for preventing a vehicle from stopping when a pothole is detected. Background Art

[0004] In recent years, sinkholes have been formed on roads due to various reasons. The size of sinkholes ranges from small enough that even if a vehicle passes through it, it will not cause any problems, to large enough that a vehicle may get stuck in it. Smaller sinkholes have no effect on the moving vehicles, however, larger sinkholes can damage vehicles. Therefore, sinkholes are becoming a social concern.

[0005] Therefore, systems for preventing vehicles from falling into such sinkholes have been developed. However, conventional systems do not provide a method for determining the possible danger of a vehicle falling into a sinkhole. Specifically, when determining the possible danger of a vehicle falling into a sinkhole, conventional systems cannot determine whether the sinkhole will affect the travel of the vehicle. Therefore, even if the sinkhole is small and does not affect the travel of the vehicle, the vehicle has to stop unnecessarily. Summary of the invention

[0006] The present invention provides a device and method for preventing a vehicle from falling into a pothole, which prevents the vehicle from stopping unnecessarily by determining whether to stop the vehicle based on the size of the pothole in the process of preventing the vehicle from falling into the pothole on the road. The technical problems to be solved by the inventive concept are not limited to the above problems, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art from the following description.

[0007] According to one aspect of the present invention, a device for preventing a vehicle from sinking may include: a sensor and a controller, wherein the sensor is mounted on the vehicle to measure the distance to the ground; the controller is configured to determine the size of a sinkhole based on the distance to the ground, and determine whether to stop the vehicle based on the determined result. The controller may be configured to distinguish between the ground and the sinkhole based on the distance to the ground measured by the sensor. Specifically, the controller may be configured to detect the depth and area of ​​the sinkhole based on the distance to the ground, and determine whether to stop the vehicle based on the depth and area of ​​the sinkhole. The device may further include: a storage device configured to store reference depth data and reference area data.

[0008] At the same time, the controller can be configured to determine whether there is a sinkhole on the driving path of the vehicle based on the vehicle speed and the steering angle of the vehicle, and to estimate the time when the vehicle is predicted to fall into the sinkhole existing on the driving path of the vehicle based on the vehicle speed and the steering angle of the vehicle. In addition, a plurality of sensors can be provided, and at least two sensors can be installed at the rear bumper of the vehicle. The sensor can be installed on the vehicle to have a reference vertical angle and a reference horizontal angle, and the vertical angle is twice or more of the angle between the ground and the virtual straight line connecting the center of the vehicle and the rear wheels, and the vertical angle faces the ground.

[0009] According to one aspect of the present invention, a method for preventing a vehicle from falling may include: measuring the distance to the ground through a sensor installed on the vehicle, and determining the size of a sinkhole through a controller based on the measured distance to the ground, so as to determine whether to stop the vehicle based on the determined result. Determining whether to stop the vehicle may include: distinguishing the ground from the sinkhole based on the distance to the ground, and detecting the depth and area of ​​the sinkhole based on the distance to the ground. Determining whether to stop the vehicle may also include: determining whether to stop the vehicle based on the depth and area of ​​the sinkhole. The method may further include: storing reference depth data and reference area data through a storage device.

[0010] In addition, determining whether to stop the vehicle may include: determining whether there is a sinkhole on the vehicle's driving path based on the vehicle speed and the steering angle of the vehicle, and estimating the time when the vehicle is predicted to fall into the sinkhole existing on the vehicle's driving path. A plurality of sensors may be provided, and at least two sensors may be installed at the rear bumper of the vehicle. Specifically, the sensor may be installed on the vehicle to have a reference vertical angle and a reference horizontal angle, and the vertical angle is an angle twice or greater than the angle between the ground and a virtual straight line connecting the center of the vehicle and the rear wheels, and the vertical angle faces the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The above and other objects, features and advantages of the present invention will become more apparent through the following detailed description in conjunction with the accompanying drawings, in which:

[0012] Figure 1 A schematic diagram showing a configuration of a device for preventing a vehicle from falling according to an exemplary embodiment of the present invention;

[0013] Figure 2A A schematic diagram showing a vertical installation angle of a sensor according to an exemplary embodiment of the present invention;

[0014] Figure 2B A schematic diagram showing a horizontal installation angle of a sensor according to an exemplary embodiment of the present invention;

[0015] Figure 3A A schematic diagram showing a process of a controller identifying a ground surface according to an exemplary embodiment of the present invention;

[0016] Figure 3B A schematic diagram illustrating a process of a controller identifying a sinkhole according to an exemplary embodiment of the present invention;

[0017] Figure 3C A schematic diagram showing a process of detecting a sinkhole size by a controller according to an exemplary embodiment of the present invention;

[0018] Figure 4 A schematic diagram showing a process of estimating a predicted trap time of a vehicle based on a vehicle speed and a steering angle according to a controller according to an exemplary embodiment of the present invention;

[0019] Figure 5 A flowchart showing steps of a method for preventing a vehicle from falling according to an exemplary embodiment of the present invention; and

[0020] Figure 6 is a block diagram showing a configuration of a computing system that executes a method according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0021] It should be understood that the terms "vehicle" or "vehicular" or other similar terms used in this document generally include motor vehicles, such as passenger cars including sport utility vehicles (SUVs), buses, trucks, various commercial vehicles, ships including various boats, vessels, aircraft, etc., and include hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from energy sources other than petroleum).

[0022] Although the exemplary embodiments are described as using multiple units to perform the exemplary processes, it is understood that the exemplary processes can also be performed by one or more modules. In addition, it is understood that the term controller / control unit refers to a hardware device including a memory and a processor. The memory is configured to store the modules, and the processor is specifically configured to execute the modules to perform one or more processes further described below.

[0023] In addition, the control logic of the present invention can be implemented as a non-transitory computer-readable medium in a computer-readable medium, wherein the computer-readable medium includes executable program instructions executed by a processor or a controller / control unit, etc. Examples of computer-readable media include, but are not limited to: ROM, RAM, compact disk (CD)-ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer-readable recording medium can also be distributed in a computer system connected to a network so that the computer-readable medium is stored and executed in a distributed form (for example, through a telematics server or a controller area network (CAN)).

[0024] The terms used in this article are only used to describe specific embodiments and are not intended to limit the present invention. As used herein, the singular forms "one", "an" and "the" are intended to also include plural forms, unless the context clearly indicates otherwise. It will also be further understood that when the terms "including" and / or "comprising" are used in this specification, it is indicated that the features, integers, steps, operations, elements and / or components exist, but the presence or addition of one or more other features, integers, steps, operations, elements, components and / or their groups are not excluded. As used herein, the term "and / or" includes any and all combinations of one or more related enumeration items.

[0025] Unless otherwise stated or apparent from the context, as used herein, the term "approximately" is understood to be within the normal tolerance range in the art, such as within 2 standard deviations of the mean. "Approximately" may be understood to be within 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%, 0.5%, 0.1%, 0.05%, or 0.01% of the value. Unless apparent from the context, all values ​​provided herein may be modified by the term "approximately".

[0026] Some exemplary embodiments of the present invention will be described in detail below with reference to the exemplary drawings. When adding reference numerals to the components of each drawing, it should be noted that even if these components are also shown in other drawings, the same or equivalent components are designated by the same reference numerals. In addition, when describing the exemplary embodiments of the present invention, in order to avoid unnecessarily obscuring the main points of the present invention, detailed descriptions of known features or functions will be excluded.

[0027] When describing components according to embodiments of the present invention, terms such as first, second, "A", "B", (a), (b), etc. may be used. These terms are only used to distinguish one component from another, and these terms do not limit the nature, order or sequence of the constituent components. Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meanings as those commonly understood by technicians in the technical field to which the present invention belongs. These terms, as defined in commonly used dictionaries, should be interpreted as having the same meanings as the contextual meanings in the relevant technical field, and should not be interpreted as having idealized or overly formal meanings unless explicitly defined as having such meanings in this application.

[0028] In the exemplary embodiment of the present invention, a sinkhole will be described as a representative example, however, the present invention can also be applied to a cliff, a puddle, a ditch, or a bank of a field. Figure 1 It is a schematic diagram showing the configuration of an apparatus for preventing a vehicle from falling according to an exemplary embodiment of the present invention.

[0029] like Figure 1 As shown, the device 100 for preventing a vehicle from falling may include: a storage device 10 (e.g., a memory), a sensor 20, a braking device 30, and a controller 40. According to the device 100 for preventing a vehicle from falling into the road of the present invention, the components may be combined into one device, and one or more components may be omitted according to the manner in which the present invention is performed. Hereinafter, each of the above components will be described in detail. First, the storage device 10 may be configured to store various logics, algorithms, and programs, which are required to determine whether to stop the vehicle by detecting the size of a sinking pothole in the process of preventing the vehicle from falling into a sinking pothole on the road on which the vehicle is traveling.

[0030] In addition, the storage device 10 may be configured to store reference data for determining whether to stop the vehicle. For example, the storage device 10 may be configured to store the following data as data indicating the size of a pothole: reference data of the depth of the pothole (hereinafter referred to as "reference depth"), reference data of the lateral length of the pothole (hereinafter referred to as "reference lateral length"), reference data of the longitudinal length of the pothole (hereinafter referred to as "reference longitudinal length"), and reference data of the area of ​​the pothole (hereinafter referred to as "reference area"), wherein the size of the pothole corresponds to the tire size of the vehicle.

[0031] In addition, the storage device 10 may include at least one type of storage medium: flash memory, hard disk memory, micro memory and card memory (for example, secure digital (SD) card or extreme digital (XD) card) as well as random access memory (RAM), static RAM (SRAM), read-only memory (ROM), programmable ROM (PROM), electrically erasable PROM (EEPROM), magnetic RAM (MRAM), magnetic disk and optical disk type memory.

[0032] Then, the sensor 20 can be implemented as an ultrasonic sensor and a radar sensor configured to measure distance, at least one sensor 20 can be installed at the front of the vehicle (e.g., the front bumper), and at least one sensor 20 can be installed at the rear of the vehicle (e.g., the rear bumper).

[0033] In the following, reference will be made to Figure 2A and Figure 2B The method of installing the sensor 20 is described in detail. Figure 2A Schematic diagram showing the vertical installation angle of the sensor 20 installed at the rear of the vehicle according to an exemplary embodiment of the present invention. Figure 2A As shown, the sensor 20 may be mounted on the vehicle to face the ground at a predetermined mounting angle θ relative to a horizontal line 210. As an example, the mounting angle θ of the sensor 20 may be based on the following formula 1.

[0034] Formula 1:

[0035] θ>2α

[0036] Wherein, "α" represents the angle between the straight line connecting the center of the vehicle and the rear tire of the vehicle and the ground (horizontal line). For example, "α" can have a value between about 8° and 10°, so that the installation angle can be at least about 16° or greater.

[0037] Figure 2B 2 is a schematic diagram showing the horizontal installation angle of the sensor 20 installed at the rear of the vehicle according to an exemplary embodiment of the present invention. Figure 2B As shown, the sensor 20 may include a first sensor 20a installed on a first side of the rear of the vehicle and a second sensor 20b installed on a second side of the rear of the vehicle to measure the lateral length of the sinkhole. Specifically, the first sensor 20a may be installed to form a predetermined angle with a straight line 210a substantially parallel to the x-axis on the xy plane. And the second sensor 20b may be installed to form a predetermined angle with a straight line 210b substantially parallel to the x-axis on the xy plane. In this exemplary embodiment, and Equal but in opposite directions.

[0038] exist Figure 2B In (x c1 ,y c1 ) represents the starting point coordinates of the sinkhole measured by the first sensor 20a, and “d road1 " represents the distance from the first sensor 20a to the starting point of the sinkhole; (x c2 ,y c2 ) represents the starting point coordinates of the sinkhole measured by the second sensor 20b, "d road2 " represents the distance from the second sensor 20b to the starting point of the sinkhole.

[0039] Then, the brake device 30 can be configured to apply braking force to the wheels of the vehicle to stop the vehicle under the control of the controller 40. The controller 40 can be configured to perform the overall operation of each component. The controller 40 can be implemented as hardware, software, or a combination of hardware and software. For example, the controller 40 can be implemented as a microprocessor, but should not be limited to a microprocessor.

[0040] In the process of avoiding the vehicle from falling into a pothole on the road, the controller 40 can be configured to perform various control operations required to determine whether to stop by detecting the size of the pothole. The controller 40 can be configured to distinguish the ground from the pothole based on the distance measured by the sensor 20 and detect the size of the pothole.

[0041] In the following, reference will be made to FIG. 3A to FIG. 3C The following describes a process of distinguishing the ground from a sinkhole by the controller 40 and detecting the depth, lateral length, and longitudinal length of the sinkhole as the size of the sinkhole. Figure 3A As shown, the controller 40 may be configured to determine the first distance d measured by the sensor 20 based on the first distance d road to detect the ground, and if Figure 3B As shown, the controller 40 may be configured to determine the second distance d′ based on the second distance d′ measured by the sensor 20. road To detect sinkholes.

[0042] In addition, the controller 40 may be configured to detect the depth ds of the sinkhole based on the following Formula 2.

[0043] Formula 2:

[0044] ds=(d' road -d road )×sinθ

[0045] Here, “θ” represents the installation angle, that is, the beam angle of the sensor 20 .

[0046] In addition, the controller 40 may be configured to detect the length Ls of the sinkhole based on the following Formula 3.

[0047] Formula 3:

[0048] Ls=(d' road -d road )×cosθ

[0049] In addition, the controller 40 may be configured to detect the starting point (x) of the sinkhole based on the following formula 4: c ,y c ).

[0050] Formula 4:

[0051]

[0052] Among them, "x s " represents the x-axis coordinate value of the installation position of the sensor 20, "y s " represents the y-axis coordinate value of the installation position of the sensor 20. road " represents the distance to the starting point of the sinkhole, "θ" represents the vertical installation angle of the sensor 20, Indicates the horizontal installation angle of the sensor 20.

[0053] In addition, if Figure 2B As shown, the controller 40 may be configured to utilize the first starting point (x c1 ,y c1 ) and the second starting point (x c2 ,y c2 ) to detect the width of the sinkhole. In addition, Figure 3C As shown, the controller 40 may be configured to detect a first starting point (x c1 ,y c1 ) and the first endpoint (x c3 ,y c3 ) and using the second sensor 20b to detect the second starting point (x c2 ,y c2 ) and the second end point (x c4 ,y c4 ) to detect the area of ​​the sinkhole.

[0054] In other words, the controller 40 may be configured to calculate the time from the first starting point (x c1 ,y c1 ) to the second starting point (x c2 ,y c2 ) and calculate the distance w1 from the first starting point (x c1 ,y c1 ) to the first end point (xc3 ,y c3 ) and calculate the distance w2 from the second starting point (x c2 ,y c2 ) to the second end point (x c4 ,y c4 ) and calculate the distance w3 from the first end point (x c3 ,y c3 ) to the second end point (x c4 ,y c4 ). In addition, the controller 40 may be configured to calculate the distance w4 from the second starting point (x c2 ,y c2 ) to the first end point (x c3 ,y c3 ) 1 , and calculate from the first starting point (x c1 ,y c1 ) to the second end point (x c4 ,y c4 ) 2 Therefore, the controller 40 may be configured to detect the area of ​​the sinkhole based on the following formula 5.

[0055] Formula 5:

[0056]

[0057] Among them, "θ s ” represents the angle between straight line d1 and straight line d2.

[0058] In addition, the controller 40 may be configured to road and the second distance d' road To detect a slope (e.g., unevenness of the road surface). At the same time, the controller 40 can be configured to obtain the steering angle of the steering wheel and the vehicle speed (e.g., wheel speed) via the vehicle network. Specifically, the vehicle network can include a controller area network (CAN), a local interconnect network (LIN), FlexRay, and a media oriented systems transport (MOST). Accordingly, the controller 40 can be configured to determine whether there is a sinking pothole on the vehicle's driving path based on the vehicle speed and the steering angle. When there is a sinking pothole on the vehicle's driving path, the controller 40 can be configured to operate the vehicle's brakes before the vehicle falls into the sinking pothole.

[0059] In the following, reference will be made to Figure 4 A process in which the controller 40 estimates a time (hereinafter referred to as "predicted entrapment time") when the vehicle enters a pothole existing on the vehicle's travel path based on the vehicle speed and the steering angle is described in detail. Figure 4 Schematic diagram showing a process in which the controller 40 according to an exemplary embodiment of the present invention can be configured to estimate the predicted time to get stuck of the vehicle based on the vehicle speed and the steering angle. In this exemplary embodiment, a case where the vehicle is traveling backward will be described as a representative example, however, this process can also be applied to a case where the vehicle is traveling forward. Hereinafter, the rear wheels will be described as a concept including tires.

[0060] exist Figure 4 In, R 1 Represents the turning radius of the vehicle, R 2 represents the distance from the center O of the rear axle axis of the vehicle to the center of the rear wheel (which is a fixed value). Specifically, R 1 +R 2 Corresponding to the distance from the center C of the rotation radius to the starting point of the sinkhole (x c ,y c ) c In addition, R can be calculated based on the following formula 6 1 .

[0061] Formula 6:

[0062]

[0063] Among them, "θ 3 " represents the steering angle of the vehicle. In addition, "dt" represents the distance from the rear wheel center to the rear wheel surface, "B" represents the wheelbase, and "θ 1 " represents the distance R between the straight line connecting the center C of the turning radius and the center O of the rear axle axis of the vehicle c The angle between them, “θ 2 ” represents the angle between the straight line connecting the center C of the turning radius and the center O of the axis of the rear axle of the vehicle and the center of the surface of the rear wheel.

[0064] Therefore, the controller 40 may be configured to estimate the predicted entrapment time T of the vehicle based on the following Formula 7.

[0065] Formula 7:

[0066]

[0067] θ 1 = atan2(x c ,R c -y c )

[0068]

[0069] Here, "v" represents the wheel speed of the vehicle. When the vehicle is traveling backward, the wheel speed of the right rear wheel is used as "v". For reference, "atan2" is a function, and when "atan2(x, y)" has a value of "θ", then

[0070] Figure 5 Flowchart showing the operation of the method for preventing a vehicle from falling into a pothole according to an exemplary embodiment of the present invention. First, the sensor 20 mounted on the vehicle may be configured to measure the distance to the ground (501). Then, in the process of preventing the vehicle from falling into a pothole on the road, the controller 40 may be configured to detect the size of the pothole based on the distance to the ground measured by the sensor 20 to determine whether to stop the vehicle (502). In other words, the controller 40 may be configured to detect the size of the pothole based on the distance to the ground measured by the sensor 20, and stop the vehicle when the size of the detected pothole exceeds a reference value.

[0071] When the size of the pothole is larger than the size of the wheels so that the vehicle cannot drive out of the pothole, the controller 40 can be configured to stop the vehicle. This corresponds to the situation where there is a pothole on the vehicle's driving path. When there is no pothole on the vehicle's driving path, the vehicle does not need to stop because there is no risk of the vehicle falling into the pothole. In addition, the controller 40 can be configured to estimate the predicted time when the vehicle is predicted to fall into the pothole existing on the vehicle's driving path based on the vehicle speed and the steering angle (which are obtained through the vehicle network) to determine the parking time.

[0072] Figure 6 1 is a block diagram showing a configuration of a computing system for executing a method for preventing a vehicle from falling according to an exemplary embodiment of the present invention. Figure 6 The method for preventing a vehicle from falling can be implemented by a computing system according to an exemplary embodiment of the present invention. The computing system 1000 may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600, and a network interface 1700, which are interconnected via a bus 1200.

[0073] The processor 1100 may be a central processing unit (CPU) or a semiconductor device, and processes instructions stored in the memory 1300 and / or the storage device 1600. The memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a ROM (read only memory) and a RAM (random access memory).

[0074] Therefore, the operation of the method or algorithm described in conjunction with the embodiments disclosed herein can be implemented directly with a hardware module or by a software module executed by the processor 1100, or a combination of the two. The software module can reside on a storage medium (i.e., memory 1300 and / or storage device 1600), for example, RAM, flash memory, ROM, EPROM, EEPROM, register, hard disk, removable hard disk, and CD-ROM. An exemplary storage medium can be connected to the processor 1100, and the processor 1100 can read information from the storage medium and can record information in the storage medium. Alternatively, the storage medium can be integrated with the processor 1100. The processor 1100 and the storage medium can reside in an application specific integrated circuit (ASIC). The ASIC can reside in a user terminal. In another example, the processor 1100 and the storage medium can reside in a user terminal as a separate component.

[0075] In the process of preventing a vehicle from falling into a pothole on a road, an apparatus and method for preventing a vehicle from falling into a pothole can prevent the vehicle from stopping unnecessarily by determining whether to stop the vehicle based on the size of the pothole.

[0076] Although the present invention has been described above with reference to exemplary embodiments and the accompanying drawings, the present invention is not limited thereto and various modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the present invention as claimed in the claims.

[0077] Therefore, the exemplary embodiments of the present invention are provided to explain the spirit and scope of the present invention, rather than to limit them, so that the spirit and scope of the present invention are not limited by the exemplary embodiments. The scope of the present invention should be interpreted based on the appended claims, and all technical concepts within the scope of the claims should be included within the scope of the present invention.

Claims

1. A device for preventing a vehicle from falling, comprising: a sensor mounted on the vehicle to measure the distance to the ground; The controller is configured as: determining the size of the sinkhole based on the distance to the ground measured by the sensor; Determining whether to stop the car based on the determined size of the sinkhole; When it is determined that the size of the pothole is larger than the size of the wheel so that the vehicle cannot drive out of the pothole, it is determined to stop; wherein the sensor comprises a first sensor mounted on a first side of the rear portion of the vehicle and a second sensor mounted on a second side of the rear portion of the vehicle, the first sensor and the second sensor being mounted to face the ground at a predetermined mounting angle θ relative to a horizontal line, and the first sensor and the second sensor being mounted to form a predetermined angle φ relative to a length direction of the vehicle; The predetermined installation angle θ of the first sensor and the second sensor satisfies the following formula: θ > 2α Here, "α" represents the angle between a straight line connecting the center of the vehicle and the rear tires of the vehicle and a horizontal line.

2. The device for preventing a vehicle from falling down according to claim 1, wherein: The controller is configured to detect the coordinates of the starting point of the sinkhole based on the following formula: Among them, "x s " represents the x-axis coordinate value of the sensor's installation position, "y s " represents the y-axis coordinate value of the sensor installation position, "d road ” indicates the distance to the starting point of the sinkhole measured by the sensor.

3. The device for preventing a vehicle from falling down according to claim 2, wherein: The controller is configured to detect a width of the sinkhole using coordinates of a first starting point of the sinkhole detected by the first sensor and coordinates of a second starting point of the sinkhole detected by the second sensor.

4. The device for preventing a vehicle from falling down according to claim 3, wherein: The controller is configured to detect the area of ​​the sinkhole by detecting coordinates of a first starting point and a first end point of the sinkhole using a first sensor and detecting coordinates of a second starting point and a second end point of the sinkhole using a second sensor.

5. The device for preventing a vehicle from falling down according to claim 1, wherein: The controller is configured to distinguish the ground from a sinkhole based on a distance to the ground measured by the sensor.

6. The device for preventing a vehicle from falling down according to claim 4, wherein: The controller is configured to determine whether to stop the vehicle based on the depth and area of ​​the sinkhole.

7. The device for preventing a vehicle from falling down according to claim 4, further comprising: A storage device is configured to store reference depth data and reference area data.

8. The device for preventing a vehicle from falling down according to claim 1, wherein: The controller is configured to determine whether a pothole exists in a travel path of the vehicle based on a vehicle speed and a steering angle of the vehicle.

9. The device for preventing a vehicle from falling down according to claim 8, wherein: The controller is configured to estimate a time when the vehicle is predicted to fall into a pothole present in a travel path of the vehicle based on the vehicle speed and the steering angle of the vehicle.

10. A method for preventing a vehicle from falling, comprising: The distance to the ground is measured by sensors installed on the vehicle; Based on the measured distance to the ground, determining the size of the sinkhole through the controller, and determining whether to stop the vehicle based on the determined size of the sinkhole; When it is determined that the size of the sinkhole is larger than the size of the wheel so that the vehicle cannot drive out of the sinkhole, the controller determines to stop the vehicle; wherein the sensor comprises a first sensor mounted on a first side of the rear portion of the vehicle and a second sensor mounted on a second side of the rear portion of the vehicle, the first sensor and the second sensor being mounted to face the ground at a predetermined mounting angle θ relative to a horizontal line, and the first sensor and the second sensor being mounted to form a predetermined angle φ relative to a length direction of the vehicle; The predetermined installation angle θ of the first sensor and the second sensor satisfies the following formula: θ > 2α Here, "α" represents the angle between a straight line connecting the center of the vehicle and the rear tires of the vehicle and a horizontal line.

11. The method according to claim 10, wherein: Determining whether to park includes: The coordinates of the starting point of the sinkhole are detected by the controller based on the following formula: Among them, "x s " represents the x-axis coordinate value of the sensor's installation position, "y s " represents the y-axis coordinate value of the sensor installation position, "d road ” indicates the distance to the starting point of the sinkhole measured by the sensor.

12. The method according to claim 11, wherein: Determining whether to park includes: The width of the sinkhole is detected by the controller using the coordinates of a first starting point of the sinkhole detected by the first sensor and the coordinates of a second starting point of the sinkhole detected by the second sensor.

13. The method according to claim 12, wherein: Determining whether to park includes: The area of ​​the sinkhole is detected by the controller by detecting the coordinates of a first starting point and a first end point of the sinkhole using a first sensor and detecting the coordinates of a second starting point and a second end point of the sinkhole using a second sensor.

14. The method according to claim 10, wherein: Determining whether to park includes: Based on the distance to the ground measured by the sensor, the ground and the sinkhole are distinguished by the controller.

15. The method according to claim 13, wherein: Determining whether to park includes: Based on the depth and area of ​​the sinkhole, the controller determines whether to stop the vehicle.

16. The method of claim 13, further comprising: The reference depth data and the reference area data are stored by a storage device in the controller.

17. The method according to claim 10, wherein: Determining whether to park includes: Based on the vehicle speed and the steering angle of the vehicle, a controller determines whether there is a pothole in the vehicle's travel path.

18. The method according to claim 17, wherein: Determining whether to park includes: The controller estimates the time when the vehicle is predicted to fall into a pothole existing in the vehicle's travel path.

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