Vehicle and method for predicting collision

Abstract

The present invention relates to a vehicle and a method for predicting a collision. A vehicle includes: a photographing device configured to detect at least one stopped vehicle in a first lane intersecting the right side of a second lane where the vehicle is located; a detection sensor configured to detect a target vehicle located in a third lane adjacent to the at least one stopped vehicle to obtain position information and speed information of the target vehicle; and a controller configured to determine a first position of the vehicle for sensing the target vehicle between the stopped vehicles, determine an expected position to which the target vehicle moves within a time required for the vehicle to move from the first position to the second position, and determine the reliability of the possibility of a collision between the vehicle and the target vehicle by comparing the actual position of the target vehicle with the expected position.

Description

Technical Field

[0001] The present invention relates to a vehicle and a control method thereof, and more particularly, to a technology for compensating a lateral collision avoidance system using information of a target vehicle acquired between vehicles parked in a lane intersecting a driving lane. Background Art

[0002] Vehicles travel on roads or tracks to transport people or goods to a destination. Vehicles can be moved to various locations by one or more wheels mounted on a vehicle frame. Such vehicles can be divided into three-wheeled or four-wheeled vehicles, two-wheeled vehicles such as motorcycles, construction machinery vehicles, bicycles, trains traveling along railways on tracks, etc.

[0003] In modern society, vehicles are the most common means of transportation, and the number of people using vehicles is increasing. With the development of automobile technology, there are advantages such as being able to move long distances effortlessly and making life more convenient, but in places with high population density, problems such as deteriorating traffic conditions and serious traffic congestion often occur.

[0004] In order to reduce the burden and increase the convenience of the driver, research on vehicles equipped with an advanced driver assistance system (ADAS) that actively provides information on the vehicle state, the driver state, and the surrounding conditions is being actively conducted recently.

[0005] Examples of ADAS installed in vehicles include Cross Traffic Alert (CTA) and Cross Collision Avoidance (CCA). Cross Traffic Alert and Cross Collision Avoidance are collision avoidance systems that can determine the risk of collision with an oncoming vehicle or a side vehicle when driving at an intersection and perform emergency braking in the event of a collision.

[0006] Cross-traffic alert and side collision avoidance are used to detect and avoid the risk of collision of vehicles. Recently, there is a need for a technology that can control collision avoidance even if a vehicle traveling in a side lane that is blocked by a vehicle parked at an intersection is not easily identified. Summary of the invention

[0007] One aspect of the present invention accurately predicts a collision between a vehicle and a target vehicle by obtaining information of a target vehicle between vehicles parked in a lane intersecting a driving lane, thereby preventing the collision from occurring.

[0008] Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

[0009] According to one aspect of the present invention, a vehicle includes: a shooting device configured to detect at least one stopped vehicle in a first lane intersecting to the right side of a second lane where the vehicle is located; a detection sensor configured to detect a target vehicle traveling in a third lane adjacent to the at least one stopped vehicle to obtain position information and speed information of the target vehicle; and a controller configured to determine a first position of the vehicle for sensing the target vehicle between the stopped vehicles; determine an expected position to which the target vehicle moves from an initial position within a time required for the vehicle to move from the first position to the second position; and determine the reliability of the possibility of a collision between the vehicle and the target vehicle by comparing the actual position with the expected position.

[0010] When the distance between the actual position and the expected position is less than or equal to a predetermined distance, the controller may determine the target vehicle as a collision avoidance target vehicle.

[0011] When the distance between the actual position and the expected position exceeds a predetermined distance, the controller may not determine the target vehicle as a collision avoidance target vehicle.

[0012] The first position is the current position of the vehicle, and the second position is the position to which the vehicle moves from the first position within a predetermined time.

[0013] The controller may determine the target vehicle as a collision avoidance target vehicle when the target vehicle is detected between stopped vehicles when the vehicle is in the first position and the target vehicle is detected between stopped vehicles when the vehicle is in the second position.

[0014] The controller may not determine the target vehicle as a collision avoidance target vehicle when the target vehicle is detected between stopped vehicles when the vehicle is in the first position and the target vehicle is not detected between stopped vehicles when the vehicle is in the second position.

[0015] The controller may further determine an angle between the vehicle and at least one stopped vehicle.

[0016] The controller may further determine a travel speed of the target vehicle.

[0017] The controller can determine the reliability of the possibility of collision between the vehicle and the target vehicle based on the number of stopped vehicles, and add the data of whether it is a collision avoidance target vehicle determined according to the number of stopped vehicles, thereby determining the reliability of the possibility of collision between the vehicle and the target vehicle.

[0018] The controller may determine a stopped vehicle search area according to a lane in which the at least one stopped vehicle is detected and a width of at least one stopped vehicle adjacent lane, and determine the number and position of the at least one stopped vehicle detected in the stopped vehicle search area.

[0019] The controller may change the amount of travel control of the vehicle based on the reliability of the possibility of a collision.

[0020] According to another aspect of the present invention, a method for controlling a vehicle includes: detecting at least one stopped vehicle in a first lane intersecting to the right side of a second lane in which the vehicle is traveling; detecting a target vehicle traveling in a third lane adjacent to the at least one stopped vehicle to obtain position information and speed information of the target vehicle; determining a first position of the vehicle for sensing the target vehicle between the stopped vehicles; determining an expected position to which the target vehicle moves from an initial position within a time required for the vehicle to move from the first position to the second position; and determining the reliability of the possibility of a collision between the vehicle and the target vehicle by comparing the actual position and the expected position.

[0021] The method may further include determining the target vehicle as a collision avoidance target vehicle when a distance between the actual position and the expected position is less than or equal to a predetermined distance.

[0022] The method may further include not determining the target vehicle as a collision avoidance target vehicle when a distance between the actual position and the expected position exceeds a predetermined distance.

[0023] When determining a first position of a vehicle, the first position is a current position of the vehicle, and the second position is a position to which the vehicle moves from the first position within a predetermined time.

[0024] The method may further include determining the target vehicle as a collision avoidance target vehicle when the target vehicle is detected between stopped vehicles when the vehicle is in the first position and the target vehicle is detected between stopped vehicles when the vehicle is in the second position.

[0025] The method may further include not determining the target vehicle as a collision avoidance target vehicle when the target vehicle is detected between stopped vehicles when the vehicle is in the first position and the target vehicle is not detected between stopped vehicles when the vehicle is in the second position.

[0026] Determining the first position of the vehicle may include determining an angle between the vehicle and at least one stopped vehicle.

[0027] Determining the expected position may include determining a travel speed of the target vehicle.

[0028] The method may further include: determining the number of operations for determining the reliability of the possibility of collision between the vehicle and the target vehicle based on the number of stopped vehicles, adding data on whether it is a collision avoidance target vehicle determined according to the number of operations, thereby determining the reliability of the possibility of collision between the vehicle and the target vehicle.

[0029] The method may further include: determining a stopped vehicle search area according to widths of the first lane and an adjacent third lane; and determining the number and position of at least one stopped vehicle detected in the stopped vehicle search area.

[0030] The method may further include changing a travel control amount of the vehicle based on the reliability of the possibility of a collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and / or other aspects of the present invention will become apparent and more easily understood through the following description of the embodiments presented in conjunction with the accompanying drawings, in which:

[0032] Figure 1 is a schematic diagram showing a vehicle provided with a sensor and a rear side sensor according to an embodiment of the present invention;

[0033] Figure 2 is a control block diagram of a vehicle according to an embodiment of the present invention;

[0034] Figure 3A and Figure 3B is a flow chart showing a method for controlling a vehicle according to an embodiment of the present invention;

[0035] Figure 4 and Figure 5 is a conceptual diagram of a side collision avoidance operation according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In the following description, throughout the entire specification, the same reference numerals represent the same elements. The present invention does not describe in detail known functions or structures, because they can obscure one or more exemplary embodiments with unnecessary details. Terms such as "unit", "module", "component" and "block" can be implemented as hardware or software. According to the embodiment, multiple "units", "modules", "components" and "blocks" can be implemented as single parts, or single "unit", "module", "component" and "block" can include multiple components.

[0037] It should be understood that when one element is referred to as being “connected” to another element, the element may be directly or indirectly connected to the other element, wherein the indirect connection includes “connected through a wireless communication network”.

[0038] When a component “includes” or “comprises” an element, unless there is a specific description contrary thereto, the component may further include other elements, not excluding the other elements.

[0039] It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another.

[0040] As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0041] The reference numerals are used to facilitate the description, but are not intended to indicate the order of each step. Unless the context clearly indicates otherwise, each step may be implemented in an order different from the order shown.

[0042] The principles and embodiments of the present invention will now be described with reference to the accompanying drawings.

[0043] Figure 1 is a schematic diagram showing a vehicle provided with a sensor and a rear side sensor according to an embodiment of the present invention.

[0044] In the following, for the convenience of description, the direction in which the vehicle 1 travels forward may be defined as the front, and a left direction and a right direction may be defined relative to the front. When the front is the 12 o'clock direction, the 3 o'clock direction or the vicinity of the 3 o'clock direction may be defined as the right direction, and the 9 o'clock direction or the vicinity of the 9 o'clock direction may be defined as the left direction. The direction opposite to the front may be defined as the rear. The bottom direction with respect to the vehicle 1 may be defined as the bottom, and the direction opposite to the bottom may be defined as the top. In addition, a surface disposed in the front may be defined as a front surface, a surface disposed in the rear may be defined as a rear surface, and a surface disposed on the side may be defined as a side surface. In addition, a side surface in the left direction may be defined as a left surface, and a side surface in the right direction may be defined as a right surface.

[0045] Although not in Figure 1 As shown in FIG. 1 , at least one camera 350 (see Figure 2 ) may be disposed in the vehicle 1. The shooting device 350 may be a camera, a video camera, an image sensor, etc., and may be configured to shoot images around the vehicle 1 when the vehicle 1 is traveling or stopped, and to obtain information about the type and location of objects. Objects captured in the images around the vehicle 1 may include another vehicle (e.g., surrounding vehicles), pedestrians, bicycles, etc., and may include moving objects or various fixed obstacles.

[0046] The photographing device 350 may be configured to detect the type of object around the vehicle 1 by photographing an image of the object and recognizing the shape of the photographed object through image recognition, and may be configured to send the detected information to the controller 100 (see Figure 2 ).

[0047] According to the embodiment, the detection sensor 200 can obtain at least one of the position information and the driving speed information of the object located around the vehicle 1 relative to the vehicle 1. That is, the detection sensor 200 can obtain the coordinate information that changes as the object moves in real time and detect the distance between the vehicle 1 and the object.

[0048] Controller 100 (see Figure 2 ) can calculate the relative distance and relative speed between the vehicle 1 and the object based on the position and speed information of the object obtained by the detection sensor 200, so the controller 100 can calculate the collision time (TTC) between the vehicle 1 and the object based on the calculated relative distance and relative speed.

[0049] Furthermore, the steering may be adjusted to avoid the object based on the position and speed information of the object acquired by the detection sensor 200 .

[0050] like Figure 1 As shown, the detection sensor 200 can be installed in a position suitable for identifying an object (e.g., another vehicle) in front, on the side, or in front of the side. According to an embodiment, the detection sensor 200 can be installed in all directions of the front, left, and right sides of the vehicle 1 to identify objects in all directions in front of the vehicle 1, in the direction between the left side and the front of the vehicle 1 (hereinafter referred to as "left front"), and in the direction between the right side and the front of the vehicle 1 (hereinafter referred to as "right front").

[0051] For example, the first detection sensor 200a may be installed as a part of the radiator grille 6, such as inside the radiator grille 6, or alternatively, the first detection sensor 200a may be installed at any position of the vehicle 1 suitable for detecting another vehicle located in front of the vehicle 1. However, according to the embodiment, the first detection sensor 200a will be described as being installed at the center of the front surface of the vehicle. The second detection sensor 200b may be installed on the left side of the vehicle 1, and the third detection sensor 200c may be installed on the right side of the vehicle 1.

[0052] The detection sensor 200 may include a rear side sensor 201 configured to detect a pedestrian or another vehicle existing in the rear, side, or a direction between the side and the rear (hereinafter referred to as "side rear") or approaching from the rear, side, or a direction between the side and the rear. Figure 1As shown, the rear side sensor 201 may be installed at a position suitable for identifying an object (eg, another vehicle) to the side, rear, or side rear.

[0053] The detection sensor 200 can be implemented by using various devices, for example, a radar using millimeter waves or microwaves, a light detection and ranging (LiDAR) using pulsed lasers, a visual sensor using visible light, an infrared sensor using infrared light, or an ultrasonic sensor using ultrasonic waves. The detection sensor 200 can be implemented by using any one of radar, light detection and ranging (LiDAR), a visual sensor, an infrared sensor, or an ultrasonic sensor, or by combining them. When a plurality of detection sensors 200 are provided in the vehicle 1, each detection sensor 200 can be implemented by using the same type of sensor or different types of sensors. The implementation of the detection sensor 200 is not limited thereto, and the detection sensor 200 can be implemented by using various devices and combinations thereof considered by the designer.

[0054] In addition, the display may be mounted on an upper panel of an instrument panel (not shown) of the vehicle 1. The display may be configured to output various information in the form of images to a driver or passenger of the vehicle 1. For example, the display may be configured to visually output various information such as maps, weather, news, various motion or still images, information about the state or operation of the vehicle 1 (e.g., information about air conditioning), etc. The display may also be configured to provide a warning corresponding to the degree of danger to the vehicle 1 (e.g., a notification about a collision risk) to the driver or passenger.

[0055] A center instrument panel (not shown) may be mounted in the middle of the instrument panel and may include an input device 318 (see Figure 2 ) for receiving various instructions related to the vehicle 1. The input device 318 can be implemented with a mechanical button, a switch, a knob, a touch pad, a touch screen, a stick-type control device, a trackball, etc. The driver can control many different operations of the vehicle 1 by manipulating the input device 318.

[0056] A control stand and a dashboard are provided in front of the driver's seat. The control stand can be rotated in a specific direction by the driver's operation, and thus, the front wheels or rear wheels of the vehicle 1 can be turned, thereby turning the vehicle 1. The control stand may include spokes connected to the rotating shaft and a steering wheel coupled to the spokes. On the spokes, there may be input members for receiving various instructions, and the input members may be implemented with mechanical buttons, switches, knobs, touch pads, touch screens, stick-type control devices, trackballs, etc.

[0057] Figure 2 is a control block diagram of a vehicle according to an embodiment. Figure 3A and Figure 3Bis a flowchart illustrating a method for controlling a vehicle according to an embodiment. Figure 4 and Figure 5 is a conceptual diagram of a side collision avoidance operation according to an embodiment.

[0058] refer to Figure 2 The vehicle 1 may include a speed adjuster 70, a speed detector 80, a memory 90 and a controller 100; the speed adjuster 70 is configured to adjust the driving speed of the vehicle 1 driven by the driver; the speed detector 80 is configured to detect the driving speed of the vehicle 1; the memory 90 is configured to store data related to the control of the vehicle 1; the controller 100 is configured to control each component of the vehicle 1 and the driving speed of the vehicle 1.

[0059] The speed adjuster 70 may adjust the speed of the vehicle 1 driven by the driver. The speed adjuster 70 may include an accelerator driver 71 and a brake driver 72.

[0060] The accelerator driver 71 may increase the speed of the vehicle 1 by operating the accelerator in response to a control signal of the controller 100. The brake driver 72 may reduce the speed of the vehicle 1 by operating the brake in response to a control signal of the controller 100.

[0061] The controller 100 may increase or decrease the travel speed of the vehicle 1 based on the distance between the vehicle 1 and the object and a predetermined reference distance stored in the memory 90 to increase or decrease the distance between the vehicle 1 and the object.

[0062] The controller 100 may also calculate a time to collision (TTC) between the vehicle 1 and the object based on a relative distance and a relative speed between the vehicle 1 and the object, and may send a signal to control a travel speed of the vehicle 1 to the speed regulator 70 based on the calculated TTC.

[0063] In addition, the controller 100 may control the brake driver 72 to perform yaw braking of the inner wheel or the outer wheel of the wheel of the vehicle 1. That is, when the vehicle 1 turns around an object, the controller 100 may control to assist steering avoidance by yaw braking.

[0064] The speed adjuster 70 may adjust the travel speed of the vehicle 1 under the control of the controller 100. The speed adjuster 70 may reduce the travel speed of the vehicle 1 when the risk of a collision between the vehicle 1 and another object is high.

[0065] The speed detector 80 may detect the driving speed of the vehicle 1 driven by the driver under the control of the controller 100. That is, the speed detector 80 may detect the driving speed by using the rotation speed of the wheels, wherein the driving speed may be expressed as [kph], i.e., a distance (km) traveled per unit time (h).

[0066] The steering angle detector (not shown) may detect a steering angle, which is a turning angle of a steering wheel when the vehicle 1 is traveling, and the yaw rate detector (not shown) may detect a speed at which a turning angle of a vehicle body changes when the vehicle 1 is traveling.

[0067] The memory 90 may store various data related to the control of the vehicle 1. Specifically, according to the embodiment, the memory 90 may store information related to the travel speed, travel distance, and travel time of the vehicle 1, and further store the type and position information of the object detected by the photographing device 350.

[0068] The memory 90 may store position information and speed information of an object detected by the detection sensor 200, and may store coordinate information of a moving object that changes in real time. The memory 90 may store information on a relative distance and relative speed between the vehicle 1 and the object.

[0069] The memory 90 may store data related to equations and control algorithms for controlling the vehicle 1 , and the controller 100 may transmit control signals for controlling the vehicle 1 according to the equations and control algorithms.

[0070] The memory 90 may also store information about a steering-based avoidance path established for the vehicle 1 to avoid collision with an object in front of the vehicle 1, information about a turning angle of the steering wheel acquired by a steering angle detector, and yaw rate information detected by a yaw rate detector.

[0071] Furthermore, according to an embodiment of the present invention, when the controller 100 acquires position information of a stopped vehicle stopped at an intersection and position information and speed information of a target vehicle approaching the intersection, the acquired information may be stored in the memory 90 .

[0072] The controller 100 may control collision avoidance with a target vehicle traveling in a lane adjacent to the stopped vehicle based on the data stored in the memory 90 .

[0073] The memory 90 may be implemented using at least one of the following elements: a non-volatile storage element, such as a cache, a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), and a flash memory; a volatile storage element, such as a random access memory (RAM); or a storage medium, such as a hard disk drive (HDD) and a CD-ROM. The implementation of the memory is not limited thereto. The memory 90 may be a memory implemented by a memory chip independent of the aforementioned processor associated with the controller 100, or the memory may be implemented by a single chip with a processor.

[0074] The controller 100 may be a computer, a processor, a central processing unit, an electronic control unit, etc.

[0075] Figure 3 to Figure 5 A method for controlling a vehicle according to an exemplary embodiment of the present invention is described.

[0076] The camera 350 of the vehicle 1 may detect at least one stopped vehicle 2 that is stopped in a right crossing lane of a lane in which the vehicle 1 is traveling ( 1010 ).

[0077] like Figure 4 As shown, when a plurality of stopped vehicles 2 are stopped in the right crossing lane of the lane in which the vehicle 1 is traveling, the target vehicle 3 traveling in the lane adjacent to the stopped vehicles 2 may not be detected due to being blocked by the stopped vehicles 2. As a result, there is a risk that the vehicle 1 cannot avoid a collision with the target vehicle 3 when the vehicle 1 is traveling without detecting the target vehicle 3.

[0078] Therefore, according to the control method of the vehicle 1 according to the embodiment, based on the position information and speed information of the target vehicle 3 detected between the stopped vehicles 2 , the collision between the vehicle 1 and the target vehicle 3 can be avoided.

[0079] The controller 100 may determine a stopped vehicle search area S1 based on the width of a lane where at least one stopped vehicle 2 is located and a side lane of the stopped vehicle 2 ( 1020 ), and may determine the number and positions of stopped vehicles 2 detected in the stopped vehicle search area S1 ( 1030 ).

[0080] The stopped vehicle search area S1 is an area for setting an area where at least one stopped vehicle 2 stops in a right-side crossing lane of a lane in which vehicle 1 is traveling, and the stopped vehicle search area S1 is an area for controlling collision avoidance with a target vehicle 3 traveling in a lane adjacent to the stopped vehicle 2 when the target vehicle 3 enters the stopped vehicle search area S1.

[0081] like Figure 4As shown, the controller 100 can determine the lateral length of the stopped vehicle search area S1 by adding the length in the X-axis direction to the predetermined length based on the position where at least one stopped vehicle 2 stops. In addition, the controller 100 can determine the Y-axis longitudinal length of the stopped vehicle search area S1 based on the width of the lane where the stopped vehicle 2 stops and the width of the driving lane of the target vehicle 3 driving in the lane adjacent to the stopped vehicle.

[0082] The photographing device 350 of the vehicle 1 detects at least one stopped vehicle 2 , and the controller 100 may set the position coordinates of the at least one stopped vehicle 2 based on information detected by the photographing device 350 .

[0083] That is, Figure 4 As shown, when there are four stopped vehicles 2, for example, the controller 100 may set the coordinates of each of the stopped vehicles 2 to (X O1 , Y O1 ) to (X O4 , Y O4 ).

[0084] The controller 100 may determine the number of operations for determining the reliability of the possibility of collision between the vehicle 1 and the target vehicle 3 based on the number of stopped vehicles 2 that have stopped ( 1040 ).

[0085] That is, as will be described later, according to the control method of the vehicle 1 according to the embodiment, the collision avoidance between the vehicle 1 and the target vehicle 3 is controlled based on the position and speed of the target vehicle 3 sensed between the stopped vehicles 2. Therefore, the number of calculations for determining the reliability of the collision avoidance control can be determined based on the number of stopped vehicles 2.

[0086] Furthermore, the controller 100 may add data of whether or not it is a collision avoidance target according to the determined number of operations, thereby determining the reliability of the possibility of a collision between the vehicle 1 and the target vehicle 3 .

[0087] The detection sensor 200 of the vehicle 1 may acquire position information and speed information of the target vehicle 3 by sensing the target vehicle 3 traveling in the adjacent lane of the stopped vehicle 2 ( 1050 ).

[0088] like Figure 4 As shown, when the target vehicle 3 enters the stopped vehicle search area S1, the detection sensor 200 of the vehicle 1 detects the target vehicle 3, and the position information and speed information (X) of the target vehicle 3 can be obtained. T0 , Y T0 , V T0 ).

[0089] In addition, when the vehicle 1 detects the target vehicle 3, the controller 100 may determine the position information and speed information of the vehicle 1 as (X S0 , Y S0 , V S0 ).

[0090] The controller 100 may determine the position of the vehicle 1 based on the position information of at least one stopped vehicle 2 so that the vehicle 1 detects the target vehicle 3 between the stopped vehicles 2 ( 1060 ).

[0091] If vehicle 1 is initially at position ①(X S0 , Y S0 ), when the angle between the driving direction of vehicle 1 and the direction in which vehicle 1 detects target vehicle 3 through detection sensor 200 is When the controller 100 can be based on The angle determination is used to detect the position of the vehicle 1 for detecting a target vehicle 3 between the stopped vehicles 2 .

[0092] That is, reference Figure 4 , when the stopped vehicles 2 are respectively stopped at positions ①' and ②', in order for the vehicle 1 to detect the target vehicle 3 between the stopped vehicles 2, the vehicle 1 must move from position ① to position ②. Therefore, the controller 100 determines the Y coordinate Y according to equation 1 when the vehicle moves to position ② based on the position coordinates of the stopped vehicles 2 stopped at positions ①' and ②'. S1 .

[0093] [Equation 1]

[0094]

[0095] The controller 100 can determine the time T for the vehicle 1 to move from position ① to position ② based on the Y-axis position coordinate of the vehicle 1 according to Equation 2: S1 .

[0096] [Equation 2]

[0097] T S1 =(Y S0 –Y S1 ) / V S0

[0098] As described above, when the target vehicle 3 enters the stopped vehicle search area S1, it is assumed that the position coordinates (X T0 , Y T0 ) is the initial expected position of the target vehicle 3 (X P0 , Y P0), the controller determines the expected position (1070) to which the target vehicle is expected to move during the time the vehicle moves from position ① to position ② based on the moving time of the vehicle determined by the above equation 2 and the driving speed of the target vehicle according to equation 3.

[0099] [Equation 3]

[0100] X P1 =X P0 –(V T0 *T S1 )

[0101] That is, the target vehicle 3 at time T can be calculated according to Equation 3 S1 The expected position that has moved during this period is determined as (X P1 , Y P1 ).

[0102] Vehicle 1 can move from position ①(X S0 , Y S0 ) with V S0 Drive and reach position ②(X S1 , Y S1 ), and the detection sensor 200 of the vehicle 1 can detect the target vehicle 3 between the stopped vehicles 2 at the position ②'. The target vehicle 3 can be S1 During the movement, the detection sensor 200 of the vehicle 1 can detect the target vehicle 3 to obtain the position information of the target vehicle 3 (X T1 , Y T1 ). In addition, the detection sensor 200 can obtain the driving speed information V of the target vehicle 3 T1 .

[0103] That is, the position information (X) acquired by the detection sensor 200 of the vehicle 1 that detects the target vehicle 3 T1 , Y T1 ) and driving speed information V T1 It is actual information related to the position of the target vehicle 3.

[0104] When the vehicle 1 moves from position ① to position ②, the controller 100 can move the target vehicle 3 to the expected position (X P1 , Y P1 ) and the actual position (X) of the target vehicle 3 detected by the detection sensor 200 at position ② T1 , Y T1 ) to determine the reliability of the possibility of collision between vehicle 1 and target vehicle 3 (1080).

[0105] If the X axis coordinate of the expected position of the target vehicle 3 is P1 The X axis coordinate of the actual position of the target vehicle 3 isT1 If the difference between them is less than or equal to the predetermined distance, the controller 100 may determine the target vehicle 3 as a collision avoidance target for the vehicle 1 .

[0106] That is, when the predicted position of the target vehicle 3 that is predicted to move while the vehicle 1 moves from position ① to position ② is within a predetermined error range with the actual position where the target vehicle 3 moves and is positioned, since the target vehicle 3 moves at the speed and position predicted by the vehicle 1, the vehicle 1 can determine the target vehicle 3 as a collision avoidance target (1100).

[0107] Vehicle 1 can detect a target vehicle 3 between stopped vehicles 2 on the right cross lane of the lane in which vehicle 1 is traveling, and when vehicle 1 first detects the target vehicle 3 and moves for a predetermined time to detect the same target vehicle 3 between the stopped vehicles 2, the target vehicle 3 is selected as a collision avoidance target.

[0108] On the other hand, if the X-axis coordinate X of the expected position of the target vehicle 3 is P1 The X-axis coordinate X of the actual position of the target vehicle 3 T1 If the difference between φ and φ exceeds a predetermined distance, the controller may not determine target vehicle 3 as a collision avoidance target for vehicle 1 ( 1090 ).

[0109] That is, when vehicle 1 first detects the target vehicle 3 and moves for a predetermined time, the actual position of the detected target vehicle 3 is not within the predetermined position and the predetermined error range. Since the actual driving speed of the target vehicle 3 is faster or slower than the driving speed of the target vehicle 3 predicted by vehicle 1 to prevent a collision, the controller may not determine the target vehicle 3 as a collision avoidance target for vehicle 1.

[0110] like Figure 4 As shown, vehicle 1 detects target vehicle 3 at position ①, at time T S1 and detects the target vehicle 3 between the stopped vehicles 2 at position ②. When the actual position X of the target vehicle 3 T1 The predicted position X of the target vehicle 3 P1 When the detected difference between φ and φ is within a predetermined error range, the controller 100 determines the target vehicle 3 as a target to prevent a collision with the vehicle 1 .

[0111] That is, the controller 100 may determine the first position of the vehicle 1 for detecting the target vehicle 3 between the stopped vehicles 2 as the first position, and the controller may determine the position where the vehicle 1 travels a predetermined time from the first position to detect the target vehicle 3 between the stopped vehicles 2 as the second position.

[0112] exist Figure 4, the position ① of the vehicle 1 may be the first position, and the position ② reached to detect the position of the target vehicle 3 between the stopped vehicles 2 may be the second position.

[0113] That is, the controller 100 detects the target vehicle 3 between the stopped vehicles 2 at the first position of the vehicle 1 , and if the target vehicle 3 is detected between the stopped vehicles 2 at the second position of the vehicle 1 , the controller 100 may determine the target vehicle 3 as a collision avoidance target of the vehicle 1 .

[0114] In contrast, reference Figure 5 , although vehicle 1 detects target vehicle 3 at position ①, when it moves for time T S1 When the target vehicle 3 is not detected between the stopped vehicles 2 at position ②, the target vehicle 3 cannot be determined as a collision avoidance target for the vehicle 1 .

[0115] That is, when position ① of vehicle 1 is the first position and position ② is the second position, and a target vehicle 3 is detected between stopped vehicles 2 at the first position of vehicle 1, if the target vehicle 3 is not detected between stopped vehicles 2 at the second position, the target vehicle 3 is not determined as a collision avoidance target of vehicle 1.

[0116] The vehicle 1 can move from position ② to position ③ within a predetermined time to detect another target vehicle 4 between the stopped vehicle at position ②' and the stopped vehicle at position ③'. At this time, the detected target vehicle 4 is a different target vehicle from the previously detected target vehicle 3.

[0117] That is, since vehicle 1 detects target vehicle 3 at position ① at time T S1 During this period, the target vehicle 3 is not at the expected position predicted by the vehicle 1 due to acceleration or deceleration, so the controller 100 does not determine the target vehicle 3 as a collision avoidance target.

[0118] The controller 100 releases the collision avoidance target of the initially detected target vehicle 3 to another target vehicle 4 between the stopped vehicle at position ②' and the stopped vehicle at position ③' sensed by the vehicle 1. At position ③, the controller may repeat the collision avoidance target of the initially detected target vehicle 3 to the stopped vehicle 4 between the stopped vehicle at position ②' and the stopped vehicle at position ③'. Figure 4 The same control algorithm is used in .

[0119] That is, the controller 100 determines the position ④ of the vehicle 1 for detecting the target vehicle 4 between the stopped vehicle 2 at position ③' and the stopped vehicle 2 at position ④', and can determine the time T when the vehicle 1 moves from position ③ to position ④. S2 The predicted position (X P1 ', Y P1 ').

[0120] When the vehicle 1 has reached the position ④ and senses the target vehicle 4 between the stopped vehicle 2 at the position ③′ and the stopped vehicle 2 at the position ④′, the controller 100 can calculate the actual position (X) of the target vehicle 4 by T1 ', Y T1 ') and the predicted position (X P1 ', Y P1 ') to determine the reliability of the possibility of collision between vehicle 1 and target vehicle 4.

[0121] refer to Figure 4 , the controller 100 may determine the reliability of the possibility of a collision between the vehicle 1 and the target vehicle 3 relative to the target vehicle 3 determined as the collision avoidance target of the vehicle 1 .

[0122] (1110).

[0123] That is, the controller 100 can determine the lateral vehicle presence flag (CEFn) for the collision avoidance target by the above method. CEFn is a value that outputs the flag as "0" or "1" to determine the target vehicle 3 as the collision avoidance target when the difference between the expected position to which the target vehicle 3 moves when the vehicle 1 moves and the actual position of the target vehicle 3 detected at the position where the vehicle 1 moves is less than or equal to a predetermined distance.

[0124] When the target vehicle 3 is determined to be a collision avoidance target, the controller 100 may set the flag to “1”, and when the target vehicle 3 is not determined to be a collision avoidance target, the controller 100 may set the flag to “0”.

[0125] The controller 100 may determine a crossvehicle existence index (CEI) based on the crossvehicle existence flag (CEFn) value to determine the reliability of the collision possibility of the target vehicle 3 which is at risk of colliding with the vehicle 1 traveling at the intersection due to the intersection.

[0126] That is, as the target vehicle 3 approaches the intersection in a lateral direction, the risk of collision with the vehicle 1 increases, and the controller may determine the lateral vehicle presence index by giving a greater weight as the target vehicle 3 approaches in a lateral direction.

[0127] The controller 100 may calculate a lateral vehicle presence index (CEI) according to Equation 4.

[0128] [Equation 4]

[0129]

[0130] At this time, m=(the number of stopped vehicles-1), and 0.4 is a preset constant value for obtaining the lateral vehicle presence index (CEI). Figure 4 For example, when there are four stopped vehicles 2 in the crossing lane, m=3. Figure 4 , if a target vehicle 3 traveling in a lane adjacent to the stopped vehicle 2 is detected between the stopped vehicles 2 while the vehicle 1 is moving, and the target vehicle 3 is a collision avoidance target of the vehicle 1, the lateral vehicle presence index (CEI) can be determined as follows.

[0131]

[0132] At this time, since CEF1, CEF2, and CEF3 are all 1, CEI = 0.8. That is, CEI = 0.8 means that the reliability of a possible collision with the target vehicle 3 traveling beside the stopped vehicle 2 in the right crossing lane of the lane traveling by the vehicle 1 is 80%. The controller 100 may change the driving control amount of the vehicle 1 based on the reliability of the collision possibility between the vehicle 1 and the target vehicle 3 determined by the above method (1120).

[0133] When the reliability of the possibility of collision between the vehicle 1 and the target vehicle 3 determined according to the lateral vehicle presence index (CEI) is high, the controller 100 may advance the braking time of the vehicle 1 by controlling the speed regulator 70 of the vehicle 1. That is, as the risk of collision between the vehicle 1 and the target vehicle 3 increases, the controller 100 may increase the amount of reduction in the travel speed of the vehicle 1. Therefore, the vehicle 1 may be decelerated to more than a predetermined deceleration amount to avoid a collision with the target vehicle 3.

[0134] Furthermore, when the reliability of the collision possibility between the vehicle 1 and the target vehicle 3 determined according to the lateral vehicle presence index (CEI) is high, the controller 100 may warn the driver of the collision risk by advancing the collision risk warning point.

[0135] Therefore, according to the vehicle and control method according to the implementation scheme, by utilizing the information of the target vehicle 3 obtained between the stopped vehicle 2 parked in the lane intersecting with the driving lane of the vehicle 1, there is an effect of improving the integrity of the intersection collision avoidance control system by accurately predicting the collision between the vehicle 1 and the target vehicle 3.

[0136] Meanwhile, the embodiments of the present invention may be implemented in the form of a recording medium for storing instructions executable by a computer. The instructions may be stored in the form of program code, and when executed by a processor, the instructions may generate a program module to perform the operations in the embodiments of the present invention. The recording medium may correspond to a non-volatile computer-readable recording medium.

[0137] The non-volatile computer-readable recording medium includes any type of recording medium on which data that can be subsequently read by a computer is stored. For example, the non-volatile computer-readable recording medium may be a ROM, RAM, magnetic tape, magnetic disk, flash memory, optical data storage device, etc.

[0138] Therefore, several exemplary embodiments of the present invention have been described with reference to the accompanying drawings. It is obvious to a person skilled in the art that the present invention can be practiced in forms other than the exemplary embodiments described above without changing the technical concept or basic features of the present invention. The above exemplary embodiments are merely exemplary and should not be interpreted as limiting.

Claims

1. A vehicle comprising: a camera configured to detect at least one stopped vehicle in a first lane, the first lane being a lane intersecting to the right of a second lane where the vehicle is located; a detection sensor configured to detect a target vehicle located in a third lane adjacent to the at least one stopped vehicle to obtain position information and speed information of the target vehicle; as well as The controller is configured as: determining a first position of the vehicle for sensing the target vehicle between stopped vehicles; determining an expected position to which the target vehicle moves from an initial position within a time required for the vehicle to move from a first position to a second position; By comparing the actual position of the target vehicle with the expected position of the target vehicle, the reliability of the possibility of a collision between the vehicle and the target vehicle is determined.

2. The vehicle according to claim 1, wherein: The controller is further configured to determine the target vehicle as a collision avoidance target vehicle when a distance between an actual position and an expected position of the target vehicle is less than or equal to a predetermined distance.

3. The vehicle according to claim 1, wherein: The controller is further configured to not determine the target vehicle as a collision avoidance target vehicle when a distance between an actual position of the target vehicle and an expected position is greater than a predetermined distance.

4. The vehicle according to claim 1, wherein: The first position is the current position of the vehicle, and the second position of the vehicle is the position to which the vehicle moves from the first position within a predetermined time.

5. The vehicle according to claim 4, wherein: The controller is configured to determine the target vehicle as a collision avoidance target vehicle when the target vehicle is detected between stopped vehicles when the vehicle is in a first position and the target vehicle is detected between stopped vehicles when the vehicle is in a second position.

6. The vehicle according to claim 4, wherein: The controller is configured not to determine the target vehicle as a collision avoidance target vehicle when the target vehicle is detected between stopped vehicles when the vehicle is in a first position and the target vehicle is not detected between stopped vehicles when the vehicle is in a second position.

7. The vehicle according to claim 1, wherein: The controller is configured to determine a first position of the vehicle based on position information of the at least one stopped vehicle and an angle between the vehicle and the at least one stopped vehicle.

8. The vehicle of claim 1, wherein: The controller is further configured to determine a travel speed of the target vehicle.

9. The vehicle of claim 1, wherein: The controller is configured as follows: determining the number of operations for determining the reliability of the possibility of a collision between the vehicle and the target vehicle based on the number of stopped vehicles, Data on whether or not the vehicle is a collision avoidance target vehicle determined according to the number of operations are added together, thereby determining the reliability of the possibility of a collision between the vehicle and the target vehicle.

10. The vehicle of claim 1, wherein: The controller is configured as follows: The stopped vehicle search area is determined based on the width of the first lane and the width of the third lane. The number and location of at least one stopped vehicle detected in the stopped vehicle search area are determined.

11. The vehicle according to claim 1, wherein: The controller is further configured to change a travel control amount of the vehicle based on the reliability of the possibility of a collision.

12. A method for controlling a vehicle, comprising: detecting at least one stopped vehicle in a first lane, the first lane being a lane intersecting to the right of a second lane where the vehicle is located; detecting a target vehicle located in a third lane adjacent to the at least one stopped vehicle to obtain position information and speed information of the target vehicle; determining a first position of the vehicle for sensing the target vehicle between stopped vehicles; determining an expected position to which the target vehicle moves from an initial position within a time required for the vehicle to move from a first position to a second position; By comparing the actual position of the target vehicle with the expected position, the reliability of the possibility of a collision between the vehicle and the target vehicle is determined.

13. The method according to claim 12, further comprising: When the distance between the actual position and the expected position of the target vehicle is less than or equal to a predetermined distance, the target vehicle is determined as a collision avoidance target vehicle.

14. The method according to claim 12, further comprising: When the distance between the actual position and the expected position of the target vehicle is greater than a predetermined distance, the target vehicle is not determined as a collision avoidance target vehicle.

15. The method according to claim 12, wherein: When determining a first position of a vehicle, the first position is a current position of the vehicle, and the second position of the vehicle is a position to which the vehicle moves from the first position within a predetermined time.

16. The method according to claim 15, further comprising: When the target vehicle is detected between stopped vehicles when the vehicle is in the first position and the target vehicle is detected between stopped vehicles when the vehicle is in the second position, the target vehicle is determined as a collision avoidance target vehicle.

17. The method according to claim 15, further comprising: When the target vehicle is detected between stopped vehicles when the vehicle is in the first position and the target vehicle is not detected between stopped vehicles when the vehicle is in the second position, the target vehicle is not determined as a collision avoidance target vehicle.

18. The method according to claim 12, wherein: Determining the first position of the vehicle includes determining the first position of the vehicle based on the position information of the at least one stopped vehicle and an angle between the vehicle and the at least one stopped vehicle.

19. The method according to claim 12, wherein: Determining the expected position includes determining a travel speed of the target vehicle.

20. The method of claim 12, further comprising: determining the number of operations for determining the reliability of the possibility of a collision between the vehicle and the target vehicle based on the number of stopped vehicles, Data on whether or not the vehicle is a collision avoidance target vehicle determined according to the number of operations are added together, thereby determining the reliability of the possibility of a collision between the vehicle and the target vehicle.

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