Vehicle control device and vehicle control method

Abstract

Vehicle control device and vehicle control method. A vehicle control device and a vehicle control method are disclosed herein. The vehicle control device includes: a first sensor configured to detect an object; a second sensor configured to detect driver steering input information; an autonomous emergency steering assist (AESA) device configured to perform automatic emergency steering assist; a driver-initiated emergency steering assist (DESA) device configured to perform emergency steering assist based on the driver steering input information; and a controller configured to: control the AESA device to differently apply a steering assist control torque value corresponding to the AESA device for each collision risk level in a collision risk situation with the detected object; and when there is detected driver steering input information, control the DESA device to apply a steering assist control torque value corresponding to the DESA device according to the driver steering input information.

Description

Technical Field

[0001] The present disclosure relates to a vehicle control device and a vehicle control method. Background Art

[0002] Generally, when there is a risk of collision with an object, a vehicle performs collision avoidance control.

[0003] In Korean Patent Publication No. 10-1708135 (February 13, 2017), an example of a conventional technique regarding a collision avoidance support device and a collision avoidance support method is disclosed, in which, when performing collision avoidance control between a vehicle and an object, suppression of the release of brake assistance for collision avoidance is disclosed as having a short collision prediction time.

[0004] However, conventional collision avoidance support devices and collision avoidance support methods have limitations in preventing a collision with an object in advance.

[0005] In addition, conventional collision avoidance support devices and collision avoidance support methods have limitations in further maintaining stable ride comfort during avoidance control. Summary of the Invention

[0006] Accordingly, an aspect of the present disclosure is to provide a vehicle control device and a vehicle control method capable of further preventing a collision with an object.

[0007] Another aspect of the present disclosure is to provide a vehicle control device and a vehicle control method capable of further maintaining stable ride comfort during avoidance control.

[0008] Other aspects related to the present disclosure will be partially described below, and will be partially apparent from the description, or may be learned through the practice of the present disclosure.

[0009] According to an aspect of the present disclosure, a vehicle control device includes: a first sensor configured to detect an object; a second sensor configured to detect driver steering input information; an autonomous emergency steering assist (AESA) device configured to perform automatic emergency steering assist; a driver-activated emergency steering assist (DESA) device configured to perform emergency steering assist based on the driver steering input information; and a controller configured to: control the AESA device to differently apply a steering assist control torque value corresponding to the AESA device for each collision risk level in a collision risk situation with the detected object, and when there is detected driver steering input information, control the DESA device to apply a steering assist control torque value corresponding to the DESA device according to the driver steering input information.

[0010] When determining the collision risk situation of the detected object for each collision risk level, the controller may be configured to determine the collision risk using the longitudinal collision estimation time and lateral offset of the detected object.

[0011] When the collision risk level is the first level where the longitudinal collision estimation time is within the set first time value range and the lateral offset is within the set first offset value range, the controller may be configured to control the AESA device to apply a first steering assist control torque value among the steering assist control torque values corresponding to the AESA device.

[0012] When the collision risk level is the second level where the longitudinal collision estimation time is within a second time value range shorter than the set first time value range and the lateral offset is within a second offset value range larger than the set first offset value range, the controller may be configured to control the AESA device to apply a second steering assist control torque value larger than the first steering assist control torque value among the steering assist control torque values corresponding to the AESA device.

[0013] When the collision risk level is the third level where the longitudinal collision estimation time is within a third time value range shorter than the set second time value range and the lateral offset is within a third offset value range larger than the set second offset value range, the controller may be configured to control the AESA device to apply a third steering assist control torque value larger than the second steering assist control torque value among the steering assist control torque values corresponding to the AESA device.

[0014] When there is driver steering input information, the controller may be configured to control the DESA device to apply a steering assist control maximum torque value corresponding to the DESA device for each collision risk level according to the driver steering input information, and control the DESA device to apply a steering assist control torque value corresponding to the DESA device differently for each collision risk level according to the driver steering input information.

[0015] The controller may be configured to: when there is driver steering input information during the first level of the collision risk level, determine whether the driver steering input information is greater than the set first target steering information, and when the driver steering input information is greater than the first target steering information, control the DESA device to apply a steering assist control maximum torque value corresponding to the DESA device.

[0016] The controller may be configured to: when there is the driver steering input information during the first level of the collision risk level, determine whether the driver steering input information is greater than a second target steering information set to be less than the first target steering information, and when the driver steering input information is greater than the second target steering information, control the DESA device to apply a steering assist control maximum torque value corresponding to the DESA device.

[0017] The controller may be configured to: when there is the driver steering input information during the first level of the collision risk level, determine whether the driver steering input information is greater than a set first target steering information, and when the driver steering input information is greater than the first target steering information, control the DESA device to apply a first steering assist control torque value among the steering assist control torque values corresponding to the DESA device.

[0018] The controller may be configured to: when there is the driver steering input information during the first level of the collision risk level, determine whether the driver steering input information is greater than a second target steering information set to be less than the first target steering information, and when the driver steering input information is greater than the second target steering information, control the DESA device to apply a second steering assist control torque value greater than the first steering assist control torque value among the steering assist control torque values corresponding to the DESA device.

[0019] According to another aspect of the present disclosure, a method of controlling a vehicle includes the following steps: detecting an object and driver steering input information through a sensor; determining, by a controller, whether driver steering input information is not detected; when driver steering input information is not detected, controlling, by the controller, an autonomous emergency steering assist (AESA) device to differently apply a steering assist control torque value corresponding to the AESA device in a collision risk situation with the detected object for each collision risk level; and when there is detected driver steering input information, controlling, by the controller, a driver-activated emergency steering assist (DESA) device to apply a steering assist control torque value corresponding to the DESA device according to the driver steering input information.

[0020] When determining the collision risk situation with the detected object for each collision risk level, the method may further include the following steps: determining, by the controller, the collision risk using a longitudinal collision estimation time and a lateral offset of the detected object.

[0021] When the collision risk level is the first level where the longitudinal collision estimated time is within the set first time value range and the lateral offset is within the set first offset value range, the method may further include the following steps: controlling, by the controller, the AESA device to apply a first steering assist control torque value among the steering assist control torque values corresponding to the AESA device.

[0022] When the collision risk level is the second level where the longitudinal collision estimated time is within a second time value range shorter than the set first time value range and the lateral offset is within a second offset value range larger than the set first offset value range, the method may further include the following steps: controlling, by the controller, the AESA device to apply a second steering assist control torque value larger than the first steering assist control torque value among the steering assist control torque values corresponding to the AESA device.

[0023] When the collision risk level is the third level where the longitudinal collision estimated time is within a third time value range shorter than the set second time value range and the lateral offset is within a third offset value range larger than the set second offset value range, the method may further include the following steps: controlling, by the controller, the AESA device to apply a third steering assist control torque value larger than the second steering assist control torque value among the steering assist control torque values corresponding to the AESA device.

[0024] The method may further include the following steps: when there is driver steering input information, controlling, by the controller, the DESA device to apply, according to the driver steering input information, a maximum steering assist control torque value corresponding to the DESA device for each collision risk level; and controlling, by the controller, the DESA device to apply, according to the driver steering input information, different steering assist control torque values corresponding to the DESA device for each collision risk level.

[0025] The method may further include the following steps: when there is driver steering input information during the first level of the collision risk level, determining, by the controller, whether the driver steering input information is greater than a set first target steering information; and when the driver steering input information is greater than the first target steering information, controlling, by the controller, the DESA device to apply a maximum steering assist control torque value corresponding to the DESA device.

[0026] The method may further include the following steps: when there is driver steering input information during the first level of the collision risk level, determining, by a controller, whether the driver steering input information is greater than a second target steering information set to be less than a first target steering information; and when the driver steering input information is greater than the second target steering information, controlling, by the controller, the DESA device to apply a maximum steering assist control torque value corresponding to the DESA device.

[0027] The method may further include the following steps: when there is driver steering input information during the first level of the collision risk level, determining, by a controller, whether the driver steering input information is greater than a set first target steering information; and when the driver steering input information is greater than the first target steering information, controlling, by the controller, the DESA device to apply a first steering assist control torque value among the steering assist control torque values corresponding to the DESA device.

[0028] The method may further include the following steps: when there is driver steering input information during the first level of the collision risk level, determining, by a controller, whether the driver steering input information is greater than a second target steering information set to be less than a first target steering information; and when the driver steering input information is greater than the second target steering information, controlling, by the controller, the DESA device to apply a second steering assist control torque value greater than the first steering assist control torque value among the steering assist control torque values corresponding to the DESA device. Description of the Drawings

[0029] These and / or other aspects of the present disclosure will become apparent and be more readily understood from the following description of the embodiments in conjunction with the accompanying drawings:

[0030] Figure 1 is a block diagram showing a vehicle control device according to an exemplary embodiment of the present disclosure;

[0031] Figure 2 is shown in Figure 1 a view showing the state of detecting the collision risk situation with an object for each collision risk level in the first sensor shown;

[0032] Figure 3 is shown in Figure 1 and Figure 2 a view showing the state of determining the first level of the collision risk level in the controller shown;

[0033] Figure 4 is shown in Figure 1 and Figure 2 a view showing the state of determining the second level of the collision risk level in the controller shown;

[0034] Figure 5 is a view showing the state of the third level for determining the collision risk level in the controller shown in Figure 1 and Figure 2 ;

[0035] Figure 6 is a view showing the state of the steering assist control torque value applied to the autonomous emergency steering assist (AESA) device and the maximum steering assist control torque value for activating the driver emergency steering assist (DESA) device when there is driver steering input information during the determination of the first level of the collision risk level in the controller shown in Figure 1 ;

[0036] Figure 7 is a view showing the state of the steering assist control torque value applied to the AESA device and the maximum steering assist control torque value for the DESA device when there is driver steering input information during the determination of the second level of the collision risk level in the controller shown in Figure 1 ;

[0037] Figure 8 is a view showing the state of the steering assist control torque value applied to the AESA device and the first steering assist control torque value for the DESA device when there is driver steering input information during the determination of the first level of the collision risk level in the controller shown in Figure 1 ;

[0038] Figure 9 is a view showing the state of the steering assist control torque value applied to the AESA device and the second steering assist control torque value for the DESA device when there is driver steering input information during the determination of the second level of the collision risk level in the controller shown in Figure 1 ;

[0039] Figure 10 is a flowchart showing an example of a vehicle control method of a vehicle control device according to an exemplary embodiment of the present disclosure;

[0040] Figure 11 is a flowchart showing another example of a vehicle control method of a vehicle control device according to an exemplary embodiment of the present disclosure;

[0041] Figure 12 is a flowchart showing another example of a vehicle control method of a vehicle control device according to an exemplary embodiment of the present disclosure; and

[0042] Figure 13 is a flowchart showing another example of a vehicle control method of a vehicle control device according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0043] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. The following embodiments are provided to fully convey the spirit of the present disclosure to those of ordinary skill in the art to which the present disclosure pertains. The present disclosure is not limited to the embodiments shown herein, but may be implemented in other forms. To make the description of the present disclosure clear, irrelevant components are not shown, and the dimensions of the components are exaggerated for clarity.

[0044] Figure 1 is a block diagram showing a vehicle control device according to an exemplary embodiment of the present disclosure, Figure 2 is shown in Figure 1 a view showing the state of detecting the collision risk situation with an object for each collision risk level in the first sensor shown, Figure 3 is shown in Figure 1 and Figure 2 a view showing the state of determining the first level of the collision risk level in the controller shown, Figure 4 is shown in Figure 1 and Figure 2 a view showing the state of determining the second level of the collision risk level in the controller shown, Figure 5 is shown in Figure 1 and Figure 2 a view showing the state of determining the third level of the collision risk level in the controller shown, Figure 6 is a view showing the state of applying the steering assist control torque value of the autonomous emergency steering assist (AESA) device and the maximum steering assist control torque value of the driver-activated emergency steering assist (DESA) device when there is driver steering input information during the determination of the first level of the collision risk level in the controller shown in Figure 1 , Figure 7 is a view showing the state of applying the steering assist control torque value of the AESA device and the maximum steering assist control torque value of the DESA device when there is driver steering input information during the determination of the second level of the collision risk level in the controller shown in Figure 1 , Figure 8 is a view showing the state of applying the steering assist control torque value of the AESA device and the first steering assist control torque value of the DESA device when there is driver steering input information during the determination of the first level of the collision risk level in the controller shown in Figure 1 , and Figure 9 is a view showing the state of applying the steering assist control torque value of the AESA device and the second steering assist control torque value of the DESA device when there is driver steering input information during the determination of the second level of the collision risk level in the controller shown in Figure 1 .

[0045] Refer to Figures 1 to 9, the vehicle control device 100 may include a first sensor 101, a second sensor 102, an autonomous emergency steering assist (AESA) device 104, a driver-activated emergency steering assist (DESA) device 106, and a controller 108.

[0046] The first sensor 101 may detect an object A, and the second sensor 102 may detect driver steering input information.

[0047] Although not shown, the first sensor 101 may be at least one of an image sensor and a radar sensor for detecting the object A.

[0048] In this case, the object A may be at least one of other vehicles, motorcycles, bicycles, electric bicycles, electric scooters, electric kickboards, electric hoverboards, electric wheels, people, animals, and obstacles.

[0049] Additionally, although not shown, the second sensor 102 may be at least one of a steering torque sensor, a steering angle sensor, and a steering wheel angular velocity sensor for detecting driver steering input information.

[0050] The AESA device 104 may perform automatic emergency steering assist, and the DESA device 106 may perform emergency steering assist based on driver steering input information.

[0051] The controller 108 may include a processor and a memory. The memory may store programs for processing or controlling the processor and various data for operating the vehicle control device 100. The processor may control the overall operation of the vehicle control device 100.

[0052] The controller 108 may control the AESA device 104 to differently apply a steering assist control torque value corresponding to the AESA device 104 for each collision risk level in a collision risk situation with the object A detected by the first sensor 101.

[0053] Here, when the controller 108 determines the collision risk situation with the object A detected by the first sensor 101 for each collision risk level, the controller 108 may determine using the estimated time to longitudinal collision (“longitudinal collision estimated time”) and lateral offset with the object A detected by the first sensor 101.

[0054] As an example, as Figures 1 to 3 and Figure 6 shown, when the controller 108 determines the first level T1 of the collision risk level, the controller 108 may determine whether the longitudinal collision estimated time is within a set first time value range t1 and whether the lateral offset is within a set first offset value range os1.

[0055] In this case, when the controller 108 determines that the collision risk level is the first level T1, the controller 108 can control the AESA device 104 to apply the first steering assist control torque value AESAT1 among the steering assist control torque values corresponding to the AESA device 104.

[0056] As another example, as Figure 1 , Figure 2 , Figure 4 and Figure 6 shown, when the controller 108 determines that the collision risk level is the second level T2, the controller 108 can determine whether the longitudinal collision estimated time is within a second time value range t2 shorter than the first time value range t1 and whether the lateral offset is within a second offset value range os2 larger than the first offset value range os1.

[0057] In this case, when the controller 108 determines that the collision risk level is the second level T2, the controller 108 can control the AESA device 104 to apply the second steering assist control torque value AESAT2 larger than the first steering assist control torque value AESAT1 among the steering assist control torque values corresponding to the AESA device 104.

[0058] As another example, as Figure 1 , Figure 2 , Figure 5 and Figure 6 shown, when the controller 108 determines that the collision risk level is the third level T3, the controller 108 can determine whether the longitudinal collision estimated time is within a third time value range t3 shorter than the second time value range t2 and whether the lateral offset is within a third offset value range os3 larger than the second offset value range os2.

[0059] In this case, when the controller 108 determines that the collision risk level is the third level T3, the controller 108 can control the AESA device 104 to apply the third steering assist control torque value AESAT3 larger than the second steering assist control torque value AESAT2 among the steering assist control torque values corresponding to the AESA device 104.

[0060] When the controller 108 determines that there is driver steering input information detected by the second sensor 102, the controller 108 can control the DESA device 106 to apply the steering assist control torque value corresponding to the DESA device 106 according to the driver steering input information.

[0061] In this case, when the controller 108 determines that there is driver steering input information detected by the second sensor 102, the controller 108 can control the DESA device 106 to apply the steering assist control maximum torque value corresponding to the DESA device 106 to the collision risk level according to the driver steering input information.

[0062] As an example, as Figure 1 and Figure 6 shown, when the controller 108 determines that there is driver steering input information B during the first level T1 of the collision risk level, the controller 108 can determine whether the driver steering input information B is greater than the set first target steering information.

[0063] At this time, when the controller 108 determines that the driver steering input information B is greater than the first target steering information, the controller 108 can control the DESA device 106 to apply the first steering assist control maximum torque value DESAMT1 corresponding to the DESA device 106.

[0064] For example, when it is determined that the driver steering input information B is greater than 1.0 Nm of the first target steering torque value as the first target steering information and greater than 60 degrees / second of the first target steering angle value, the controller 108 can control the DESA device 106 to apply the first steering assist control maximum torque value DESAMT1 corresponding to the DESA device 106.

[0065] As another example, as Figure 1 and Figure 7 shown, when the controller 108 determines that there is driver steering input information B during the second level T2 of the collision risk level, the controller 108 can determine whether the driver steering input information B is greater than the second target steering information set to be less than the first target steering information.

[0066] At this time, when the controller 108 determines that the driver steering input information B is greater than the second target steering information, the controller 108 can control the DESA device 106 to apply the second steering assist control maximum torque value DESAMT2 corresponding to the DESA device 106.

[0067] For example, when it is determined that the driver steering input information B is greater than 0.5 Nm of the second target steering torque value as the second target steering information and greater than 30 degrees / second of the second target steering angle value, the controller 108 can control the DESA device 106 to apply the second steering assist control maximum torque value DESAMT2 corresponding to the DESA device 106.

[0068] Additionally, when the controller 108 determines that there is driver steering input information detected by the second sensor 102, the controller 108 can control the DESA device 106 to apply different steering assist control maximum torque values corresponding to the DESA device 106 according to the driver steering input information for different collision risk levels.

[0069] As an example, as Figure 1 and Figure 8 shown, when the controller 108 determines that there is driver steering input information B during the first level T1 of the collision risk level, the controller 108 can determine whether the driver steering input information B is greater than the set first target steering information.

[0070] At this time, when the controller 108 determines that the driver steering input information B is greater than the first target steering information, the controller 108 can control the DESA device 106 to apply the first steering assist control maximum torque value DESAMT1 corresponding to the DESA device 106.

[0071] For example, when it is determined that the driver steering input information B is greater than 1.0 Nm of the first target steering torque value as the first target steering information and greater than 60 degrees / second of the first target steering angle value, the controller 108 can control the DESA device 106 to apply the first steering assist control maximum torque value DESAMT1 corresponding to the DESA device 106.

[0072] As another example, as Figure 1 and Figure 9 shown, when the controller 108 determines that there is driver steering input information B during the second level T2 of the collision risk level, the controller 108 can determine whether the driver steering input information B is greater than the second target steering information set to be less than the first target steering information.

[0073] At this time, when the controller 108 determines that the driver steering input information B is greater than the second target steering information, the controller 108 can control the DESA device 106 to apply a second steering assist control maximum torque value DESAMT2 that is greater than the first steering assist control maximum torque value DESAMT1 corresponding to the DESA device 106.

[0074] For example, when it is determined that the driver steering input information B is greater than 0.5 Nm of the second target steering torque value as the second target steering information and greater than 30 degrees / second of the second target steering angle value, the controller 108 can control the DESA device 106 to apply a second steering assist control maximum torque value DESAMT2 that is greater than the first steering assist control maximum torque value DESAMT1 corresponding to the DESA device 106.

[0075] Figure 10 is a flowchart showing an example of a vehicle control method of a vehicle control device according to an exemplary embodiment of the present disclosure, Figure 11 is a flowchart showing another example of a vehicle control method of a vehicle control device according to an exemplary embodiment of the present disclosure, Figure 12 is a flowchart showing another example of a vehicle control method of a vehicle control device according to an exemplary embodiment of the present disclosure, Figure 13 is a flowchart showing another example of a vehicle control method of a vehicle control device according to an exemplary embodiment of the present disclosure.

[0076] Referring to Figures 10 to 13 , the vehicle control method 1000 of the vehicle control device 100 may include detection S1002, determination S1004, first control S1006, and second control S1008.

[0077] In the detection S1002, the first sensor 101 may detect the object A, and the second sensor 102 may detect the driver's steering input information.

[0078] In the first determination S1004, the controller 108 may determine whether there is no driver's steering input information detected by the second sensor 102.

[0079] In the first control S1006, when the controller 108 determines that there is no driver's steering input information detected by the second sensor 102, the controller 108 may control the AESA device 104 to apply different steering assist control torque values corresponding to the AESA device 104 in the collision risk situation with the object A detected by the first sensor 101 for each collision risk level.

[0080] In the first control S1006, when the controller 108 determines the collision risk situation with the object A detected by the first sensor 101 for each collision risk level, the controller 108 may determine using the longitudinal collision estimation time and lateral offset of the object A detected by the first sensor 101.

[0081] As an example, as shown in Figure 11 , in the S1006a of the first control, when the controller 108 determines the first level T1 of the collision risk level, the controller 108 may determine whether the longitudinal collision estimation time is within the first time value range t1 and whether the lateral offset is within the first offset value range os1.

[0082] In this case, in S1006b of the first control, when the controller 108 determines that the collision risk level is the first level T1, the controller 108 can control the AESA device 104 to apply the first steering assist control torque value AESAT1 among the steering assist control torque values corresponding to the AESA device 104.

[0083] As another example, in S1006c of the first control, when the controller 108 determines the second level T2 of the collision risk level, the controller 108 can determine whether the estimated longitudinal collision time is within a second time value range t2 shorter than the first time value range t1 and whether the lateral offset is within a second offset value range os2 larger than the first offset value range os1.

[0084] In this case, in S1006d of the first control, when the controller 108 determines that the collision risk level is the second level T2, the controller 108 can control the AESA device 104 to apply the second steering assist control torque value AESAT2 larger than the first steering assist control torque value AESAT1 among the steering assist control torque values corresponding to the AESA device 104.

[0085] As another example, in S1006e of the first control, when the controller 108 determines the third level T3 of the collision risk level, the controller 108 can determine whether the estimated longitudinal collision time is within a third time value range t3 shorter than the second time value range t2 and whether the lateral offset is within a third offset value range os3 larger than the second offset value range os2.

[0086] In this case, in S1006f of the first control, when the controller 108 determines that the collision risk level is the third level T3, the controller 108 can control the AESA device 104 to apply the third steering assist control torque value AESAT3 larger than the second steering assist control torque value AESAT2 among the steering assist control torque values corresponding to the AESA device 104.

[0087] In the second control S1008, when the controller 108 determines that there is driver steering input information detected by the second sensor 102, the controller 108 can control the DESA device 106 to apply the steering assist control torque value corresponding to the DESA device 106 according to the driver steering input information.

[0088] In this case, in the second control S1008, when the controller 108 determines that there is driver steering input information detected by the second sensor 102, the controller 108 can control the DESA device 106 to apply the maximum steering assist control torque value corresponding to the DESA device 106 to the collision risk level according to the driver steering input information.

[0089] As an example, as Figure 12 shown in, in S1008a and S1008b of the second control, when the controller 108 determines that there is driver steering input information B (S1008a) during the first level T1 of the collision risk level, the controller 108 may determine whether the driver steering input information B is greater than the set first target steering information (S1008b).

[0090] At this time, in S1008c of the second control, when the controller 108 determines that the driver steering input information B is greater than the first target steering information (S1008b), the controller 108 may control the DESA device 106 to apply the first steering assist control maximum torque value DESAMT1 corresponding to the DESA device 106.

[0091] As another example, in S1008d and S1008e of the second control, when the controller 108 determines that there is driver steering input information B (S1008d) during the second level T2 of the collision risk level, the controller 108 may determine whether the driver steering input information B is greater than the second target steering information (S1008e) set to be less than the first target steering information.

[0092] At this time, in S1008f of the second control, when the controller 108 determines that the driver steering input information B is greater than the second target steering information (S1008e), the controller 108 may control the DESA device 106 to apply the second steering assist control maximum torque value DESAMT2 corresponding to the DESA device 106.

[0093] In addition, in the second control S1008, when the controller 108 determines that there is driver steering input information detected by the second sensor 102, the controller 108 may control the DESA device 106 to apply the steering assist control maximum torque value corresponding to the DESA device 106 differently according to the driver steering input information for different collision risk levels.

[0094] As an example, as Figure 13 shown in, in S1008g and S1008h of the second control, when the controller 108 determines that there is driver steering input information B (S1008g) during the first level T1 of the collision risk level, the controller 108 may determine whether the driver steering input information B is greater than the set first target steering information (S1008h).

[0095] At this time, in S1008i of the second control, when the controller 108 determines that the driver steering input information B is greater than the first target steering information, the controller 108 may control the DESA device 106 to apply the first steering assist control maximum torque value DESAMT1 corresponding to the DESA device 106.

[0096] As another example, in S1008j and S1008k of the second control, when the controller 108 determines that there is driver steering input information B (S1008j) during the second level T2 of the collision risk level, the controller 108 may determine whether the driver steering input information B is greater than the second target steering information set to be less than the first target steering information (S1008k).

[0097] At this time, in S1008l of the second control, when the controller 108 determines that the driver steering input information B is greater than the second target steering information, the controller 108 may control the DESA device 106 to apply the second steering assist control maximum torque value DESAMT2 corresponding to the DESA device 106, which is greater than the first steering assist control maximum torque value DESAMT1.

[0098] As described above, the present disclosure can control the AESA device 104 to apply the steering assist control torque value corresponding to the AESA device 104 differently according to the collision risk level for the collision risk situation with the object A. When there is driver steering input information, the DESA device 106 can be controlled to apply the steering assist control torque value corresponding to the DESA device 106 according to the driver steering input information.

[0099] Therefore, the present disclosure can further prevent a collision with the object A and further maintain stable riding comfort during the avoidance control.

[0100] As is obvious from the above, the vehicle control device and the control method can further prevent a collision with an object.

[0101] In addition, the vehicle control device and the control method can also maintain stable riding comfort during the avoidance control.

[0102] Cross - reference to related applications

[0103] This application is based on and claims the priority of Korean Patent Application No. 10 - 2019 - 0111336, filed with the Korean Intellectual Property Office on September 9, 2019, the disclosure of which is incorporated herein by reference in its entirety.

Claims

1. A vehicle control device, the vehicle control device comprising: A first sensor configured to detect an object; A second sensor configured to detect driver steering input information; An autonomous emergency steering assist (AESA) device configured to perform automatic emergency steering assist; A driver-activated emergency steering assist (DESA) device configured to perform emergency steering assist based on the detected driver steering input information; And A controller configured to: Control the AESA device to apply a steering assist control torque value differently for each collision risk level in a collision risk situation with the detected object; and If driver steering input information is detected, control the DESA device to apply a steering assist control torque value according to the driver steering input information, Wherein, when determining the collision risk situation with the detected object for each of the collision risk levels, the controller is configured to use the longitudinal collision estimation time and the lateral offset relative to the detected object to determine the collision risk.

2. The vehicle control device according to claim 1, wherein, When the collision risk level is a first level where the longitudinal collision estimation time is within a set first time value range and the lateral offset is within a set first offset value range, the controller is configured to control the AESA device to apply a first steering assist control torque value.

3. The vehicle control device according to claim 1, wherein When the collision risk level is a second level where the longitudinal collision estimation time is within a second time value range shorter than the set first time value range and the lateral offset is within a second offset value range larger than the set first offset value range, the controller is configured to control the AESA device to apply a second steering assist control torque value larger than the first steering assist control torque value.

4. The vehicle control device according to claim 1, wherein, When the collision risk level is a third level where the longitudinal collision estimation time is within a third time value range shorter than the set second time value range and the lateral offset is within a third offset value range larger than the set second offset value range, the controller is configured to control the AESA device to apply a third steering assist control torque value larger than the second steering assist control torque value.

5. The vehicle control device according to claim 1, wherein, When driver steering input information is detected, the controller is configured to: Control the DESA device to apply a steering assist control maximum torque value for each of the collision risk levels according to the driver steering input information.

6. The vehicle control device according to claim 5, wherein, The steering assist control maximum torque value depends on the collision risk level.

7. The vehicle control device according to claim 5, wherein, The controller is configured to: If driver steering input information is detected during the first level of the collision risk level, determine whether the driver steering input information is greater than a set first target steering information; And When the driver steering input information is greater than the first target steering information, control the DESA device to apply the steering assist control maximum torque value.

8. The vehicle control device according to claim 5, wherein, The controller is configured to: If driver steering input information is detected during a first level of the collision risk level, determine whether the driver steering input information is greater than a second target steering information set to be less than a first target steering information; And When the driver steering input information is greater than the second target steering information, control the DESA device to apply the maximum torque value of the steering assist control.

9. The vehicle control device according to claim 5, wherein, The controller is configured to: If driver steering input information is detected during a first level of the collision risk level, determine whether the driver steering input information is greater than a set first target steering information; And When the driver steering input information is greater than the first target steering information, control the DESA device to apply a first steering assist control torque value among the steering assist control torque values.

10. The vehicle control device according to claim 5, wherein, The controller is configured to: If driver steering input information is detected during a first level of the collision risk level, determine whether the driver steering input information is greater than a second target steering information set to be less than a first target steering information; And When the driver steering input information is greater than the second target steering information, control the DESA device to apply a second steering assist control torque value greater than the first steering assist control torque value among the steering assist control torque values.

11. A method for providing an emergency steering input to a vehicle, the method comprising the steps of: Detect, via a sensor, an object and whether a driver of the vehicle has provided a steering input; When it is detected that the driver has not provided a steering input, cause an autonomous emergency steering assist (AESA) device to apply a steering control torque based on a value of a determined collision risk level via a controller; When it is detected that the driver has provided a steering input, cause a driver-activated emergency steering assist (DESA) device to apply a steering control based on a value of the steering input provided by the driver via the controller; And Determine the collision risk level based on an estimated time to collision (TTC) with the detected object and a lateral offset of the vehicle relative to the detected object.

12. The method according to claim 11, the method further comprising the steps of: If the collision risk level is a first level where the estimated TTC is within a first time value range and the lateral offset is within a first offset value range, cause the AESA device to apply a first steering assist control torque value via the controller.

13. The method according to claim 11, the method further comprising the steps of: If the collision risk level is a second level where the estimated TTC is within a second time value range shorter than the first time value range and the lateral offset is within a second offset value range larger than the first offset value range, cause the AESA device to apply a second steering assist control torque value greater than the first steering assist control torque value via the controller.

14. The method according to claim 11, the method further comprising the steps of: If the collision risk level is a third level where the estimated TTC is within a third time value range shorter than the second time value range and the lateral offset is within a third offset value range larger than the second offset value range, the controller causes the AESA device to apply a third steering assist control torque value greater than the second steering assist control torque value.

15. The method according to claim 11, the method further comprising the steps of: Cause the AESA device to: If the determined collision risk level is a first level where the TTC is within a first time value range and the lateral offset is within a first offset value range, apply a steering control torque at a first torque value, and If the determined collision risk level is a second level where the TTC is within a second time value range shorter than the first time value range and the lateral offset is within a second offset value range larger than the first offset value range, apply a steering control torque at a second torque value greater than the first torque value.

16. The method according to claim 11, the method further comprising the steps of: If driver steering input information is detected, the controller causes the DESA device to apply a steering assist control maximum torque value according to the driver steering input information for each of the collision risk levels.

17. The method according to claim 16, wherein, The steering assist control maximum torque value depends on the collision risk level.

18. The method according to claim 16, the method further comprising the steps of: If driver steering input information is detected during the first level of the collision risk level, the controller determines whether the driver steering input torque is greater than a first target steering torque; And If the driver steering input torque is greater than the first target steering torque, the controller causes the DESA device to apply the steering assist control maximum torque value.

19. The method according to claim 16, the method further comprising the steps of: If driver steering input information is detected during the first level of the collision risk level, the controller determines whether the driver steering input torque is greater than a second target steering torque smaller than the first target steering torque; And If the driver steering input torque is greater than the second target steering torque, the controller causes the DESA device to apply the steering assist control maximum torque value.

20. The method according to claim 16, the method further comprising the steps of: If driver steering input information is detected during the first level of the collision risk level, the controller determines whether the driver steering input torque is greater than a first target steering torque; And If the driver steering input torque is greater than the first target steering torque, the controller causes the DESA device to apply a first steering assist control torque value.

21. The method according to claim 16, the method further comprising the steps of: If driver steering input information is detected during the first level of the collision risk level, the controller determines whether the driver steering input torque is greater than a second target steering torque smaller than the first target steering torque; And If the driver steering input torque is greater than the second target steering torque, the controller causes the DESA device to apply a second steering assist control torque value that is greater than the first steering assist control torque value.

22. An Advanced Driver Assistance System (ADAS), the ADAS comprising: A first sensor configured to detect an object in front of the vehicle; A second sensor configured to detect whether the driver of the vehicle provides a steering input; An Autonomous Emergency Steering Assist (AESA) device configured to provide automatic emergency steering assistance; A Driver-Enabled Emergency Steering Assist (DESA) device configured to provide driver-enabled emergency steering assistance based on a detected steering input provided by the driver; And A controller including a processor and a memory, the processor being configured to: If a collision with the detected object is anticipated, determine a collision risk level, Cause the AESA device to apply a steering control torque based on a value of the determined collision risk level, and If a steering input provided by the driver is detected, cause the DESA device to apply a steering control torque based on a value of the detected steering input provided by the driver, wherein the collision risk level is determined based on an estimated time to collision (TTC) with the detected object and a lateral offset of the vehicle relative to the detected object.

23. The ADAS according to claim 22, wherein, The controller is configured to cause the AESA device to: If the determined collision risk level is a first level where the TTC is within a first time value range and the lateral offset is within a first offset value range, apply a steering control torque with a first torque value, and If the determined collision risk level is a second level where the TTC is within a second time value range shorter than the first time value range and the lateral offset is within a second offset value range larger than the first offset value range, apply a steering control torque with a second torque value greater than the first torque value.

24. The ADAS according to claim 22, wherein, The controller is configured to cause the DESA device to: If a steering input provided by the driver is detected, apply a steering control torque with a maximum value regardless of the determined collision risk level.

25. The ADAS according to claim 22, wherein, The controller is configured to: If a steering input provided by the driver is detected during a first collision risk level, determine whether the steering input provided by the driver is greater than a first threshold torque value, and If it is determined that the steering input provided by the driver is greater than the first threshold torque value, cause the DESA device to apply a steering control torque with a maximum value.

26. The ADAS according to claim 22, wherein, The controller is configured to: If a steering input provided by the driver is detected during a first collision risk level, determine whether the steering input provided by the driver is greater than a second threshold torque value smaller than the first threshold torque value, and If it is determined that the steering input provided by the driver is greater than the second threshold torque value, cause the DESA device to apply a steering control torque with a maximum value.

27. A non-transitory computer-readable medium storing computer-executable instructions that, when executed by a processor, cause the processor to perform the method of claim 11.

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