Vehicle and method of controlling the same

Abstract

The present invention relates to a vehicle for performing avoidance control of the vehicle in accordance with a position and a relative velocity of an object, which can include a sensing device mounted to the vehicle and having a forward field of view of the vehicle and a lateral side field of view of the vehicle, the sensing device configured to obtain object data related to the object; a dynamic sensor configured to detect a motion of the vehicle and obtain motion data based on the motion of the vehicle; and a controller including a processor configured to process the object data and the motion data.

Description

Technical Field

[0001] The present invention relates to a vehicle and a method for controlling the vehicle, and more specifically, to a driver assistance system. Background Technology

[0002] Advanced driver assistance systems (ADAS) use various sensors installed on the vehicle, such as cameras and radar, to determine the likelihood of a collision with pedestrians or other vehicles, and based on this, automatically control the braking and steering systems to avoid collisions in advance.

[0003] In ADAS, Forward Collision Avoidance Assist (FCA) warns the driver of danger and forces control of the vehicle's braking or steering to prevent collisions with obstacles in front of the driver while driving.

[0004] In this type of collision avoidance assist, although the vehicle determines the probability of a collision by only considering the physical distance and relative speed to the obstacle in front, it still performs avoidance control even if there is no actual possibility of a collision, providing the driver with an unnatural driving feel.

[0005] The information included in the background section of this invention is intended only to enhance the understanding of the general background of the invention and should not be construed as an admission of prior art known to those skilled in the art or any form of advice. Summary of the Invention

[0006] Various aspects of the present invention relate to a vehicle with sensitive control for collision avoidance assistance that executes avoidance control only when there is an actual possibility of collision, and a method for controlling the vehicle.

[0007] Further aspects of the invention will be set forth in part in the description which follows, and will be apparent in part from the description, or may be learned by practice of the invention.

[0008] According to various aspects of the present invention, a vehicle is provided for performing avoidance control of a vehicle based on the position and relative velocity of an object. The vehicle includes: a sensing device mounted to the vehicle and having a forward field of view and a lateral field of view sensing device, the sensing device being configured to acquire object data associated with the object; a sensor configured to detect motion of the vehicle and acquire motion data based on the motion of the vehicle; and a controller including a processor configured to process the object data and the motion data. The controller may be configured to: determine, based on the object data and the motion data, a heading angle between the object and the vehicle, the lateral position of the object relative to the vehicle, and the turning amount of the vehicle, and not perform avoidance control of the vehicle based on the heading angle, lateral position, and turning amount being greater than or equal to predetermined thresholds.

[0009] The controller can be configured to: set a first index corresponding to the heading angle to 1 when the heading angle is greater than or equal to a predetermined first threshold, set the first index to 0 when the heading angle is less than the predetermined first threshold; set a second index corresponding to the lateral position to 1 when the lateral position is greater than or equal to a predetermined second threshold, set the second index to 0 when the lateral position is less than the predetermined second threshold; set a third index corresponding to the turning amount to 1 when the turning amount is greater than or equal to a predetermined third threshold, and set the third index to 0 when the turning amount is less than the predetermined third threshold.

[0010] The controller can be configured not to perform avoidance control if at least one of the first, second, and third indicators has a value of 1.

[0011] The controller can be configured to: determine the change in heading angle per unit time, and when the change in heading angle per unit time is greater than or equal to a predetermined change threshold, set a first index corresponding to the change in heading angle per unit time to 1, and when the change in heading angle per unit time is less than the predetermined change threshold, set the first index to 0.

[0012] The heading angle can be the angle between the extension of a line perpendicular to the front surface of the vehicle and the extension of a line perpendicular to the front surface of the object.

[0013] The controller can be configured to form a belt of constant width based on the vehicle, to determine a second index corresponding to the lateral position as 1 based on the detection of an object outside the belt, and to determine the second index as 0 based on the detection of an object inside the belt.

[0014] The controller can be configured to determine the turning amount based on the vehicle's steering angle, vehicle speed, and vehicle angular velocity.

[0015] According to various aspects of the present invention, a method for controlling a vehicle is provided, the vehicle being used to perform vehicle avoidance control based on the position and relative velocity of an object. The method includes: acquiring object data and motion data via sensors; determining, via a controller, a heading angle between the object and the vehicle, the lateral position of the object relative to the vehicle, and the turning amount of the vehicle based on the object data and motion data; and controlling the vehicle not to perform vehicle avoidance control based on the heading angle, lateral position, and turning amount being greater than or equal to predetermined thresholds.

[0016] The determination may include: when the heading angle is greater than or equal to a predetermined first threshold, setting a first index corresponding to the heading angle to 1; when the heading angle is less than the predetermined first threshold, setting the first index to 0; when the lateral position is greater than or equal to a predetermined second threshold, setting a second index corresponding to the lateral position to 1; when the lateral position is less than the predetermined second threshold, setting the second index to 0; when the turning amount is greater than or equal to a predetermined third threshold, setting a third index corresponding to the turning amount to 1; and when the turning amount is less than the predetermined third threshold, setting the third index to 0.

[0017] Vehicle control may include controlling the vehicle not to perform avoidance control when at least one of the first, second, and third indicators has a value of 1.

[0018] The determination may include: determining the change in heading angle per unit time; when the change in heading angle per unit time is greater than or equal to a predetermined change threshold, setting a first index corresponding to the change in heading angle per unit time to 1; and when the change in heading angle per unit time is less than the predetermined change threshold, setting the first index to 0.

[0019] The heading angle can be the angle between the extension of a line perpendicular to the front surface of the vehicle and the extension of a line perpendicular to the front surface of the object.

[0020] The determination may include, based on the vehicle forming a strip with a constant width; when an object is detected outside the strip, a second index corresponding to the lateral position is determined to be 1; and when an object is detected inside the strip, the second index is determined to be 0.

[0021] The determination may include determining the turning amount based on the vehicle's steering angle, vehicle speed, and vehicle angular velocity.

[0022] According to various aspects of the present invention, a non-transitory computer-readable medium is provided, comprising program instructions executable by a processor. The computer-readable medium includes: program instructions for acquiring object data and motion data via sensors; program instructions for determining, via a controller, the heading angle between the object and a vehicle, the lateral position of the object relative to the vehicle, and the turning amount of the vehicle based on the object data and motion data; and program instructions for the controller to control the vehicle not to perform vehicle avoidance control based on the heading angle, lateral position, and turning amount being greater than or equal to predetermined thresholds.

[0023] The methods and apparatus of the present invention have other features and advantages, which will be apparent from the accompanying drawings and detailed description below, or will be set forth in more detail in the accompanying drawings and detailed description below, which are incorporated herein by reference and together serve to explain certain principles of the invention. Attached Figure Description

[0024] These and / or other aspects of the invention will become apparent and more readily understood from the following description of embodiments taken in conjunction with the accompanying drawings:

[0025] Figure 1 A view illustrating the configuration of a vehicle according to an exemplary embodiment of the present invention.

[0026] Figure 2 This is a control block diagram of a vehicle according to an exemplary embodiment of the present invention.

[0027] Figure 3 The views illustrate, for example, the camera and radar included in a driver assistance system (DAS) according to an exemplary embodiment of the present invention.

[0028] Figure 4 A view illustrating, for example, a method for controlling a vehicle according to an exemplary embodiment of the present invention.

[0029] Figure 5 A flowchart illustrating a method for controlling a vehicle according to an exemplary embodiment of the present invention.

[0030] Figure 6 A view for describing the determination of a first index according to an exemplary embodiment of the present invention.

[0031] Figure 7 A view for describing the determination of a second index according to an exemplary embodiment of the present invention.

[0032] Figure 8 A view for describing the determination of a third index according to an exemplary embodiment of the present invention.

[0033] It is understood that the accompanying drawings are not necessarily drawn to scale and present slightly simplified representations of various features illustrating the basic principles of the invention. Specific design features of the invention as included herein, including, for example, specific dimensions, orientations, positions, and shapes, will be determined in part by the particular intended application and environment of use.

[0034] In the accompanying drawings, reference numerals throughout the drawings refer to the same or equivalent parts of the invention. Detailed Implementation

[0035] Reference will now be made in detail to various embodiments of the invention, examples of which are illustrated in the accompanying drawings and described below. Although the invention will be described in conjunction with exemplary embodiments thereof, it should be understood that this specification is not intended to limit the invention to those exemplary embodiments. On the other hand, the invention is intended to cover not only the exemplary embodiments thereof, but also various alternatives, modifications, equivalents and other embodiments that may be included within the spirit and scope of the invention as defined in the appended claims.

[0036] Throughout this specification, the same reference numerals refer to the same elements. Not all elements of embodiments of the invention will be described, and descriptions of those well-known in the art or overlapping in exemplary embodiments will be omitted. Terms such as “~part,” “~module,” “~component,” “~block,” etc., used throughout this specification may be implemented in software and / or hardware, and multiple “~parts,” “~modules,” “~components,” or “~blocks” may be implemented in a single element, or a single “~part,” “~module,” “~component,” or “~block” may include multiple elements.

[0037] It should also be understood that the term "connection" and its derivatives refer to both direct and indirect connections, and indirect connections include connections via wireless communication networks.

[0038] Unless otherwise stated, the terms "include" and "comprise" (or "including") include the end value or are open-ended and do not exclude additional, unlisted elements or method steps.

[0039] Throughout the specification, when a component is "on" another component, this includes not only when one component is in contact with another component, but also when the other component is present between the two components.

[0040] It should be understood that although the terms first, second, third, etc., may be used herein to describe various elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments are not limited by these terms. These terms are used only to distinguish one element, component, region, layer, or segment from another region, layer, or segment.

[0041] It should be understood that, unless the context clearly specifies otherwise, the singular forms “a / an” and “the” include the plural forms.

[0042] The reference numerals used in the drawings for method steps are for illustrative purposes only and are not intended to restrict the order of steps. Therefore, unless the context clearly specifies otherwise, the order in which the steps are written may be practiced in other ways.

[0043] The working principle and embodiments of the present invention will now be described with reference to the accompanying drawings.

[0044] Figure 1 Views illustrating the configuration of a vehicle according to various exemplary embodiments of the present invention. Figure 2 This is a control block diagram of a vehicle according to various exemplary embodiments of the present invention, and Figure 3 The views illustrate, for example, the camera and radar included in a driver assistance system (DAS) according to an exemplary embodiment of the present invention.

[0045] like Figure 1 As described, vehicle 1 may include an engine 10, a transmission 20, a braking system 30, and a steering system 40. The engine 10 may include at least one cylinder and at least one piston, and is capable of generating the power required to drive vehicle 1. The transmission 20 may include multiple gears and transmits the power generated by the engine 10 to the wheels of vehicle 1. The braking system 30 decelerates or stops vehicle 1 through friction on the wheels. The braking system 30 may include one or more brake pads and brake shoes, operable to decelerate or stop the vehicle. The steering system 40 can change the direction of travel of vehicle 1.

[0046] Vehicle 1 may include multiple electronic components. For example, vehicle 1 may also include an engine management system (EMS) 11, a transmission controller 21 also known as a transmission control unit (TCU), an electronic brake controller 31 also known as an electronic brake control module (EBCM), an electronic power steering (EPS) device 41, a body control module (BCM), and a driver assistance system (DAS) 100.

[0047] EMS 11 can control engine 10 in response to the driver's acceleration intention from the accelerator pedal or a request signal from DAS 100. For example, EMS 11 can control the torque of engine 10.

[0048] TCU 21 can control transmission 20 in response to a shift command from the driver activated by the shift lever and / or the speed of vehicle 1. For example, TCU 21 can adjust or regulate the shift ratio between engine 10 and wheels of vehicle 1.

[0049] The EBCM 31 can control the braking device 30 in response to the driver's braking intention from the brake pedal or wheel slippage. For example, the EBCM 31 can temporarily release the wheel brakes in response to wheel slippage detected in the braking mode of the vehicle 1, thereby enabling the anti-lock braking system (ABS). The EBCM 31 can selectively release the wheel brakes in response to oversteer and / or understeer detected in the steering mode of the vehicle 1, thereby resulting in the implementation of electronic stability control (ESC). Furthermore, the EBCM 31 can temporarily brake the wheels in response to wheel slippage detected by vehicle driving, thereby enabling the traction control system (TCS).

[0050] EPS device 41 can assist steering device 40 in response to the driver's steering intention from the steering wheel, so that EPS device 41 can assist the driver in easily maneuvering the steering wheel. For example, EPS device 41 can assist the steering wheel so that the steering force is reduced in the low-speed driving mode or parking mode of vehicle 1, and increased in the high-speed driving mode of vehicle 1.

[0051] The body control module 51 can control various electronic components configured to provide user convenience or ensure driver safety. For example, the body control module 51 can control headlights, windshield wipers, instruments or other instrument groups, multifunction switches, turn signal indicators, etc.

[0052] DAS 100 can assist the driver in easily manipulating (e.g., driving, braking, and steering) vehicle 1. For example, DAS 100 can detect the surrounding environment of vehicle 1 (i.e., the vehicle itself) (e.g., surrounding vehicles, pedestrians, cyclists, lanes, traffic signs, etc.) and can perform driving, braking, and / or steering of vehicle 1 in response to the detected surrounding environment.

[0053] The DAS 100 offers drivers a variety of functions. For example, it provides lane departure warning (LDW), lane keeping assist (LKA), high beam assist (HBA), automatic emergency braking (AEB), traffic sign recognition (TSR), smart cruise control (SCC), and blind spot detection (BSD).

[0054] DAS 100 may include a camera module 101 operable to acquire image data of the surrounding area of ​​vehicle 1 (e.g., the area outside and around vehicle 1), and a radar module 102 operable to acquire data about surrounding objects present in the surrounding area of ​​vehicle 1. Camera module 101 may include camera 101a or multiple cameras and electronic control unit (ECU) 101b. Camera 101a may capture images including the area in front of vehicle 1 (e.g., the area in front of vehicle 1) and may include an image processor for processing the captured images to identify surrounding vehicles, pedestrians, cyclists, lanes, traffic signs, etc. Radar module 102 may include radar 102a or multiple radars and ECU 102b, and may acquire or determine the relative position, relative speed, etc., of surrounding objects of vehicle 1 (e.g., surrounding vehicles, pedestrians, or cyclists) based on detected radar data.

[0055] DAS 100 is not limited to Figure 1 The components described herein may also include light detection and ranging (LiDAR), which scans the area around vehicle 1 and detects objects.

[0056] The electronic components mentioned above can communicate with each other via a vehicle communication network (NT). For example, electronic components can perform data communication via Ethernet, System Transmission to Media (MOST), FlexRay, Controller Area Network (CAN), Local Interconnect Network (LIN), etc. For example, DAS 100 can transmit drive control signals, braking signals, and steering signals to EMS 11, EBCM 31, and EPS device 41 via the vehicle communication network (NT).

[0057] refer to Figure 2 Vehicle 1 may include braking system 32, steering system 42 and DAS 100.

[0058] As described above, vehicle 1 can perform avoidance control based on the position and relative speed of an object according to the DAS 100 that performs forward collision avoidance assist (FCA). Here, an object can refer to another vehicle, a pedestrian, a cyclist, etc., and can also refer to any object that vehicle 1 needs to avoid.

[0059] The braking system 32 according to an exemplary embodiment may include a combination Figure 1 The description of EBCM 31 (see Figure 1 ) and braking device 30 (see Figure 1 The steering system 42 may include EPS 41 (see...) Figure 1 ) and steering device 40 (see Figure 1 ).

[0060] DAS 100 may include a front camera 110, a front radar 120, and multiple corner radars. The front camera 110, the front radar 120, and the multiple corner radars are sensors for detecting objects outside the vehicle 1, and may be collectively referred to as sensing devices.

[0061] The sensing device can detect objects, acquire object data, and provide it to the controller 140. In this case, the object data may include image data acquired from the front camera 110 and radar data 120 acquired from the front radar 120 and / or the corner radar.

[0062] refer to Figure 3 The front camera 110 may have a field of view 110a pointing towards the front of the vehicle 1. For example, the front camera 110 may be mounted on the windshield of the vehicle 1.

[0063] The front camera 110 can capture images of the front of the vehicle 1 and obtain image data about the front of the vehicle 1. The image data about the front of the vehicle 1 may include location information related to at least one of other vehicles, pedestrians, cyclists, lanes, curbs, guardrails, roadside trees, and streetlights located in front of the vehicle 1.

[0064] The front camera 110 can image the front of the vehicle 1 and obtain image data about the front of the vehicle 1. The image data about the front of the vehicle 1 may include its position relative to other vehicles, signs, pedestrians, cyclists, or lanes in front of the vehicle 1.

[0065] The front camera 110 may include multiple lenses and an image sensor. The image sensor may include multiple photodiodes for converting light into electrical signals, and the multiple photodiodes may be arranged in a two-dimensional matrix.

[0066] The front camera 110 can be electrically connected to the controller 140. For example, the front camera 110 can be connected to the controller 140 via a vehicle communication network NT, via a hardwire, or via a printed circuit board (PCB).

[0067] The front camera 110 can transmit image data about the front of the vehicle 1 to the controller 140.

[0068] The front radar 120 may have a sensing field of view 120a pointing towards the front of the vehicle 1. The front radar 120 may be provided on, for example, the grille or bumper of the vehicle 1.

[0069] The front radar 120 may include a transmitting antenna (or transmitting antenna array) that transmits radio waves toward the front of the vehicle 1 and a receiving antenna (or receiving antenna array) that receives reflected radio waves reflected from obstacles. The front radar 120 can obtain front radar data from the transmitted radio waves emitted by the transmitting antenna and the reflected radio waves received by the receiving antenna. The front radar data may include position and speed information about obstacles, such as other vehicles, pedestrians, or cyclists present in front of the vehicle 1. The front radar 120 can determine the relative distance to obstacles based on the phase difference (or time difference) between the transmitted and reflected radio waves, and determine the relative speed of objects based on the frequency difference between the transmitted and reflected radio waves.

[0070] The front radar 120 can be connected to the controller 140 via the vehicle communication network NT, hardwire, or PCB. The front radar 120 can transmit front radar data to the controller 140.

[0071] The motion sensor 130 can detect the motion of vehicle 1 and obtain motion data based on the motion of vehicle 1. The motion data may include information related to the vehicle 1's speed, steering angle, and yaw rate. The motion sensor 130 is a variety of well-known sensors, such as wheel speed sensors, steering angle sensors, and yaw rate sensors, and can be positioned in appropriate locations, such as the wheels and steering wheel of vehicle 1, to detect the vehicle 1's speed, steering angle, yaw rate, etc., and transmit them to the controller 140.

[0072] The multiple corner radars may include a first corner radar 131 mounted on the right front side of vehicle 1, a second corner radar 132 mounted on the left front side of vehicle 1, a third corner radar 133 mounted on the right rear side of vehicle 1, and a fourth corner radar 134 mounted on the left rear side of vehicle 1.

[0073] like Figure 3 As described, the first corner radar 131 may include a field of view (FOS) 131a facing the right front region of vehicle 1. For example, the forward-looking radar 120 may be mounted on the right side of the front bumper of vehicle 1. The second corner radar 132 may include a FOS 132a facing the left front region of vehicle 1 and may be mounted, for example, on the left side of the front bumper of vehicle 1. The third corner radar 133 may include a FOS 133a facing the rear right region of vehicle 1 and may be mounted, for example, on the right side of the rear bumper of vehicle 1. The fourth corner radar 134 may include a FOS 134a facing the left rear region of vehicle 1 and may be mounted, for example, on the left side of the rear bumper of vehicle 1.

[0074] Each of the first, second, third, and fourth corner radars 131, 132, 133, and 134 may include a transmit (Tx) antenna and a receive (Rx) antenna. The first, second, third, and fourth corner radars 131, 132, 133, and 134 may acquire first corner radar data, second corner radar data, third corner radar data, and fourth corner radar data, respectively. The first corner radar data may include information related to the distance between vehicle 1 and an object present in the right front region of vehicle 1 (e.g., another vehicle, pedestrian, or cyclist), and information related to the speed of the object. The second corner radar data may include information related to the distance between vehicle 1 and an object present in the left front region of vehicle 1 (e.g., another vehicle, pedestrian, or cyclist), and information related to the speed of the object. The third corner radar data may include information related to the distance between vehicle 1 and an object present in the right rear region of vehicle 1 (e.g., another vehicle, pedestrian, or cyclist), and information related to the speed of the object. The fourth corner radar data may include information related to the distance between vehicle 1 and an object (e.g., another vehicle, pedestrian, or cyclist) located in the left rear region of vehicle 1, and information related to the speed of the object.

[0075] Each of the first, second, third, and fourth corner radars 131, 132, 133, and 134 can be connected to the controller 140 via, for example, a vehicle communication network NT, hardwired, or PCB. The first, second, third, and fourth corner radars 131, 132, 133, and 134 can transmit first corner radar data, second corner radar data, third corner radar data, and fourth corner radar data to the controller 140, respectively.

[0076] Controller 140 may include camera module 101 (see Figure 1 ECU 101b (see) Figure 1 ) and / or radar module 102 (see Figure 1 ECU 102b (see) Figure 1 ) and / or integrated ECU.

[0077] The controller 140 includes a processor 141 and a memory 142.

[0078] The processor 141 can process front image data from the front camera 110, front radar data from the front radar 120, and corner radar data from multiple corner radars, and can generate braking and steering signals for controlling the braking system 32 and the steering system 42.

[0079] For example, processor 141 may include an image signal processor for processing front image data of front camera 110 and / or a digital signal processor for processing radar data of radar 120 and / or a microcontroller unit (MCU) for generating braking signals and steering signals.

[0080] The processor 141 can detect objects (such as other vehicles, pedestrians, cyclists, etc.) in front of the vehicle 1 based on the front image data of the front camera 110 and the front radar data of the front radar 120.

[0081] The processor 141 can obtain the position (distance and direction) and relative speed of objects in front of the vehicle 1 based on the front radar data of the front radar 120. The processor 141 can obtain the position (direction) and type information of objects in front of the vehicle 1 (e.g., the object is another vehicle, a pedestrian, or a cyclist) based on the front image data of the front camera 110.

[0082] In addition, the processor 141 can match objects detected by the front image data with objects detected by the front radar data, and obtain information on the type, position and relative speed of objects in front of the vehicle 1 based on the matching results.

[0083] The processor 141 can generate braking and steering signals based on the type, position, and relative velocity of the preceding object.

[0084] For example, processor 141 determines the time of collision (TTC) between vehicle 1 and the object in front based on the position (distance) and relative speed of the object in front, and warns the driver of a collision based on the comparison of the TTC with a predetermined reference time, sends a braking signal to braking system 32, or sends a steering signal to steering system 42.

[0085] As various exemplary embodiments of the present invention, the processor 141 may determine the collision distance (DTC) based on the relative velocity of the object in front, and warn the driver of a collision based on the comparison result of the DTC and the distance to the object in front, or send a braking signal to the braking system 32, or send a braking signal to the steering system 42.

[0086] The processor 141 can obtain the position (distance and direction) and relative speed of objects on the sides (right front, left front, right rear and left rear) of the vehicle 1 based on corner radar data from multiple corner radars.

[0087] The processor 141 can transmit a steering signal to the steering system 42 based on the position (distance and orientation) and relative speed of objects on the side of the vehicle 1.

[0088] For example, when a collision with an object in front is determined based on TTC or DTC, processor 141 may send a steering signal to steering system 42 to avoid a collision with the object in front.

[0089] Processor 141 can determine whether to avoid a collision with a forward object by changing the driving direction of vehicle 1 based on the position (distance and orientation) and relative speed of objects on the side of vehicle 1. For example, when no object is located on the side of vehicle 1, processor 141 can send a steering signal to steering system 42 to avoid a collision with a forward object. When it is predicted, based on the position (distance and orientation) and relative speed of objects on the side, that a collision with a side object will not occur after vehicle 1 turns, processor 141 can send a steering signal to steering system 42 to avoid a collision with a forward object. When it is predicted, based on the position (distance and orientation) and relative speed of objects on the side, that a collision with a side object will occur after vehicle 1 turns, processor 141 may not send a steering signal to steering system 42.

[0090] The memory 142 may store programs and / or data for processing image data by the processor 141, programs and / or data for processing radar data by the processor 141, and programs and / or data for generating braking signals and / or steering signals by the processor 141.

[0091] The memory 142 may temporarily store image data received from the front camera 110 and / or radar data received from the radar 120, and may also temporarily store the processing results of the processor 141 on the image data and / or radar data.

[0092] The memory 142 may include not only volatile memory, such as S-RAM and D-RAM, but also non-volatile memory, such as flash memory, read-only memory (ROM), erasable programmable read-only memory (EPROM), etc.

[0093] DAS 100 is not limited to Figure 2The components described herein may also include a LiDAR that scans the area around vehicle 1 and detects objects.

[0094] Therefore, controller 140 can send a braking signal to braking system 32 based on whether a collision with a forward object is predicted. When there is no side object or a collision with a side object is predicted, controller 140 can send a steering signal to steering system 42 to avoid a collision with a forward object. When a collision with a side object is predicted after steering, controller 140 may not send a steering signal to steering system 42.

[0095] In addition, before describing the various embodiments described below, the data processed by the controller 140 and the objects that obtain the data will be described.

[0096] Vehicle 1 may include a front image sensor having a forward field of view of vehicle 1 and acquiring forward image data, a front non-image sensor having a forward detection field of view of vehicle 1 and being composed of a group consisting of a free radar sensor and a light detection and ranging (LiDAR) sensor and acquiring forward detection data, a side non-image sensor having a side detection field of view of vehicle 1 and being composed of a group consisting of a free radar sensor and a LiDAR sensor to acquire side detection data, a rear image sensor having a rear field of view of vehicle 1 and acquiring rear image data, and a rear non-image sensor having a rear detection field of view of vehicle 1 and being composed of a group consisting of a free radar sensor and a LiDAR sensor to acquire rear detection data.

[0097] The front image sensor and the front non-image sensor can detect objects located in front of the vehicle 1.

[0098] The side non-image sensor can detect side objects, front objects, and rear objects located on the side, front, and rear sides of vehicle 1. The side non-image sensor is provided at the corner position of vehicle 1 and can independently detect side objects, front objects, and rear objects located on the side, front, and rear sides. It can also be provided on the side of vehicle 1, together with the front image sensor, front non-image sensor, rear image sensor, and rear non-image sensor, to detect side objects, front objects, and rear objects located in the front and rear regions.

[0099] The rear image sensor and the rear non-image sensor can detect objects located behind vehicle 1.

[0100] When Adaptive Cruise Control (ACC) is activated, the present invention is based on the on / off state of the turn indicator lights of vehicle 1. For example, when the turn indicator lights of vehicle 1 are on, controller 140 can determine that the driver intends to change lanes and can execute the control algorithm described later. For example, when the left turn indicator light is on, controller 140 predicts that the driver will attempt to change lanes to the left lane and executes control based on the activation of the non-image sensor on the left. Conversely, when the right turn indicator light is on, controller 140 predicts that the driver will attempt to change lanes to the right lane and executes control based on the activation of the non-image sensor on the right.

[0101] Furthermore, this invention can be applied when performing ACC or NOA (Autopilot Navigation) and simultaneously making a left turn at an intersection with another vehicle on the opposite side.

[0102] refer to Figure 4 Generally, when vehicle 1 and oncoming object 2 are both turning left at the same time, avoidance control can be performed based on the position and / or relative speed of object 2. In this case, even if there is no possibility of collision, vehicle 1 turning on the left side of the road and object 2 turning on the right side of the road may have to brake or steer suddenly, causing anxiety for the driver.

[0103] Therefore, this invention allows for the preservation of avoidance control that is sensitively executed in related technologies by considering additional information besides the position and relative velocity of object 2. Reference will be made below. Figure 5 , Figure 6 , Figure 7 and Figure 8 Describe in detail the specific methods used for implementation.

[0104] Figure 5 A flowchart illustrating a method for controlling a vehicle according to an exemplary embodiment of the present invention. (Refer to...) Figures 6 to 8 Description based on Figure 5 Method for controlling vehicle 1. Figure 6 A view for describing the determination of a first index according to various exemplary embodiments of the present invention. Figure 7 A view for determining the second index in order to describe various exemplary embodiments according to the present invention, and Figure 8 A view for describing the determination of a third index according to an exemplary embodiment of the present invention.

[0105] The controller 140 can acquire object data and motion data (501). The object data may correspond to information related to the object 2 obtained by the front camera 110, the front radar 120 and at least one of the multiple corner radars, and the motion data may correspond to information related to the vehicle 1 obtained by the dynamic sensor 130.

[0106] The controller 140 can determine at least one of the following based on object data and motion data: the heading angle between object 2 and vehicle 1, the lateral position of object 2 relative to vehicle 1, and the turning amount of vehicle 1 (502).

[0107] The controller 140 can determine a first parameter (503) based on the heading angle. (Reference) Figure 6 The heading angle θ can correspond to the angle between the extension of the front surface of vehicle 1 and the extension of the front surface of object 2. The heading angle can be obtained as object data through a sensing device, and the controller 140 can process the object data to determine the heading angle between vehicle 1 and object 2.

[0108] The first indicator is a control indicator that uses the heading angle as a factor, and its value can be 0 or 1. When the first indicator is 1, it can indicate the view that the collision probability is independent of the heading angle and the position and relative velocity of the object, while 0 can indicate that the possibility of a collision cannot be determined or that the probability of a collision is very high.

[0109] According to an exemplary embodiment of the present invention, when the heading angle is equal to or greater than a predetermined first threshold, the controller 140 may determine the first indicator to be 1. In this case, the predetermined first threshold is less than 180° but close to 180°, and may indicate a situation where vehicle 1 and object 2 are traveling side by side in opposite directions. In this case, such as when vehicle 1 and object 2 enter an intersection simultaneously, the controller 140 may control vehicle 1 not to perform avoidance control because the distance between vehicle 1 and object 2 is close to that of object 2, but vehicle 1 is traveling in a different direction.

[0110] Furthermore, according to an exemplary embodiment of the present invention, when the heading angle is equal to or greater than a value below a predetermined first threshold and the lateral position of object 2 relative to vehicle 1 is equal to or greater than a predetermined distance, the controller 140 may determine the first index to be 1. In this case, the value below the predetermined first threshold may have an angle within an obtuse angle range and may indicate a situation in which there is no possibility of collision when vehicle 1 and object 2 maintain a predetermined distance. In this case, when vehicle 1 and object 2 enter the intersection at different times, the controller 140 may control vehicle 1 such that a collision between vehicle 1 and object 2 exists to some extent according to the heading angle, but is not avoided by maintaining a predetermined distance.

[0111] Furthermore, according to an exemplary embodiment of the present invention, the controller 140 can determine the amount of change of the heading angle per unit time. When the amount of change of the heading angle per unit time is greater than or equal to a predetermined change threshold, the controller 140 can set a first index corresponding to the amount of change of the heading angle per unit time to 1. When the amount of change of the heading angle per unit time is less than the predetermined change threshold, the controller 140 can set the first index to 0.

[0112] This refers to a situation where vehicle 1 and object 2 enter the intersection at different times, but due to the speed difference between them, they eventually pass through the intersection side by side in opposite directions. For example, when object 2 enters the intersection first, the heading angle between vehicle 1 and object 2 is approximately 135°. However, when vehicle 1 enters the intersection, the heading angle between vehicle 1 and object 2 is close to 180°.

[0113] Furthermore, the controller 140 can determine a second indicator (504) based on the lateral position of the object 2 relative to the vehicle 1. (See reference) Figure 7 The lateral position can refer to the vertical distance between the extension line perpendicular to the front of vehicle 1 and object 2.

[0114] When the lateral position of object 2 relative to vehicle 1 is greater than or equal to a predetermined distance, controller 140 can set the second index to 1, and when the lateral position of object 2 relative to vehicle 1 is less than the predetermined distance, controller 140 can set the second index to 0. Controller 140 can form a strip with a constant width relative to vehicle 1. When object 2 is detected outside the strip, controller 140 can set the second index corresponding to the lateral position to 1. When object 2 is detected inside the strip, controller 140 can set the second index to 0.

[0115] On the other hand, re-reference Figure 7 The controller 140 can control the vehicle 1 based on the current position of the vehicle 1 so as not to perform avoidance control on the detected object 2 outside the band, in order to supplement the prediction judgment of the accumulated error.

[0116] Currently, the point data in the strip can indicate the location of areas within it where there is a possibility of a collision with vehicle 1.

[0117] [Formula 1]

[0118] min Y(p1,p2,p3,..,p n )≤ with≤Max Y(p1,p2,p3,..,p n )

[0119] (pn: the horizontal position of the object during control)

[0120] Furthermore, the controller 140 can determine a third indicator (505) based on the turning amount of the vehicle 1. (See reference) Figure 8 The turning amount is the amount by which vehicle 1 moves to change its route at the intersection, and can be determined by the following formula 2.

[0121] [Formula 2]

[0122]

[0123] (a: Number of samples from when the vehicle starts turning to when it starts moving in a straight line, wU: U-turn weight)

[0124] The turning amount can be obtained by the dynamic sensor 130 installed in vehicle 1, and can be determined based on the steering angle, speed and yaw rate of vehicle 1. However, the turning amount when making a U-turn needs to be corrected at a lower speed than when vehicle 1 turns left, and a U-turn weight (wU>1) can be applied when vehicle 1 makes a U-turn.

[0125] According to an exemplary embodiment of the present invention, when the turning amount of vehicle 1 is equal to or greater than a predetermined threshold, controller 140 may determine the third indicator as 1. When the turning amount of vehicle 1 is less than the predetermined threshold, controller 140 may determine the third indicator as 0.

[0126] In this scenario, the threshold can have a high value depending on the number of lanes adjacent to the object 2 entering the intersection from the opposite side of vehicle 1. Vehicle 1 can variably set a predetermined threshold. Therefore, vehicle 1 performs avoidance control and avoidance control prevention by considering the second object 2-2 in addition to the adjacent first object 2-1.

[0127] The greater the turning amount, the further vehicle 1 deviates from the intersection. Therefore, considering the reduced probability of vehicle 1 colliding with object 2, when the turning amount is greater than or equal to a predetermined threshold, controller 140 can set the third indicator to 1 and control vehicle 1 not to perform avoidance control.

[0128] When the first to third indicators are determined in operations 503 to 505, the controller 140 may determine whether at least one of the first, second, and third indicators is 1. When at least one of the first, second, and third indicators is 1, the controller 140 may control the vehicle 1 not to perform existing avoidance control (507) by determining that there is no possibility of a collision, regardless of the distance and / or relative speed between the vehicle 1 and the object 2.

[0129] Conversely, when the first, second, and third indicators are all 0, the controller 140 may take into account the distance and / or relative speed between the vehicle 1 and the object 2 to perform avoidance control, as in related art (508).

[0130] According to an exemplary embodiment of the present invention, sensitive control that prevents collision avoidance assistance and executes avoidance control only when there is a real possibility of collision provides a high degree of perfection for autonomous vehicles.

[0131] The disclosed exemplary embodiments may be implemented in the form of a recording medium storing computer-executable instructions that can be executed by a processor. The instructions may be stored in the form of program code, and when executed by a processor, the instructions may generate program modules to perform the operations of the included exemplary embodiments. The recording medium may be implemented non-transitory as a computer-readable recording medium.

[0132] Non-transitory computer-readable recording media can include all kinds of recording media that store commands that can be interpreted by a computer. For example, non-transitory computer-readable recording media can be ROM, RAM, magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

[0133] Furthermore, terms related to control devices, such as "controller," "control unit," "control device," or "control module," refer to hardware devices including a memory and a processor configured to execute one or more steps interpreted as an algorithmic structure. The memory stores the algorithmic steps, and the processor executes the algorithmic steps to perform one or more processes of methods according to various exemplary embodiments of the present invention. A control device according to exemplary embodiments of the present invention may be implemented via a non-volatile memory configured to store operating algorithms for controlling various components of a vehicle or data regarding software commands for executing the algorithms, and a processor configured to perform the aforementioned operations using the data stored in the memory. The memory and processor may be separate chips. Alternatively, the memory and processor may be integrated into a single chip. The processor may be implemented as one or more processors. The processor may include various logic circuits and arithmetic circuits, process data according to a program provided by the memory, and generate control signals based on the processing results.

[0134] The control device may be at least one microprocessor that operates by a predetermined program, which may include a series of commands for executing the methods included in the foregoing various exemplary embodiments of the present invention.

[0135] The aforementioned invention can also be embodied as computer-readable code on a computer-readable recording medium. A computer-readable recording medium is any data storage device capable of storing data that can subsequently be read by a computer system. Examples of computer-readable recording media include hard disk drives (HDDs), solid-state drives (SSDs), silicon disk drives (SDDs), read-only memory (ROM), random access memory (RAM), CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, etc., and are implemented as carrier waves (e.g., transmitted via the Internet).

[0136] In various exemplary embodiments of the present invention, each of the above operations may be performed by a control device, and the control device may be configured by multiple control devices or a single integrated control device.

[0137] In various exemplary embodiments of the present invention, the control device may be implemented in hardware or software form, or in a combination of hardware and software.

[0138] For ease of interpretation and accurate definition of the appended claims, the terms “upper,” “lower,” “inner,” “outer,” “up,” “lower,” “upward,” “downward,” “front,” “rear,” “back,” “inner side,” “outer side,” “inward,” “outer,” “internal,” “external,” “inside,” “outside,” “front,” and “rear” are used to describe features of exemplary embodiments with reference to the positions of features as shown in the accompanying drawings. It should also be understood that the term “connection” or its derivatives refer to both direct and indirect connections.

[0139] The foregoing description of specific exemplary embodiments of the invention has been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise forms disclosed, and it will be apparent that many modifications and variations are possible in accordance with the foregoing teachings. The exemplary embodiments were chosen and described to explain certain principles of the invention and its practical application, enabling others skilled in the art to make and utilize the various exemplary embodiments of the invention, as well as their various alternatives and modifications. The scope of the invention is intended to be defined by the appended claims and their equivalents.

Claims

1. A vehicle for performing avoidance control based on the position and relative speed of an object on the opposite side, said vehicle comprising: A sensing device, mounted on a vehicle and having a forward field of view and a side field of view, is configured to acquire object data related to an object. Sensors are configured to detect the movement of the vehicle and obtain motion data based on the vehicle's movement; and The controller includes a processor configured to process the object data and the motion data. The controller is configured to: Based on the object data and the motion data, determine the heading angle between the object and the vehicle, the lateral position of the object relative to the vehicle, and the turning amount of the vehicle. An index for each of the heading angle, lateral position, and turning amount is determined by comparing the heading angle, lateral position, and turning amount with their respective thresholds; and When each of the heading angle, lateral position, and turning amount meets a predetermined condition, vehicle avoidance control is not performed. The lateral position of the object is calculated based on the distance between an extension line perpendicular to the front of the vehicle and an extension line perpendicular to the object. The controller is configured as follows: Based on the vehicle forming a strip with a constant width; When an object is detected outside the band, the index determining the lateral position corresponds to a predetermined condition for the lateral position; and When an object is detected within the band, it is determined that the index of the lateral position does not meet the predetermined conditions for the lateral position. The threshold for turning distance is variably set based on the number of lanes adjacent to an object entering the intersection from the opposite side of the vehicle. The turning amount is determined based on the vehicle's steering angle, speed, and yaw rate, and a turning weight greater than 1 is applied when the vehicle makes a U-turn.

2. The vehicle according to claim 1, wherein, The indicators for each of the heading angle, the lateral position, and the turning amount include a first indicator, a second indicator, and a third indicator, and The controller is configured to: When the heading angle is greater than or equal to a predetermined first threshold, the first index corresponding to the heading angle is set to 1. When the heading angle is less than the predetermined first threshold, the first index is set to 0. When the lateral position is greater than or equal to a predetermined second threshold, the second index corresponding to the lateral position is set to 1. When the lateral position is less than the predetermined second threshold, the second indicator is set to 0. When the turning amount is greater than or equal to a predetermined third threshold, the third index corresponding to the turning amount is set to 1, and When the turning amount is less than the predetermined third threshold, the third indicator is set to 0.

3. The vehicle according to claim 2, wherein when at least one of the first indicator, the second indicator, and the third indicator has a value of 1, the controller is configured not to perform avoidance control.

4. The vehicle according to claim 1, wherein, The indicators for each of the heading angle, the lateral position, and the turning amount include a first indicator, and The controller is configured to: Determine the change in the heading angle per unit time. When the change in the heading angle per unit time is greater than or equal to a predetermined threshold, the first index corresponding to the change in the heading angle per unit time is set to 1, and When the change in the heading angle per unit time is less than a predetermined change threshold, the first index is set to 0.

5. The vehicle according to claim 1, wherein the heading angle is the angle between an extension line perpendicular to the front surface of the vehicle and an extension line perpendicular to the front surface of the object.

6. The vehicle according to claim 1, wherein, The indicators for each of the heading angle, the lateral position, and the turning amount include a second indicator. The controller is configured to: Based on the vehicle forming the strip with a constant width, When an object is detected outside the band, the second index corresponding to the lateral position is set to 1, and When an object is detected within the band, the second index is set to 0.

7. The vehicle of claim 1, wherein the controller is further configured to determine the turning amount based on the angular velocity of the vehicle.

8. A method for controlling a vehicle, the vehicle being configured to perform avoidance control based on the position and relative speed of an object on the opposite side, the method comprising the steps of: Through sensors, object data related to objects and motion data related to vehicle motion are obtained; The controller determines the heading angle between the object and the vehicle, the lateral position of the object relative to the vehicle, and the turning amount of the vehicle based on the object data and the motion data. The controller determines an index for each of the heading angle, lateral position, and turning amount by comparing the heading angle, lateral position, and turning amount with their respective threshold values. as well as The controller prevents the vehicle from performing obstacle avoidance control when each of the heading angle, lateral position, and turning amount meets predetermined conditions. The lateral position of the object is calculated based on the distance between an extension line perpendicular to the front of the vehicle and an extension line perpendicular to the object. The steps for determining the indicators include: Based on the vehicle forming a strip with a constant width; When an object is detected outside the band, the index determining the lateral position corresponds to a predetermined condition for the lateral position; and When an object is detected within the band, it is determined that the index of the lateral position does not meet the predetermined conditions for the lateral position. The threshold for turning distance is variably set based on the number of lanes adjacent to an object entering the intersection from the opposite side of the vehicle. The turning amount is determined based on the vehicle's steering angle, speed, and yaw rate, and a turning weight greater than 1 is applied when the vehicle makes a U-turn.

9. The method according to claim 8, wherein, The indicators for each of the heading angle, the lateral position, and the turning amount include a first indicator, a second indicator, and a third indicator, and The determination steps include: When the heading angle is greater than or equal to a predetermined first threshold, the first index corresponding to the heading angle is determined to be 1; When the heading angle is less than the predetermined first threshold, the first index is set to 0; When the lateral position is greater than or equal to a predetermined second threshold, the second index corresponding to the lateral position is determined to be 1; When the lateral position is less than the predetermined second threshold, the second index is set to 0; When the turning amount is greater than or equal to a predetermined third threshold, the third index corresponding to the turning amount is set to 1; and When the turning amount is less than the predetermined third threshold, the third indicator is set to 0.

10. The method according to claim 9, wherein, The control steps include: When at least one of the first indicator, the second indicator, and the third indicator has a value of 1, the vehicle is controlled not to perform the avoidance control.

11. The method according to claim 8, wherein, The indicators for each of the heading angle, the lateral position, and the turning amount include a first indicator, and The determination steps include: Determine the change in the heading angle per unit time; When the change in the heading angle per unit time is greater than or equal to a predetermined threshold, the first index corresponding to the change in the heading angle per unit time is set to 1; and When the change in the heading angle per unit time is less than a predetermined change threshold, the first index is set to 0.

12. The method of claim 8, wherein the heading angle is the angle between an extension perpendicular to the front surface of the vehicle and an extension perpendicular to the front surface of the object.

13. The method according to claim 8, wherein, The indicators for each of the heading angle, the lateral position, and the turning amount include a second indicator, and The determination steps include: The belt is formed based on the vehicle and has a constant width; When an object is detected outside the band, the second index corresponding to the lateral position is set to 1; and When an object is detected within the band, the second index is set to 0.

14. The method of claim 8, wherein the controller is further configured to determine the turning amount based on the angular velocity of the vehicle.

15. A non-transitory computer-readable medium comprising program instructions executable by a processor for carrying out the method of claim 8.

16. A non-transitory computer-readable medium comprising program instructions executable by a processor, the computer-readable medium comprising: The program instructions obtain object data related to the object on the opposite side and motion data related to the vehicle's motion through sensors; The controller, based on the object data and the motion data, determines the heading angle between the object and the vehicle, the lateral position of the object relative to the vehicle, and the turning amount of the vehicle using program instructions. The program instructions determine the index of each of the heading angle, lateral position, and turning amount by comparing the heading angle, lateral position, and turning amount with their respective thresholds. and The controller prevents the vehicle from executing avoidance control procedures when each of the heading angle, lateral position, and turning amount meets predetermined conditions. The lateral position of the object is calculated based on the distance between an extension line perpendicular to the front of the vehicle and an extension line perpendicular to the object. The steps for determining the indicators include: Based on the vehicle forming a strip with a constant width; When an object is detected outside the band, the index determining the lateral position corresponds to a predetermined condition for the lateral position; and When an object is detected within the band, it is determined that the index of the lateral position does not meet the predetermined conditions for the lateral position. The threshold for turning distance is variably set based on the number of lanes adjacent to an object entering the intersection from the opposite side of the vehicle. The turning amount is determined based on the vehicle's steering angle, speed, and yaw rate, and a turning weight greater than 1 is applied when the vehicle makes a U-turn.

17. The non-transitory computer-readable medium according to claim 16, wherein, The indicators for each of the heading angle, the lateral position, and the turning amount include a first indicator, a second indicator, and a third indicator, and The determination steps include: When the heading angle is greater than or equal to a predetermined first threshold, the first index corresponding to the heading angle is determined to be 1; When the heading angle is less than the predetermined first threshold, the first index is set to 0; When the lateral position is greater than or equal to a predetermined second threshold, the second index corresponding to the lateral position is determined to be 1; When the lateral position is less than the predetermined second threshold, the second index is set to 0; When the turning amount is greater than or equal to a predetermined third threshold, the third index corresponding to the turning amount is set to 1; and When the turning amount is less than the predetermined third threshold, the third indicator is set to 0.

18. The non-transitory computer-readable medium according to claim 17, wherein, The control steps include: When at least one of the first, second, and third indicators has a value of 1, the vehicle is controlled not to perform avoidance control.

19. The non-transitory computer-readable medium according to claim 16, wherein, The indicators for each of the heading angle, the lateral position, and the turning amount include a first indicator, and The determination steps include: Determine the change in the heading angle per unit time; When the change in the heading angle per unit time is greater than or equal to a predetermined threshold, the first index corresponding to the change in the heading angle per unit time is set to 1; and When the change in the heading angle per unit time is less than a predetermined change threshold, the first index is set to 0.

20. The non-transitory computer-readable medium of claim 16, wherein the heading angle is the angle between an extension perpendicular to the front surface of the vehicle and an extension perpendicular to the front surface of the object.

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