Vehicle Rear Sensing System and Method

Abstract

The present disclosure discloses a vehicle rear side sensing system and method for resetting a monitoring area at the rear side of a vehicle according to a steering angle of the vehicle when the vehicle changes lanes, so as to eliminate a blind spot generated during the lane change, thereby preventing a collision with a vehicle located at the rear side of the vehicle and ensuring driving stability.

Description

Technical Field

[0001] The present disclosure relates to a vehicle rear side sensing system and method for adjusting a monitoring area of a rear side of a vehicle when the vehicle changes lanes, thereby preventing a collision with a vehicle located at the rear side of the vehicle. Background Art

[0002] Vehicles are equipped with warning systems that warn drivers when it is determined that there is an obstacle in a blind spot located at the rear side during vehicle travel, or when there is a risk of collision caused by a vehicle approaching at high speed from behind during a right or left lane change, thereby improving driver convenience.

[0003] Specifically, such rear side warning systems include: a blind spot detection (BSD) system for notifying a driver when an obstacle is located in a rear side blind spot; and a lane change assist (LCA) system for determining and warning of the possibility of a collision when a vehicle approaches from the rear side at high speed when the vehicle changes lanes. In particular, in recent years, a rear side warning system that can simultaneously implement BSD and LCA functions has been developed to monitor a wide range and effectively warn drivers of risks.

[0004] According to the conventional technology, when a vehicle at risk of collision is detected by a radar sensor that monitors the rear side of the vehicle, the rear side warning system generates a warning. However, when the vehicle moves laterally for a lane change, the driving direction of the vehicle changes, such that the monitoring range of the radar sensor does not include the original vehicle at the rear side.

[0005] Therefore, there is a problem that even if a vehicle enters behind the vehicle, the vehicle may not be detected, increasing the risk of an accident.

[0006] The above matters as the technical background are only intended to better understand the background of the present disclosure and should not be regarded as an admission that they belong to the conventional technology known to those skilled in the art. Summary of the Invention

[0007] The present disclosure is proposed to solve the above problems, and an object of the present disclosure is to provide a vehicle rear side sensing system and method for adjusting a monitoring area of a true side of a vehicle when the vehicle changes lanes, thereby preventing a collision with a vehicle located at the rear side of the vehicle.

[0008] To achieve the above object, a vehicle rear side sensing system provided by the present disclosure includes: a rear sensing device that sets a monitoring area behind the vehicle and detects a vehicle behind; a driving determination device that obtains a driving intention of the vehicle and checks whether the vehicle turns; and a controller that, when the driving determination device confirms that the vehicle turns, resets the monitoring area of the rear sensing device according to a steering angle of the vehicle.

[0009] It further includes a front sensing device of the vehicle for checking the road conditions in front of the vehicle. The driving judgment device receives the lane information input through the front sensing device and further checks whether the vehicle steers and changes lanes; and when the vehicle changes lanes, the controller resets the monitoring area of the rear sensing device according to the steering angle of the vehicle.

[0010] When the vehicle steers, the driving judgment device checks whether the vehicle changes lanes based on the steering angle, the steering direction, and the driving speed of the vehicle.

[0011] The controller sets the monitoring area by using a monitoring line defined based on preset monitoring points and checks whether any point is located in the monitoring area to check whether the monitoring area is set normally.

[0012] When the driving judgment device confirms that the vehicle goes straight forward, the controller makes the rear sensing device detect the rear vehicle in a preset monitoring area.

[0013] When the driving judgment device confirms that the vehicle steers, the controller resets the monitoring area by adjusting the monitoring points according to the steering angle and defining the monitoring line based on the adjusted monitoring points.

[0014] The controller checks whether the reset monitoring area is set normally by checking whether any point is located in the reset monitoring area.

[0015] On the other hand, a method for sensing the rear side of a vehicle according to the present disclosure includes: a rear sensing step of detecting a rear vehicle entering a monitoring area set behind the vehicle; a driving judgment step of obtaining the driving intention of the vehicle and checking whether the vehicle steers; and a control step of resetting the monitoring area in the rear sensing step according to the steering angle of the vehicle when it is confirmed in the driving judgment step that the vehicle steers.

[0016] It further includes a front sensing step of the vehicle for checking the current driving lane in front of the vehicle. In the driving judgment step, it further checks whether the vehicle steers and changes lanes; and in the control step, when the vehicle changes lanes, the monitoring area is reset according to the steering angle of the vehicle.

[0017] In the driving judgment step, when the vehicle steers, it checks whether the vehicle changes lanes based on the steering angle, the steering direction, and the driving speed of the vehicle.

[0018] In the control step, the monitoring area is set by using a monitoring line defined based on preset monitoring points, and it is checked whether any point is located in the monitoring area to check whether the monitoring area is set properly.

[0019] When it is confirmed in the driving judgment step that the vehicle is going straight forward, in the control step, the vehicle behind is detected in a preset monitoring area.

[0020] When it is confirmed in the driving judgment step that the vehicle is steering, in the control step, the monitoring area is reset by adjusting the monitoring points according to the steering angle and defining the monitoring line based on the adjusted monitoring points.

[0021] In the control step, it is checked whether the reset monitoring area is set properly by checking whether any point is located in the reset monitoring area.

[0022] The vehicle rear side sensing system and method configured as described above, when the vehicle changes lanes, reset the monitoring area at the rear side of the vehicle according to the steering angle of the vehicle, so as to eliminate the blind spot generated during lane change, thereby preventing collision with the vehicle located at the rear side of the present vehicle and ensuring driving stability. Brief Description of the Drawings

[0023] Figure 1 is a block diagram showing a vehicle rear side sensing system according to the present disclosure;

[0024] Figures 2 to 4 is for describing Figure 1 the vehicle rear side sensing system shown;

[0025] Figure 5 is a flowchart of a vehicle rear side sensing method of the present disclosure. Detailed Description of the Embodiments

[0026] The vehicle rear side sensing system and method of the preferred embodiments of the present disclosure will be described below with reference to the drawings.

[0027] Figure 1 is a block diagram showing a vehicle rear side sensing system according to the present disclosure; Figures 2 to 4 is for describing Figure 1 the vehicle rear side sensing system shown; Figure 5 is a flowchart of a vehicle rear side sensing method of the present disclosure.

[0028] As Figure 1, according to the present disclosure, the rear sensing system includes a rear sensing device 10 that sets a monitoring area behind the vehicle and detects a vehicle behind; a driving judgment device 20 that obtains the driving intention of the vehicle and checks whether the vehicle turns; and a controller 30 that, when the driving judgment device 20 confirms that the vehicle turns, resets the monitoring area of the rear sensing device according to the steering angle of the vehicle.

[0029] The rear sensing device 10 detects an obstacle, which includes a vehicle behind the vehicle. The rear sensing device 10 may include a radar sensor, an ultrasonic sensor, or a camera sensor, and can sense the relative distance, moving direction, moving speed, etc. of the vehicle behind. The rear sensing device 10 accordingly forms a monitoring area behind the vehicle. In addition, the rear sensing device 10 is configured to adjust the generation position of the monitoring area. For this purpose, the rear sensing device 10 may have a link structure or a rack and pinion structure.

[0030] In an embodiment of the present disclosure, the processors of the driving judgment device 20 and the controller 30 may perform the following various functions. The processor has an associated non-transitory memory that stores software instructions, which, when executed by the processor, provide the functions of the driving judgment device 20 and the controller 30 of the rear sensing system. Here, the memory and the processor may be implemented as separate semiconductor circuits, or the memory and the processor may be implemented as a single integrated semiconductor circuit. The processor may include one or more processors. Each of the driving judgment device 20 and the controller 30 may process signals transmitted between the elements of the rear sensing system.

[0031] The driving judgment device 20 obtains the driving intention of the vehicle and checks whether the vehicle turns. That is, the driving judgment device 20 is used to check whether the vehicle turns and obtain the driving direction of the vehicle through the flashing of the turn signal or the steering wheel sensor.

[0032] When the driving judgment device 20 confirms that the vehicle turns, the controller 30 resets the monitoring area of the rear sensing device 10 according to the steering angle of the vehicle. That is, when the vehicle V1 turns, the generation position of the monitoring area of the rear sensing device 10 changes along with the driving direction of the vehicle V1. As Figure 2 shown, when the vehicle V1 turns to change lanes, the change in the generation position of the monitoring area is the same as the steering angle of the vehicle V1, changing from the monitoring area a1 that should be normally generated by the rear sensing device 10 to the monitoring area a2. When the generation position of the monitoring area changes as the vehicle V1 turns, it may not be possible to accurately detect the vehicle V2 approaching from behind. Therefore, when it is confirmed that the vehicle V1 turns, the controller 30 resets the monitoring area of the rear sensing device 10 according to the steering angle of the vehicle V1. Here, when the vehicle is moving straight forward, the controller 30 may adjust the reset monitoring area based on the monitoring area generated at the rear side.

[0033] As described above, when the vehicle changes lanes, the monitoring area behind the vehicle is reset according to the steering angle of the vehicle, so that the blind spot generated during lane change is eliminated, thereby preventing collisions with vehicles located behind the vehicle and ensuring driving stability.

[0034] More specifically, it further includes a front sensing device 40 for checking the road conditions in front of the vehicle. The front sensing device 40 may include a camera sensor, and the road conditions in front of the vehicle may refer to the driving lane.

[0035] The driving judgment device 20 receives the lane information input through the front sensing device 40 and further checks whether the vehicle steers and changes lanes. Generally, even when the vehicle steers, the risk of an accident is reduced when the vehicle is driving along the lane. However, when the vehicle changes lanes, the risk of collision with a vehicle approaching from the side rear increases. Therefore, the driving judgment device 20 receives information about the lane and checks whether the vehicle steers and changes lanes.

[0036] For this purpose, when the vehicle steers, the driving judgment device 20 may check whether the vehicle changes lanes based on the steering angle of the vehicle and the driving speed in the steering direction. That is, when the vehicle steers, the driving judgment device 20 may check whether the vehicle changes lanes based on the steering angle detected by the front sensing device 40 and the driving speed of the vehicle moving into the lane.

[0037] At this time, the driving judgment device 20 may further check whether the vehicle enters the lane within a preset set time based on the steering angle and driving speed of the vehicle itself, and can more accurately capture the intention of the vehicle to change lanes.

[0038] For example, when the vehicle steers and changes lanes, the moving time for the vehicle to enter the lane is calculated based on the steering angle and driving speed of the vehicle itself. The driving judgment device 20 determines that the vehicle does not intend to change lanes when the calculated moving time is less than the set time, and determines that the vehicle intends to change lanes when the moving time is equal to or greater than the set time.

[0039] When the driving judgment device 20 confirms that the vehicle changes lanes in this way, the controller 30 resets the monitoring area of the rear sensing device 10 according to the steering angle of the vehicle. In addition, the information about the lane obtained by the front sensing device 40, as a source for the controller 30, resets the monitoring area of the rear sensing device 10 according to the steering angle of the vehicle. This will be described in detail below.

[0040] The controller 30 can set the monitoring area by using a monitoring line defined based on preset monitoring points, and check whether there is any point located in the monitoring area to check whether the monitoring area is set normally.

[0041] Here, the monitoring points preset in the controller 30 can be set based on the state of the vehicle going straight forward, and an arbitrary point can be set on the road corresponding to the lane adjacent to the current driving lane of the vehicle. That is, as Figure 3 shown, in the state where the vehicle is going straight forward, the controller 30 can set the straight-ahead direction of the vehicle as the "X" axis and the lateral direction as the "Y" axis. The state where the vehicle is going straight is the initial state that can be used as a reference position, and each monitoring point can be determined accordingly. In addition, the arbitrary point can be arbitrarily set at the rear side, and in the lane adjacent to the lane where the vehicle is located, it can also be set according to the distance between the vehicle and the vehicle behind.

[0042] The monitoring points can be set in the controller 30 in the following manner.

[0043] As Figure 3 shown, in the warning area of the rear sensing device 10, Y_min can be the lower limit in the lateral direction, Y_max can be the upper limit in the lateral direction, X_max can be the upper limit in the longitudinal direction, and X_min can be the lower limit in the longitudinal direction. The warning area is the position for determining the location where the monitoring area should be set at the rear side of the vehicle.

[0044] Here, the settings of each monitoring point are shown in the following table.

[0045]

[0046] When setting each monitoring point in this way, the monitoring lines connecting each monitoring point are defined.

[0047] L12 y = Y_Min L34 y = Y_Max L13 x = X_Max L24 x = X_Min

[0048] Here, L12 is the line connecting P1 and P2, L34 is the line connecting P3 and P4, L13 is the line connecting P1 and P3, and L24 is the line connecting P2 and P4.

[0049] When defining each monitoring line in this way, the monitoring area can be set inside each monitoring line based on this.

[0050] In addition, the controller 30 can check whether an arbitrary point is inside each monitoring line to determine whether the monitoring area is set normally. The arbitrary point is represented as a trajectory relative to the "X" axis and the "Y" axis, and it can be represented as shown in the following table.

[0051] L12 <![CDATA[Y_Min≤Y Track > L34 <![CDATA[Y_Max≥Y Track > L13 <![CDATA[X_Max≥X Track > L24 <![CDATA[X_Min≤X Track >

[0052] When an arbitrary point satisfies each value relative to each monitoring line in this way, it is determined that the monitoring area is set normally, and the rear sensing device 10 performs detection of the vehicle behind in the monitoring area.

[0053] Therefore, when the driving judgment device 20 confirms that the vehicle is going straight ahead, the controller 30 causes the rear sensing device 10 to detect a vehicle behind in a preset monitoring area. That is, when it is confirmed that the host vehicle is going straight ahead, a vehicle behind is detected in the monitoring area set in the initial straight-ahead state, enabling the detection of the rear-side vehicle to be executed normally.

[0054] On the other hand, when the driving judgment device 20 confirms that the vehicle is turning, the controller 30 can reset the monitoring area by adjusting the monitoring points according to the steering angle and defining a monitoring line based on the adjusted monitoring points.

[0055] Here, the controller 30 can check whether the reset monitoring area is set properly by checking whether any point is located within the reset monitoring area.

[0056] That is, when the driving judgment device 20 confirms that the host vehicle is turning and changing lanes, the controller 30 adjusts the monitoring points according to the steering angle. As Figure 4 shown, as the host vehicle turns, a steering angle relative to straight-ahead driving is generated. The steering angle can be determined by checking the angle between the host vehicle and the moving direction of the host vehicle, the steering wheel angle, etc.

[0057] Accordingly, each monitoring point can be set as follows.

[0058]

[0059] As the host vehicle turns, each monitoring point is reset according to the steering angle in this way. When each monitoring point P1′, P2′, P3′, and P4′ is set, a monitoring line connecting the corresponding monitoring points is defined.

[0060]

[0061] Here, L12′ is the line connecting P1′ and P2′, L34′ is the line connecting P3′ and P4′, L13′ is the line connecting P1′ and P3′, and L24′ is the line connecting P2′ and P4′. When each monitoring line is defined in this way, a monitoring area can be defined inside each monitoring line based on this.

[0062] In addition, the controller 30 can check whether any point is located inside each monitoring line to determine whether the monitoring area is set properly. This arbitrary point is represented as a locus relative to the "X" axis and the "Y" axis and can be represented in the following way.

[0063] L12′ <![CDATA[f(X Track )≤Y Track > L34′ <![CDATA[g(X Track )≥Y Track > L13′ <![CDATA[h -1 (Y Track )≥X Track > L24′ <![CDATA[i -1 (Y Track ) ≤ X Track >

[0064] When any point satisfies each value with respect to each monitoring line in this way, it can be determined that the monitoring area is set normally, and the rear sensing device 10 performs detection of a rear vehicle within the corresponding monitoring area.

[0065] When the driving judgment device 20 confirms that the vehicle steers in this way, the controller 30 adjusts the monitoring point according to the steering angle, and resets the monitoring area using the monitoring line defined based on the adjusted monitoring point, so that the blind spot generated as the vehicle steers is eliminated, thereby preventing a collision with the vehicle itself located at the side rear of the vehicle and ensuring driving stability.

[0066] On the other hand, as Figure 5 shown, the rear sensing method according to the present disclosure includes: a rear sensing step S10 of detecting a rear vehicle entering a monitoring area provided at the rear of the vehicle; a driving judgment step S20 of obtaining the driving intention of the vehicle and checking whether the vehicle steers; and a control step S40 of resetting the monitoring area in the rear sensing step S10 according to the steering angle of the vehicle when it is confirmed in the driving judgment step S20 that the vehicle steers.

[0067] By this method, the present disclosure resets the monitoring area at the side rear of the vehicle according to the steering angle of the vehicle when changing lanes, so that the blind spot generated when changing lanes is eliminated, thereby preventing a collision with the vehicle located at the rear side of the vehicle and ensuring driving stability.

[0068] In addition, it further includes a front sensing step S30 of checking the current driving lane in front of the vehicle; in the driving judgment step S20, further checking whether the vehicle steers and changes lanes; and in the control step S40, when the vehicle changes lanes, the monitoring area can be reset according to the steering angle.

[0069] Here, in the driving judgment step S20, when the vehicle steers, it is checked whether the vehicle changes lanes based on the driving speed of the vehicle based on the steering angle and the steering direction.

[0070] On the other hand, in the control step S40, the monitoring area can be set by using the monitoring line defined based on the preset monitoring points, and it is checked whether there is any point located in the monitoring area to check whether the monitoring area is set normally.

[0071] Here, in the control step S40, the preset monitoring points can be set based on the state of the vehicle going straight forward, and any point can be set in the lane next to the current lane of the vehicle itself. The state of the vehicle going straight forward is the initial state that can be used as a reference position in this way, and each monitoring point can be determined accordingly.

[0072] When it is confirmed in the driving judgment step S20 that the vehicle goes straight forward, correspondingly, in the control step S40, a rear vehicle can be detected in the preset monitoring area.

[0073] On the other hand, when it is confirmed in the driving determination step S20 that the vehicle is turning, in the control step S40, the monitoring area is reset by adjusting the monitoring point according to the steering angle and defining a monitoring line based on the adjusted monitoring point. Additionally, in the control step S40, it can be checked whether any point is located in the reset monitoring area to check whether the reset monitoring area is properly reset.

[0074] In this way, when it is confirmed in the driving determination step S20 that the vehicle is turning, by adjusting the monitoring point according to the steering angle in the control step S40 and resetting the monitoring area using the monitoring line defined based on the adjusted monitoring point, the blind spot generated when the vehicle turns is eliminated, thereby preventing a collision with a vehicle located behind the side of the vehicle and ensuring driving stability.

[0075] Specific embodiments of the present disclosure have been described and illustrated above. However, it will be apparent to those skilled in the art that the present disclosure can be improved and modified in various ways without departing from the technical spirit of the present disclosure defined in the appended claims.

Claims

1. A vehicle rear sensing system, comprising: A rear sensing device that sets a monitoring area behind the vehicle and detects a vehicle behind; A driving judgment device that obtains the driving intention of the vehicle and checks whether the vehicle steers; A controller that, when the driving judgment device confirms that the vehicle steers, resets the monitoring area of the rear sensing device according to the steering angle of the vehicle; And A front sensing device that checks the road conditions in front of the vehicle, wherein the driving judgment device receives lane information input through the front sensing device and further checks whether the vehicle steers and changes lanes; Wherein, when the vehicle changes lanes, the controller resets the monitoring area of the rear sensing device according to the steering angle of the vehicle; Wherein, the controller sets the monitoring area by using a monitoring line defined based on preset monitoring points, sets an arbitrary point on the road corresponding to the lane adjacent to the current driving lane of the vehicle, and checks whether there is such an arbitrary point located in the monitoring area to check whether the monitoring area is set normally.

2. The vehicle rear side sensing system according to claim 1, wherein, When the vehicle steers, the driving judgment device checks whether the vehicle changes lanes based on the steering angle, the steering direction, and the driving speed of the vehicle.

3. The vehicle rear side sensing system according to claim 1, wherein, When the driving judgment device confirms that the vehicle goes straight forward, the controller enables the rear sensing device to detect the vehicle behind in a preset monitoring area.

4. The vehicle rear side sensing system according to claim 1, wherein When the driving judgment device confirms that the vehicle steers, the controller resets the monitoring area by adjusting the monitoring points according to the steering angle and defining the monitoring line based on the adjusted monitoring points.

5. The vehicle rear side sensing system according to claim 4, wherein, The controller checks whether the reset monitoring area is set normally by checking whether there is such an arbitrary point located in the reset monitoring area.

6. A vehicle rear sensing method, comprising: A rear sensing step of detecting a vehicle behind that enters a monitoring area set behind the vehicle; A driving judgment step of obtaining the driving intention of the vehicle and checking whether the vehicle steers; A control step of, when it is confirmed in the driving judgment step that the vehicle steers, resetting the monitoring area in the rear sensing step according to the steering angle of the vehicle; And A front sensing step of checking the current driving lane in front of the vehicle, wherein in the driving judgment step, it is further checked whether the vehicle steers and changes lanes; and In the control step, when the vehicle changes lanes, the monitoring area is reset according to the steering angle of the vehicle; Wherein, in the control step, the monitoring area is set by using a monitoring line defined based on preset monitoring points, an arbitrary point is set on the road corresponding to the lane adjacent to the current driving lane of the vehicle, and it is checked whether there is such an arbitrary point located in the monitoring area to check whether the monitoring area is set normally.

7. The vehicle rear side sensing method according to claim 6, wherein, In the driving judgment step, when the vehicle steers, it is checked whether the vehicle changes lanes based on the steering angle, the steering direction, and the driving speed of the vehicle.

8. The vehicle rear side sensing method according to claim 6, wherein, When it is confirmed in the driving judgment step that the vehicle goes straight forward, in the control step, the following vehicle is detected in a preset monitoring area.

9. The vehicle rear side sensing method according to claim 6, wherein, When it is confirmed in the driving judgment step that the vehicle steers, in the control step, the monitoring area is reset by adjusting the monitoring point according to the steering angle and defining the monitoring line based on the adjusted monitoring point.

10. The vehicle rear side sensing method according to claim 9, wherein, In the control step, it is checked whether the reset monitoring area is set properly by checking whether any point is located in the reset monitoring area.

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