Vehicle rear warning system and control method for the system

Abstract

The present invention relates to a rear warning system for a vehicle and a control method for the system, the system comprising: a travel information detection section that collects information measured by a radar and a camera sensor in a reverse mode of the vehicle; and a controller that divides a dangerous area and a safe area from a fixed obstacle behind the vehicle by fusing the information measured by the radar and the camera in the reverse mode of the vehicle, generates a collision event and controls a warning and a brake when a moving object is detected to approach from the dangerous area, and limits the warning and the brake for the moving object existing in the safe area.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit of Korean Patent Application No. 10-2021-0042879, filed on April 1, 2021, with the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to a vehicle rear warning system and a control method thereof, and more specifically, to a vehicle rear warning system and a control method thereof that warns of rear cross-traffic collisions by means of sensor fusion. Background Technology

[0004] Typically, the rear cross-traffic collision-avoidance assist (RCCA) system is used as a driving assistance device in vehicles. It uses radar to detect objects approaching from the left and right when the vehicle is reversing and warns the driver.

[0005] Figures 1A to 1B (Related Technology) is a schematic diagram of a traditional Rear Cross-Traffic Collision Assist (RCCA) system.

[0006] refer to Figure 1A and 1B When a vehicle is reversing, a traditional RCCA (Reversible Carrier Assist) system uses radar sensors to identify the relative position and speed of a moving object (e.g., a vehicle / person) approaching from behind. When a collision with the object is predicted, a warning is issued to the driver, and braking is initiated to avoid a collision.

[0007] However, as Figure 1A As shown, when a fixed obstacle is located behind the vehicle and an object approaches from behind the obstacle, due to the limitations of radar performance, unnecessary sensitive warnings and braking may be generated even if there is no risk of collision.

[0008] In addition, such as Figure 1B As shown, when a vehicle is reversing, if there is a wall with reflective material behind it, even if there is no risk of collision with other vehicles passing in front, it may cause unnecessary warnings and braking due to false recognition caused by radar signals or light reflection (also known as ghost recognition / phenomenon).

[0009] In other words, traditional RCCA has the following problem: even in the absence of a vehicle collision risk, due to sensor limitations, traditional RCCA can cause driver confusion or reduced reliability of warning functions by sensitively triggering warning and braking control.

[0010] The information disclosed in this background section is only for enhancing the understanding of the background of the present invention. Therefore, the information it may contain does not constitute prior art known to those skilled in the art in this country. Summary of the Invention

[0011] The present invention provides a vehicle rear collision warning system and a control method thereof. The system divides the danger zone and the safety zone behind the vehicle by integrating the autonomous driving sensors applied to the vehicle, thereby avoiding unnecessary sensitive operations of the rear collision warning.

[0012] According to one aspect of the present invention, a vehicle rear warning system includes: a driving information detection unit and a controller, wherein the driving information detection unit collects information measured by radar and camera sensors in the vehicle's reversing mode; the controller, by fusing the information measured by radar and camera in the vehicle's reversing mode, divides a danger zone and a safe zone according to a fixed obstacle behind, generates a collision event and controls warnings and braking when a moving object is detected approaching from the danger zone, while limiting warnings and braking for moving objects present in the safe zone.

[0013] Furthermore, the vehicle rear warning system may further include: a braking unit, a warning unit, and a storage unit, wherein the braking unit generates braking force on the wheels according to a control signal applied by a controller; the warning unit warns the driver of a rear collision event of the vehicle and displays the braking status accordingly; and the storage unit matches and stores a reference coordinate system for measuring the coordinates of an object relative to the vehicle via radar and a camera.

[0014] In addition, the driving information detection unit can detect driving information measured by at least one of radar, camera, vehicle speed sensor, accelerator pedal position sensor, brake pedal sensor or transmission gear position sensor based on the operation of the vehicle.

[0015] In addition, the radar may include a program and a control module for the program that predicts the expected collision time and point of impact by analyzing the position, distance and direction of movement of the vehicle and the moving object.

[0016] In addition, when the vehicle is in reverse mode, the camera can identify fixed obstacles and building walls installed on the road by taking pictures of the rear.

[0017] In addition, when more than three fixed obstacles are identified by the camera, the controller can extract the coordinates of the fixed obstacles to derive a baseline using linear regression analysis.

[0018] In addition, the controller can extract the coordinates of a certain range or number of obstacles selected around both sides of the axle from the identified fixed obstacles.

[0019] Furthermore, the controller can create an equation connecting the leftmost and rightmost coordinates of the selected obstacle, and can generate a linear regression analysis equation from the equation.

[0020] In addition, the controller can perform a verification to determine whether the error between the coordinates of the fixed obstacle located in the middle of the coordinates of the fixed obstacle and the baseline meets the allowable distance, and then divide the various regions when the verification is successful.

[0021] Furthermore, when the fixed obstacle is an object, the controller can use a baseline to divide the danger zone in the inner direction of the vehicle and the safe zone in the opposite outer direction.

[0022] In addition, when the camera identifies a wall, the controller can extract the coordinates of at least three points along the length of the wall and derive the baseline based on linear regression analysis.

[0023] In addition, the controller can establish a danger zone from the wall along the inside of the vehicle, based on a baseline.

[0024] According to one aspect of the present invention, a control method for a vehicle rear warning system that warns of rear cross-traffic collisions by sensor fusion includes the following steps: a) detecting fixed obstacles or walls located behind the vehicle by fusing information collected by radar and cameras in the vehicle's reversing mode; b) when the number of fixed obstacles is three or more, extracting coordinates of at least three points using radar; c) deriving a baseline using the extracted coordinates and linear regression analysis, and dividing a danger zone and a safe zone based on the baseline; d) when a moving object is detected approaching from the danger zone, generating a collision event to control warnings and braking, but limiting the generation of collision events for moving objects existing in the safe zone.

[0025] In addition, step b) may include: maintaining the existing rear cross collision warning (RCCA) logic when the number of fixed obstacles is less than three.

[0026] In addition, step c) may include: verifying whether the error between the coordinates of the baseline and the fixed obstacle is within the allowable distance.

[0027] Furthermore, verifying whether the error between the coordinates of the baseline and the fixed obstacle is within the allowable distance may include: determining that the verification is successful and dividing each region when the error of the coordinates of the intermediate obstacle (excluding the coordinates of the two obstacles at both ends of the baseline) is within the allowable distance; or determining that the verification fails and maintaining the existing RCCA logic when the error of the coordinates of the intermediate obstacle is not within the allowable distance.

[0028] Furthermore, the coordinates of the intermediate obstacle can be measured using a camera.

[0029] In addition, step b) may include: when a wall is detected, extracting the coordinates of at least three points along the length of the wall.

[0030] Furthermore, the vehicle rear warning system may further include, after step b): setting a danger zone from the wall along the direction inside the vehicle, based on a baseline; generating collision events only for moving objects entering the danger zone to control warnings to the driver and braking of the vehicle, and limiting the generation of collision events based on ghosting phenomena caused by light reflection from the wall.

[0031] According to an embodiment of the present invention, in the reversing mode of the vehicle, dangerous areas and safe areas are divided based on the position of fixed obstacles, and warning and braking control of moving objects that exist in the safe area and have no risk of collision are restricted, thereby avoiding unnecessary sensitive operations.

[0032] Furthermore, by determining the directionality of the moving object, it is possible to identify situations where a moving object suddenly enters a danger zone from a safe zone with a low probability of collision, and to provide warnings and braking control, thereby ensuring reliability and safety.

[0033] In addition, the present invention provides the following effects: by identifying the type of obstacle behind the vehicle, it eliminates the ghosting phenomenon caused by the vehicle approaching from the front when the wall is behind the vehicle, and generates warnings and braking only when necessary to warn of rear cross-traffic collisions, thereby ensuring optimized performance. Attached Figure Description

[0034] Figures 1A to 1B (Related Technology) is a schematic diagram of a traditional Rear Cross-Traffic Collision Assist (RCCA) system, in which, Figure 1A It indicates that a warning and braking are performed even if there is no risk of collision with an approaching object behind. Figure 1B It demonstrates that warnings and braking are applied even when there is no risk of collision with the wall.

[0035] Figure 2The configuration of a vehicle rear warning system according to an embodiment of the present invention is illustrated schematically.

[0036] Figures 3A to 3B A method for pre-determining a danger zone and a safe zone when the obstacle behind is a fixed object, according to a first embodiment of the present invention, is shown, wherein, Figure 3A The derived linear regression equation is shown. Figure 3B The setup of the hazardous / safe areas is shown.

[0037] Figures 4A to 4B as well as Figures 5A to 5B The diagram illustrates cases where there is no warning and a warning when the obstacle behind is an object, according to a first embodiment of the present invention. Figure 4A It indicates that a collision risk with an approaching vehicle has been identified and that warnings and braking have been limited. Figure 4B It demonstrates the identification of no risk of collision with an approaching person and limits warnings and braking. Figure 5A It indicates that a collision risk with an approaching vehicle has been identified and that a warning and braking have been initiated. Figure 5B It demonstrates the identification of a risk of collision with an approaching person and generates a warning and brakes.

[0038] Figures 6A to 6B A method for pre-determining a danger zone when the rear obstacle is a wall, according to a second embodiment of the present invention, is shown, wherein, Figure 6A The derived linear regression equation is shown. Figure 6B The setup of the hazardous / safe areas is shown.

[0039] Figures 7A to 7B The illustration shows cases where there is no warning and cases where there is a warning when the rear obstacle is a wall, according to a second embodiment of the present invention. Figure 7A The system identifies a risk of collision with the wall / vehicle and limits warnings and braking. Figure 7B It demonstrates the identification of a risk of collision with an approaching person and generates a warning and brakes.

[0040] Figure 8 and Figure 9 This is a flowchart illustrating a control method for a vehicle rear warning system according to an embodiment of the present invention. Detailed Implementation

[0041] It should be understood that the term "vehicle" or "of a vehicle" or other similar terms as used herein generally includes motor vehicles, such as passenger vehicles including sport utility vehicles (SUVs), buses, trucks, various commercial vehicles, vessels including various boats and ships, aircraft, etc., and includes hybrid vehicles, electric vehicles, hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., vehicles derived from non-fossil fuels). As mentioned herein, a hybrid vehicle is a vehicle with two or more power sources, such as both gasoline power and electric power.

[0042] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” as used herein are also intended to include the plural forms. It will also be further understood that when the terms “comprising” and / or “including” are used in this specification, it indicates the presence of the stated features, values, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, values, steps, operations, elements, components, and / or combinations thereof. As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items. Throughout this specification, unless explicitly stated otherwise, the word “comprising” and variations such as “including” or “including” will be understood to imply the inclusion of the stated elements, but not to exclude any other elements. Furthermore, the terms “unit,” “device,” “section,” and “module” described in the specification refer to a unit for performing at least one function and operation, and may be implemented by hardware components or software components and combinations thereof.

[0043] Furthermore, the control logic of the present invention can be implemented as a non-volatile computer-readable medium on a computer-readable medium, which contains executable program instructions that are executed by a processor, controller, etc. Examples of computer-readable media include, but are not limited to, ROM, RAM, optical disc (CD)-ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage devices. The computer-readable medium can also be distributed across a network-connected computer system, such that the computer-readable medium is stored and executed in a distributed manner, for example, via a telematics server or a controller area network (CAN).

[0044] In the following detailed description, certain embodiments of the invention are shown and described by way of illustration only. Those skilled in the art will recognize that various modifications can be made to the described embodiments without departing from the spirit or scope of the invention. Therefore, the drawings and description should be considered illustrative rather than restrictive in nature. Throughout the description, the same reference numerals denote the same elements.

[0045] Throughout this specification, terms such as first, second, A, B, (a), (b), etc., may be used to describe various configurations and components, but the constituent components should not be limited by these terms. These terms are only used to distinguish one constituent component from other constituent components, and they do not limit the nature, order, or sequence of the constituent components.

[0046] Throughout this specification, when a component is referred to as being "connected to" or "proximity to" another component, the component may be directly connected to or connected to the other component, but it should be understood that there may be other components in between. On the other hand, when a component is referred to as being "directly connected to" or "directly proximity to" another component, it should be understood that there are no other components in between.

[0047] The terminology used throughout this specification is for describing particular embodiments only and is not intended to limit the invention. Unless the context clearly specifies otherwise, singular expressions include plural expressions.

[0048] Unless otherwise defined in this specification, all terms used herein, including technical or scientific terms, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms such as those defined in common dictionaries may be interpreted as having a meaning consistent with the contextual meaning of the relevant art and should not be interpreted as having an idealized or overly formal meaning unless expressly defined in this specification.

[0049] In the following, a vehicle rear warning system according to an embodiment of the present invention and a method for controlling the system will be described in detail with reference to the accompanying drawings.

[0050] Figure 2 The configuration of a vehicle rear warning system according to an embodiment of the present invention is illustrated schematically.

[0051] refer to Figure 2 According to an embodiment of the present invention, a rear-end collision warning system 100 includes a driving information detection unit 110, a braking unit 120, a warning unit 130, a storage unit 140, and a controller 150. Furthermore, the rear-end collision warning system 100 may further include an autonomous driving sensor (e.g., lidar). In the following description, when it is necessary to classify vehicles, a vehicle to which the rear-end collision warning system 100 according to an embodiment of the present invention is applied may be referred to as "this vehicle," and vehicles other than this vehicle may be referred to as "other vehicles." However, when no classification is required, they may all be referred to as vehicles.

[0052] The driving information detection unit 110 detects various driving information required for rear collision warning control of the vehicle using various sensors and controllers based on the vehicle's operation, and sends the detected information to the controller 150. The rear collision warning control provided herein has the following improvements: it solves the problems of existing rear cross-traffic collision avoidance assist (RCCA).

[0053] For example, the driving information detection unit 110 can detect driving information measured by at least one of the following: radar 111, camera 112, vehicle speed sensor 113, accelerator pedal position sensor (APS) 114, brake pedal sensor (BPS) 115, or transmission position sensor (TPS) 116, based on the vehicle's operation. Here, the vehicle's operation may include automatic driving mode, automatic parking mode, and manual driving mode.

[0054] Radar 111 is installed on the left and right rear sides of the vehicle, respectively, so that the radar illuminates the vehicle at a predetermined angle and detects the relative position (coordinates), distance, and direction of movement of objects based on the reflected signals. In the following text, fixed objects are referred to as obstacles, and movable objects are referred to as moving objects, depending on whether they are movable. For example, an obstacle can be an object fixed to a road (e.g., safety posts and signs on the road, or the wall of a building that blocks traffic with a vertical plane), while a moving object can be a vehicle, a person, or an animal.

[0055] In addition, radar 111 may include a program and its control module for predicting the expected collision time and point of impact by analyzing the position, distance and direction of movement of the vehicle and the moving object.

[0056] When the vehicle is in reverse mode, camera 112 identifies stationary obstacles by capturing images of the rear. In this case, camera 112 can use image recognition technology to identify obstacles on the road such as safety posts and signs, as well as walls or structures of buildings that are blocked by vertical planes, and their coordinates.

[0057] APS 114 measures the state and changes in accelerator pedal operation based on driver input and autonomous driving.

[0058] The BPS 115 measures the state and changes in brake pedal operation based on driver input and automatic driving.

[0059] The TPS 116 detects the vehicle's reverse (R) status based on the driver's gear shifting and the autopilot system.

[0060] The braking unit 120 responds to a control signal applied as part of an advanced driver assistance system (ADAS) or an automated driving system, generating braking force on each wheel of the vehicle. For example, the braking unit 120 is configured for electronic stability control (ESC) and can generate braking force on each wheel based on the control signal.

[0061] The warning unit 130 displays to the driver various information generated based on the operation of the rear warning system 100 of the vehicle via at least one visual, auditory, and tactile device.

[0062] When a rear-end collision event occurs, the warning unit 130 can warn of a rear cross-traffic collision and correspondingly display the braking mode operation status.

[0063] For example, the warning unit 130 can display visual and auditory warnings via audio-visual navigation (AVN), instrument cluster, head-up display (HUD), etc., and can also express them tactilely via vibration of the handle.

[0064] The storage unit 140 stores various programs and data for the operation of the vehicle rear warning system 100 according to an embodiment of the present invention, and stores data generated according to the operation.

[0065] The storage unit 140 matches and stores the reference coordinates of objects relative to the vehicle measured by radar 111 and camera 112, respectively. In other words, the storage unit 140 can calibrate the coordinates of objects (fixed obstacles, walls, and moving objects) measured by autonomous driving sensors such as radar 111, camera 112, and lidar, based on the position of the vehicle, to match them within the allowable error range.

[0066] The controller 150 is an integrated electronic control unit that controls the overall operation of the various components for the operation of the vehicle rear warning system 100 according to an embodiment of the present invention.

[0067] The controller 150 can centrally control the actual operation of each component based on the execution of programs and data stored in the storage unit 140, or it can interact with it.

[0068] The controller 150 collects real-time driving information through the driving information detection unit 110 while the vehicle is in motion, and identifies when the vehicle has entered the reversing mode.

[0069] When the vehicle is in reverse mode, the controller 150 identifies fixed obstacles behind the vehicle by fusing information measured by the radar 111 and the camera 112, and delineates danger zones and safe zones based on these fixed obstacles. Furthermore, when an object is detected approaching the danger zone, the controller 150 generates a collision event and controls warnings and braking, but limits warnings and braking to moving objects present in the safe zone to avoid unnecessary sensitive operations associated with conventional rear collision warnings.

[0070] The controller 150 distinguishes between fixed objects and walls as identified by the camera 112, and uses the coordinates of multiple obstacles extracted by the radar 111 to derive a baseline through linear regression analysis. Based on the derived baseline, it sets up danger zones and safe zones.

[0071] Now refer to Figures 3A to 3B , Figures 4A to 4B as well as Figures 5A to 5B Describes a method for setting up different areas when the obstacle behind is a fixed object.

[0072] Figures 3A to 3B A method for setting up a danger zone and a safety zone when the obstacle behind is a fixed object, according to a first embodiment of the present invention, is described.

[0073] Figures 4A to 4B as well as Figures 5A to 5B The diagram illustrates the cases where there is no warning and a warning when the obstacle behind is an object, according to a first embodiment of the present invention.

[0074] Figures 3A to 3B , Figures 4A to 4B as well as Figures 5A to 5B This illustrates the situation where, when a fixed obstacle behind the vehicle is identified as an object by camera 112, the controller 150 of the rear vehicle warning system 100 refers to a baseline derived from linear regression analysis to divide the danger zone z1 and the safe zone z2.

[0075] Since the controller 150 uses linear regression analysis to divide the various regions, there must be at least three fixed obstacles (objects). For example, fixed obstacles could be multiple safety bollards placed along the length of the road to facilitate safe driving.

[0076] The controller 150 extracts the coordinates of more than three fixed obstacles based on information measured by the radar 111.

[0077] refer to Figures 4A to 4BWhen a large number of safety bollards are identified, the controller 150 can extract the coordinates (X, Y) of obstacles selected within a certain range or number around both sides of the axle. In this case, the coordinates (X, Y) of the selected obstacles are defined sequentially as the first to fourth coordinates.

[0078] The controller 150 creates an equation for the straight line connecting the leftmost first coordinate (X1, Y1) and the rightmost fourth coordinate (X4, Y4) of the selected obstacle, and generates a linear regression analysis equation as given in Equation 1 through this equation.

[0079] In this scenario, the controller 150 derives a hypothetical baseline based on the generation of a linear regression analysis equation, and, based on the baseline, divides the area into a danger zone z1 in the inner direction where the vehicle is located and a safe zone z2 in the outer direction opposite to the vehicle. That is, the area between the vehicle and the baseline based on the fixed obstacle is designated as the danger zone z1, and the area opposite the baseline and the vehicle is designated as the safe zone z2.

[0080] Equation 1:

[0081] Linear regression equation: Y = a + bX + e

[0082] (Here, y represents the dependent variable, x represents the independent variable, a represents the intercept, b represents the slope, and e represents the residual. The residual e can be calculated using the least squares estimator through Equation 2.)

[0083] Equation 2:

[0084] e = yi - y^i, i = 1, 2, ..., n

[0085] Meanwhile, the baseline is a very important factor in determining the hazardous area z1 and the safe area z2, therefore, the controller 150 performs verification to ensure safety.

[0086] Therefore, the controller 150 verifies whether the error of the coordinates of the fixed obstacle deviating from the baseline is within the allowable distance, and then, when the verification is successful, the controller 150 divides the various areas.

[0087] For example, when the coordinate error of any intermediate obstacle (e.g., the second or third obstacle) other than the coordinates of the two fixed obstacles at either end of the baseline (e.g., the first and fourth obstacles) is within an allowable distance, the controller 150 determines that the coordinates are valid and divides the area into zones. Here, the baseline is derived based on the coordinates of three or more fixed obstacles measured by radar 111, while the coordinates of intermediate obstacles can be measured using camera 112 and verified through sensor fusion.

[0088] Therefore, as Figures 4A to 4B As shown, when a moving object (vehicle / person) is in the safe area z2 outside the fixed obstacle (baseline), even if the moving object approaches the vehicle in reverse mode, the controller 150 recognizes that there is no risk of collision and therefore does not issue (limit) warnings or brakes.

[0089] Conversely, such as Figures 5A to 5B As shown, the controller 150 measures the speed and direction of movement of moving objects (vehicles / people) behind the vehicle in reverse mode, and identifies and warns of dangerous situations where a vehicle suddenly enters a danger zone z1 from a safe zone z2 with a low probability of collision, thereby ensuring reliability and safety by executing warning and braking control.

[0090] However, when the coordinate error of the intermediate obstacle is not included (i.e., exceeds) the allowable distance based on the baseline, the controller 150 does not divide the areas and maintains the existing Rear Cross-Traffic Collision Warning (RCCA) logic. In other words, for safety, the existing conservative (sensitive) RCCA logic can be maintained when the baseline verification according to the linear regression equation is not met. That is, when an approaching moving object is detected in reversing mode, warnings and braking can be generated without restriction.

[0091] At the same time, will refer to Figures 6A to 6B as well as Figures 7A to 7B This invention describes a method for pre-determining a danger zone when the rear obstacle is a wall, according to a second embodiment of the invention, and descriptions similar to those in the first embodiment will be omitted.

[0092] Figures 6A to 6B A method for pre-determining a danger zone when the rear obstacle is a wall, according to a second embodiment of the present invention, is shown.

[0093] Figures 7A to 7B The illustration shows the cases of no warning and warning when the rear obstacle is a wall, according to a second embodiment of the present invention.

[0094] refer to Figures 6A to 6B as well as Figures 7A to 7B When the camera 112 of the driving information detection unit 110 of the rear warning system 100 identifies a fixed obstacle behind the vehicle as a wall, a pre-determined danger zone z1 is set based on a baseline derived from linear regression analysis.

[0095] Since the controller 150 divides the regions based on a baseline using linear regression analysis, it extracts the coordinates of at least three points along the length of the wall. In the following text, the coordinates of the three points can be defined as the first to the third coordinates, according to their order of arrangement.

[0096] The controller 150 generates a linear regression equation connecting the leftmost first coordinate (X1, Y1) and the rightmost third coordinate (X3, Y3) of the three points, and derives the hypothesized baseline based on the generation of the linear regression equation.

[0097] When the controller 150 successfully verifies the baseline, the controller 150 sets up the danger zone z1 from the wall along the inside direction of the vehicle based on the baseline.

[0098] Therefore, as Figures 7A to 7B As shown, when the vehicle is in reverse mode, if there is a wall behind it, even if other vehicles are passing in front, the controller 150 will recognize that there is no risk of collision with the wall or other vehicles, and no ghosting phenomenon will occur, thus no (limitation) warning or braking will be generated.

[0099] Furthermore, when a moving object (vehicle / person) approaches the vehicle in reverse mode within the danger zone z1 set inside based on a fixed obstacle (baseline), the controller 150 identifies a collision risk and generates a warning and brakes.

[0100] The controller 150 can be implemented by at least one processor that runs according to a predetermined program, and the predetermined program can be programmed to perform each step of the control method of the vehicle rear warning system according to an embodiment of the present invention.

[0101] Reference Figure 8 and Figure 9 The control method of the vehicle rear warning system is described, and the controller 150 is a constituent element included in the vehicle rear warning system 100, so the system will be mainly described.

[0102] Figure 8 and Figure 9 This is a flowchart illustrating a control method for a vehicle rear warning system according to an embodiment of the present invention.

[0103] refer to Figure 8 and Figure 9 The present invention describes a control method for a vehicle rear warning system according to an embodiment of the present invention, assuming that the vehicle rear warning system 100 collects real-time driving information through the driving information detection unit 110 while the vehicle is in motion and identifies that the vehicle has entered reversing mode.

[0104] The rear warning system 100 detects fixed obstacles or walls located behind the vehicle (S1 and S2) by fusing and analyzing information from radar 111 and camera 112 collected from driving information of the vehicle in reverse mode.

[0105] In this case, when a stationary obstacle is detected (S2: stationary obstacle), the vehicle rear warning system 100 determines the number of stationary obstacles. When the number of stationary obstacles is less than 3 (S3: no), the vehicle rear warning system 100 executes the existing RCCA logic (S4).

[0106] On the other hand, when the number of fixed obstacles is 3 or more (S3: Yes), the vehicle rear warning system 100 extracts the coordinates (X and Y) of at least three points among the fixed obstacles (S5).

[0107] The vehicle rear warning system 100 uses the extracted coordinates to derive a baseline based on a linear regression equation and verifies whether the error between the baseline and the coordinates of the fixed obstacle is within the allowable distance (S7).

[0108] In this case, when the error of the coordinates of the intermediate obstacle, other than the coordinates of the two obstacles at both ends of the baseline, does not meet the allowable distance, the vehicle rear warning system 100 determines that the verification has failed (S7: No) and executes the existing RCCA logic (S4).

[0109] On the other hand, when the error of the coordinates of the intermediate obstacle, excluding the coordinates of the two obstacles at both ends of the baseline, meets the allowable distance, the vehicle rear warning system 100 determines that the verification is successful (S7: Yes), and based on the baseline, divides the danger zone z1 in the inner direction where the vehicle is located and the safety zone z2 in the outer direction opposite to the vehicle (S8).

[0110] Furthermore, the rear warning system 100 generates a collision event only for moving objects entering the danger zone z1 to warn the driver and control the vehicle braking, while limiting warnings and braking for moving objects existing in the safety zone z2 (S9).

[0111] Meanwhile, in S2, when a wall is detected (S2: wall), the vehicle rear warning system 100 extracts the coordinates of at least three points along the length of the wall (S10).

[0112] The vehicle rear warning system 100 uses the extracted coordinates to derive a baseline based on a linear regression equation (S11), and verifies whether the error between the baseline and the actual coordinates extracted from the wall is within the allowable distance (S12).

[0113] In this case, when the error of the coordinates of the intermediate obstacle other than the two points at both ends does not meet the allowable distance based on the baseline, the vehicle rear warning system 100 determines that the verification has failed (S12: No) and executes the existing RCCA logic (S4).

[0114] On the other hand, when the error of the coordinates of the intermediate obstacle does indeed meet the allowable distance based on the baseline, the vehicle rear warning system 100 determines that the verification is successful (S12: Yes) and sets the danger zone z1 in the inner direction where the vehicle is located (S13).

[0115] In addition, the rear warning system 100 generates a collision event only for moving objects entering the danger zone z1 between the vehicle and the wall to warn the driver and control the vehicle braking, thereby limiting the warning and braking caused by the ghosting phenomenon (S14).

[0116] As described above, according to an embodiment of the present invention, in the vehicle's reversing mode, dangerous areas and safe areas are divided based on the position of fixed obstacles, and warnings and braking control are restricted for moving obstacles that exist in the safe area and therefore do not pose a collision risk, thereby avoiding unnecessary sensitive operations.

[0117] In addition, it has the following effects: by determining the directionality of the moving object, it can identify situations where a moving object suddenly enters a dangerous area from a safe area with a low probability of collision, and provide warnings and braking control to ensure safety.

[0118] Furthermore, by identifying the type of obstacle behind the vehicle, errors caused by ghosting when the vehicle approaches from the front when the wall is behind it can be eliminated, and warnings and braking are generated only when necessary to warn of rear cross-traffic collisions, thereby optimizing performance.

[0119] The embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments and various other modifications can be made.

[0120] For example, in the above-described embodiments of the present invention, an improved rear cross-collision warning function is provided by using radar 111 and camera 112 through sensor fusion. However, the embodiments of the present invention are not limited to this, and can also be implemented by using lidar and camera 112 through sensor fusion.

[0121] In other words, the vehicle rear warning system 100 can also extract the coordinates of at least three points measured by lidar, set up a danger zone z1 and a safe zone z2 based on the baseline of the linear regression equation, and limit the sensitive warning for moving objects sensed in the safe zone z2.

[0122] Therefore, the present invention has the following advantages: it can provide an effective vehicle rear warning system and its control method by modifying only the autonomous driving sensors and software applied to the vehicle without configuring additional components or hardware.

[0123] Furthermore, in the above-described embodiments of the present invention, when three or more fixed obstacles are identified by the camera, the coordinates of each obstacle are extracted, and a baseline is derived based on linear regression analysis. Considering that safety posts on roads are typically arranged side-by-side, this is a preferred embodiment. Therefore, the present invention is not limited to this, and when three or more obstacles are identified by the camera, the controller can also derive the baseline based on nonlinear regression analysis.

[0124] The embodiments of the present invention are implemented not only by the above-described apparatus and / or methods, but also by a program for implementing functions corresponding to the configuration of the embodiments of the present invention, a recording medium for recording the program, etc. Those skilled in the art to which this invention pertains can easily implement such embodiments based on the description of the above-described embodiments.

[0125] Although the invention has been described in conjunction with embodiments now considered practical, it should be understood that the invention is not limited to the disclosed embodiments. Rather, the invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A vehicle rear warning system, comprising: The driving information detection unit collects information measured by radar and camera sensors in the vehicle's reverse mode; as well as The controller fuses information measured by radar and cameras in the vehicle's reversing mode, delineates danger zones and safe zones based on fixed obstacles behind the vehicle, generates a collision event and controls warnings and braking when a moving object is detected approaching from the danger zone, while limiting warnings and braking for moving objects present in the safe zone. When more than three fixed obstacles are identified by the camera, the controller extracts the coordinates of the fixed obstacles, uses linear regression analysis to derive a baseline, and divides the danger zone and the safe zone based on the baseline.

2. The vehicle rear warning system according to claim 1, further comprising: The braking unit generates braking force on the wheels based on the control signal applied by the controller; The warning unit alerts the driver to a rear-end collision and displays the braking status accordingly. as well as The storage unit matches and stores a reference coordinate system used to measure the coordinates of objects relative to the vehicle via radar and cameras.

3. The vehicle rear warning system according to claim 1, wherein: The driving information detection unit detects driving information measured by at least one of radar, camera, vehicle speed sensor, accelerator pedal position sensor, brake pedal sensor or transmission gear position sensor based on the operation of the vehicle.

4. The vehicle rear warning system according to claim 1, wherein: The radar includes a program that predicts the expected collision time and point of impact by analyzing the position, distance, and direction of movement of vehicles and moving objects, and a control module for the program.

5. The vehicle rear warning system according to claim 1, wherein: When the vehicle is in reverse mode, the camera identifies fixed obstacles and building walls installed on the road by capturing images of the rear.

6. The vehicle rear warning system according to claim 1, wherein: The controller extracts the coordinates of obstacles selected from a certain range or number of obstacles around both sides of the axle from the identified fixed obstacles.

7. The vehicle rear warning system according to claim 6, wherein: The controller creates an equation for a straight line connecting the leftmost and rightmost coordinates of the selected obstacle, and generates a linear regression analysis equation through the equation.

8. The vehicle rear warning system according to claim 7, wherein: The controller verifies whether the error between the coordinates of the fixed obstacle located in the middle of the coordinates of the fixed obstacle and the baseline meets the allowable distance requirement, and then divides each region when the verification is successful.

9. The vehicle rear warning system according to claim 1, wherein: When the fixed obstacle is an object, the controller uses the baseline to divide the danger zone in the inner direction of the vehicle and the safe zone in the opposite outer direction.

10. The vehicle rear warning system according to claim 1, wherein: When the camera detects a wall, the controller extracts the coordinates of at least three points along the length of the wall and derives a baseline based on linear regression analysis.

11. The vehicle rear warning system according to claim 10, wherein: The controller establishes a danger zone from the wall along the inner side where the vehicle is located, based on the baseline.

12. A control method for a vehicle rear warning system that provides rear cross-traffic collision warning through sensor fusion, the control method comprising the following steps: a) By fusing information collected by radar and cameras in the vehicle's reversing mode, fixed obstacles or walls located behind can be detected. b) When the number of fixed obstacles is three or more, the coordinates of at least three points are extracted by radar; c) Using the extracted coordinates, a baseline is derived based on linear regression analysis, and dangerous and safe areas are divided based on the baseline; d) When a moving object is detected approaching from a danger zone, a collision event is generated to control warnings and braking, limiting the generation of collision events for moving objects existing in safe zones.

13. The method according to claim 12, wherein: Step b) includes: maintaining the existing rear cross-collision warning logic when the number of the fixed obstacles is less than three.

14. The method according to claim 12, wherein: Step c) includes: verifying whether the error between the coordinates of the baseline and the fixed obstacle is within the allowable distance.

15. The method according to claim 14, wherein, Verifying whether the error between the coordinates of the baseline and the fixed obstacle is within the allowable distance includes: When the coordinate error of the intermediate obstacle (excluding the coordinates of the two obstacles at both ends of the baseline) is within the allowable distance, the verification is determined to be successful, and each region is divided; or When the error of the coordinates of the intermediate obstacle is not within the allowable distance, the verification is determined to have failed, and the existing rear cross-collision warning logic is maintained.

16. The method according to claim 15, wherein, The coordinates of the intermediate obstacle were measured using a camera.

17. The method according to claim 12, wherein: Step b) includes: when a wall is detected, extracting the coordinates of at least three points along the length of the wall.

18. The method of claim 17, comprising: After step b), Based on the baseline, a danger zone is set from the wall along the inner side where the vehicle is located; Collision events are generated only for moving objects entering the danger zone to control warnings to the driver and vehicle braking, and the generation of collision events based on ghosting phenomena caused by light reflection from walls is limited.

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