Driver assistance system and vehicle including the same

Abstract

The present invention relates to a driver assistance system and a vehicle including the driver assistance system. The driver assistance system according to the present invention, which performs cruise control in a first vehicle, includes: a communication unit that performs communication with a plurality of other vehicles; an obstacle detection unit that detects surrounding obstacles and outputs obstacle information regarding the detected obstacles; and a control unit configured to, when executing a cruise control mode, obtain distance information from a second vehicle traveling around the first vehicle, one of the obstacles, based on obstacle information detected by the obstacle detection unit; obtain travel information and position information of a third vehicle traveling around the second vehicle based on information received via the communication unit; and control acceleration and deceleration based on the distance information from the second vehicle, the travel information of the third vehicle, and the position information of the third vehicle.

Description

Technical Field

[0001] The present invention relates to a driver assistance system for preventing a collision with an obstacle when a cruise control mode is executed, and a vehicle including the driver assistance system. Background Art

[0002] Recently, in order to prevent accidents caused by driver negligence, various driver assistance systems (ADAS) are being developed, which transmit driving information of the vehicle to the driver and promote autonomous driving for the convenience of the driver.

[0003] As one example, there is a technology that installs a distance detection sensor on a vehicle to detect obstacles around the vehicle and warn the driver.

[0004] As another example, there is a cruise control technology that allows a vehicle to travel at a constant speed. Recently, with the development of technology, a cruise control technology is being developed that not only automatically controls the travel speed but also controls the distance to other vehicles, stops, slows down, etc.

[0005] As yet another example, there is an autonomous driving technology that automatically drives to a destination based on road information and current position information, and detects obstacles and automatically drives to the destination while avoiding the detected obstacles.

[0006] This cruise control technology or autonomous driving technology uses obstacle sensors and the like to identify the situation ahead of the vehicle, and operates the engine or brakes according to the identified situation ahead to adjust the driving speed and vehicle distance without driver intervention.

[0007] That is, the existing cruise control technology or autonomous driving technology uses an obstacle sensor to identify a vehicle ahead of the vehicle and then follows the vehicle ahead and adjusts the distance between the vehicles and the driving speed when the vehicle predicts the driving situation.

[0008] This cruise control technology or autonomous driving technology controls acceleration to respond to the preceding vehicle suddenly deviating from the driving path, which may cause a collision with other vehicles traveling in front of the preceding vehicle. In addition, cruise control technology or autonomous driving technology also has the problem of colliding with the preceding vehicle if the preceding vehicle suddenly brakes. Summary of the Invention

[0009] (1) Technical issues to be solved

[0010] One aspect provides a driver assistance system that controls deceleration based on driving information of at least two other vehicles around in a driving path when a cruise control mode is executed, and a vehicle including the driver assistance system.

[0011] Another aspect provides a driver assistance system for controlling braking in response to identifying another stationary vehicle in a driving path while in a cruise control mode, and a vehicle including the driver assistance system.

[0012] Yet another aspect provides a driver assistance system that limits acceleration based on a travel direction change and requests a user to decelerate when a cruise control mode is executed, and a vehicle including the driver assistance system.

[0013] (2) Technical solution

[0014] According to one aspect, a driver assistance system for performing cruise control in a first vehicle includes: a communication unit that performs communication with a plurality of other vehicles; an obstacle detection unit that detects surrounding obstacles and outputs obstacle information about the detected obstacles; and a control unit configured to: when a cruise control mode is performed, obtain distance information from a second vehicle traveling around the first vehicle among obstacles based on obstacle information detected by the obstacle detection unit, obtain travel information and position information of a third vehicle traveling around the second vehicle based on information received through the communication unit, and control acceleration and deceleration based on the distance information from the second vehicle, the travel information of the third vehicle, and the position information of the third vehicle.

[0015] The control unit of the driver assistance system is configured to determine whether the second vehicle deviates from the driving path based on obstacle information detected by the obstacle detection unit, and when it is determined that the second vehicle deviates from the driving path, control acceleration and deceleration based on driving information of the third vehicle.

[0016] The driver assistance system further includes: a speed detection unit that detects the driving speed of the first vehicle and outputs driving speed information about the detected driving speed, wherein the communication unit receives current position information of the first vehicle, and the control unit is configured to obtain a first target deceleration based on the current position information of the first vehicle, the driving speed information of the first vehicle, and the distance information to the second vehicle, obtain a second target deceleration based on the current position information of the first vehicle, the driving speed information of the first vehicle, the driving information of the third vehicle, and the position information of the third vehicle, and control deceleration based on the first target deceleration and the second target deceleration.

[0017] The control unit of the driver assist system is configured to control deceleration at a smaller target deceleration of the first target deceleration and the second target deceleration when a third vehicle exists around the second vehicle.

[0018] The driver assistance system further includes: a speed detection unit that detects the driving speed of the first vehicle and outputs driving speed information about the detected driving speed, wherein the communication unit receives current position information of the first vehicle, and the control unit is configured to obtain position information of an obstacle in a stationary state in the driving path based on road environment information received through the communication unit, and control deceleration based on the obtained position information of the obstacle, the current position information of the first vehicle and the driving speed information of the first vehicle.

[0019] According to another aspect, a driver assistance system for performing cruise control in a vehicle includes: an obstacle detection unit that detects surrounding obstacles and outputs obstacle information regarding the detected obstacles; a speed detection unit that detects a traveling speed of the vehicle and outputs actual traveling speed information regarding the detected traveling speed; a yaw rate detection unit that detects a yaw rate of the vehicle and outputs yaw rate information regarding the detected yaw rate; and a control unit configured to, when executing a cruise control mode, determine whether the vehicle is in a turning traveling state based on the detected yaw rate information; when it is determined that the vehicle is in the turning traveling state, determine whether there is an obstacle in the surroundings based on the obstacle information; when it is determined that there is no obstacle in the surroundings, acquire a yaw rate value and a yaw acceleration value based on the yaw rate information; and control an acceleration limit based on the acquired yaw rate value, yaw acceleration value, and actual traveling speed information.

[0020] A control unit of a driver assistance system according to another aspect is configured to determine an acceleration restriction condition based on the acquired yaw rate value, yaw acceleration value, and driving speed information, control acceleration based on a target acceleration when it is determined that the acceleration restriction condition is satisfied, and control acceleration based on a preset acceleration when it is determined that the acceleration restriction condition is not satisfied.

[0021] According to another aspect, the acceleration limiting condition of the driver assistance system includes the conditions that the acquired yaw rate value is greater than or equal to a reference yaw rate value, the yaw acceleration value is greater than or equal to a reference yaw acceleration value, and the vehicle's driving speed exceeds a first reference driving speed and is less than a second reference driving speed.

[0022] The driver assistance system according to another aspect further includes a steering angle detection unit that detects a steering angle of the vehicle and outputs information about the detected steering angle, wherein the control unit is configured to determine whether the vehicle is in a turning driving state based on the detected steering angle information.

[0023] According to another aspect, the driver assistance system further includes a pole signal receiving unit that receives a pole signal of a driving direction indicator pole, wherein the control unit is configured to determine the acceleration restriction condition when it is determined that an actual driving speed of the vehicle is less than or equal to a target driving speed and no other vehicle exists around the vehicle, and when it is determined that a turning driving command is received through the pole signal receiving unit.

[0024] The control unit of the driver assistance system according to another aspect is configured to determine the acceleration restriction condition when the actual driving speed of the vehicle is less than or equal to the target driving speed and there are no other vehicles around the vehicle and it is determined that any one of the driving direction indicators is turned on.

[0025] The control unit of the driver assistance system according to another aspect is configured to determine that the emergency light is turned on when it is determined that both driving direction indicators are turned on.

[0026] A driver assistance system control unit according to another aspect is configured to control at least one of a display unit, a combination meter, and a sound output unit to output deceleration request information when controlling acceleration restriction.

[0027] The driver assistance system control unit according to another aspect is configured to control release of the cruise control mode when pressure information corresponding to depression of the brake pedal is received.

[0028] According to another invention, a vehicle includes: a communication unit that communicates with multiple other vehicles and receives current position information; an obstacle detection unit that detects surrounding obstacles and outputs obstacle information about the detected obstacles; a speed detection unit that detects a driving speed and outputs actual driving speed information about the detected driving speed; and a control unit that is configured to: when executing a cruise control mode, obtain distance information from another vehicle traveling around the obstacle in a driving path based on the obstacle information detected by the obstacle detection unit, obtain driving information and position information of another vehicle traveling around the another vehicle based on information received through the communication unit, and control acceleration and deceleration based on the current position information, the distance information from the other vehicle, the driving information of the other vehicle, and the position information of the other vehicle.

[0029] The control unit of the vehicle is configured to obtain a first target deceleration based on current position information, driving speed information of the vehicle, and distance information to another vehicle, obtain a second target deceleration based on current position information, actual driving speed information, driving information of another vehicle, and position information of another vehicle, and control deceleration with the smaller target deceleration between the first target deceleration and the second target deceleration.

[0030] The vehicle further includes: a yaw rate detection unit that detects a yaw rate and outputs yaw rate information regarding the detected yaw rate, wherein the control unit is configured to determine whether the vehicle is in a turning driving state based on the detected yaw rate information, and when the vehicle is determined to be in the turning driving state, obtain a yaw rate value and a yaw acceleration value based on the yaw rate information, and control the acceleration limit based on the obtained yaw rate value, yaw acceleration value, and actual driving speed information.

[0031] The control unit of the vehicle is configured to determine an acceleration restriction condition based on the acquired yaw rate value, yaw acceleration value, and actual driving speed information, control acceleration based on a target acceleration when it is determined that the acceleration restriction condition is satisfied, and control acceleration based on a preset acceleration when it is determined that the acceleration restriction condition is not satisfied.

[0032] The acceleration limit conditions of the vehicle include the conditions that the acquired yaw rate value is greater than or equal to a reference yaw rate value, the yaw acceleration value is greater than or equal to a reference yaw acceleration value, and the vehicle's driving speed exceeds a first reference driving speed and is less than a second reference driving speed.

[0033] The vehicle further includes: a pole signal receiving unit that receives a pole signal from a driving direction indicator pole, wherein the control unit is configured to determine the acceleration restriction condition when it is determined that the actual driving speed is less than or equal to the target driving speed and there is no other vehicle, and when it is determined that a turning driving command is received through the pole signal receiving unit.

[0034] The control unit of the vehicle is configured to control at least one of the display unit, the combination meter, and the sound output unit to output deceleration request information when the acceleration limit is controlled.

[0035] (3) Beneficial effects

[0036] In the present invention, when the host vehicle (i.e., the first vehicle) is executing cruise control, acceleration can be limited when other vehicles (the second vehicle) around it change their paths during left turns, right turns, and U-turns, thereby providing psychological stability for the driver and reducing the risk of collisions with other vehicles (the third vehicle) around it. In this case, unnecessary release of the cruise control mode can be prevented, and resetting the cruise control mode after release can be prevented based on the release prevention mechanism, thereby improving driver convenience.

[0037] In addition, in the present invention, the driver is requested to brake in left turn, right turn and U-turn situations when executing the cruise control mode, so that the driver can directly decelerate when the vehicle performs acceleration control in response to changes in the driving path of other vehicles (second vehicles) around it.

[0038] In the present invention, when executing the cruise control mode, it is identified whether the driving state of the third vehicle traveling in front of the second vehicle is a low-speed driving state or a stationary state, so that even when the surrounding second vehicle suddenly brakes, a collision with the second vehicle or the third vehicle can be prevented.

[0039] In the present invention, when the cruise control mode is executed, deceleration is controlled based on the required deceleration for the other surrounding vehicle (i.e., the third vehicle) before the travel path of the other surrounding vehicles changes. This prevents a collision with the other surrounding vehicle (the third vehicle). Therefore, safe driving is possible even when the driver is not paying attention to the surrounding environment.

[0040] In the present invention, information about another surrounding vehicle (the third vehicle) is utilized to the maximum extent possible, thereby improving the overall traffic congestion situation thereafter.

[0041] In the present invention, without increasing the hardware configuration, braking control according to the possibility of collision with other surrounding vehicles (second vehicle, third vehicle) can be performed, thereby preventing an increase in vehicle cost and improving vehicle stability.

[0042] As described above, in the present invention, the quality and marketability of a driver assistance system and a vehicle including the driver assistance system can be improved, user satisfaction can be improved, and product competitiveness can be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a configuration diagram of a vehicle according to an embodiment.

[0044] Figure 2 is a configuration diagram of a driver assistance system provided in a vehicle according to an embodiment.

[0045] Figure 3 FIG. 1 is an exemplary diagram of detection areas of a camera and a radar included in a driver assistance system for a vehicle according to an embodiment.

[0046] Figure 4 FIG. 1 is a diagram illustrating a communication example of a vehicle according to an embodiment.

[0047] Figure 5 is a configuration diagram of a cruise control device provided in a driver assistance system in a vehicle according to an embodiment.

[0048] Figure 6 1 is a control flowchart of the vehicle according to the embodiment, and is a control flowchart when the vehicle travels straight in the cruise control mode.

[0049] Figure 7a and Figure 7bis an example diagram of a road environment when a vehicle travels straight in a cruise control mode according to an embodiment.

[0050] Figure 8 1 is a control flowchart of the vehicle according to the embodiment, and is a control flowchart when the vehicle is turning in the cruise control mode.

[0051] Figure 9 is an exemplary diagram of a road environment when a vehicle is turning while in a cruise control mode according to an embodiment.

[0052] Figure 10 is an output graph of a yaw rate when a vehicle is turning in a cruise control mode according to an embodiment.

[0053] Description of Reference Numerals

[0054] 1: Vehicle

[0055] 100: Driver Assistance Systems

[0056] 110: Front camera

[0057] 120: Front radar

[0058] 130: Corner Radar

[0059] 131: First Corner Radar

[0060] 132: Second Corner Radar

[0061] 133: Third Corner Radar

[0062] 134: Fourth Corner Radar

[0063] 140: First control unit

[0064] 200: Cruise control

[0065] 280: Second control unit

[0066] 281: Storage unit DETAILED DESCRIPTION

[0067] Throughout the specification, the same reference numerals refer to the same components. This specification does not describe all elements of the embodiments, and omits general content in the technical field to which the disclosed invention belongs or content repeated between embodiments.

[0068] The terms "unit, module, part, block" used in the specification may be implemented by software or hardware, and depending on the embodiment, multiple "units, modules, parts, blocks" may be implemented by one component, or one "unit, module, part, block" may include multiple components.

[0069] Throughout the specification, when one part is “connected” to another part, this includes not only the case of direct connection but also the case of indirect connection including connection through a wireless communication network.

[0070] In addition, when a section “includes” a component, unless otherwise stated, it means that other components may be further included, rather than excluding other components.

[0071] Throughout the specification, when one component is located “on” another component, this includes not only a case where one component is in contact with another component but also a case where other components are present between the two components.

[0072] Terms such as first and second are used to distinguish one component from another component, and the components are not limited by the above terms.

[0073] Unless the context clearly dictates otherwise, a singular expression includes a plural expression.

[0074] In each step, reference numerals are used for convenience of description and do not describe the order of the steps. Unless a specific order is clearly stated in the context, the execution order of the steps may be different from the specified order.

[0075] The working principle and embodiments of the disclosed invention are described below with reference to the accompanying drawings.

[0076] Figure 1 is a configuration diagram of a vehicle according to an embodiment.

[0077] According to the embodiment, the vehicle can be a vehicle that executes a manual driving mode for driving according to the driver's driving intention and a cruise control mode for traveling at a set speed while maintaining a predetermined distance from other vehicles, and can be a vehicle that further executes an automatic driving mode for automatically driving to a destination based on the vehicle's current position information and destination information.

[0078] The cruise control mode is a mode in which the first vehicle can continue to travel while maintaining a certain speed, and has the advantage of allowing the accelerator pedal to be released during long-distance travel.

[0079] Cruise control may also be referred to as Active Cruise Control (ACC), Adaptive Cruise Control (ACC), Smart Cruise Control (SCC), Advanced Smart Cruise Control (ASC), and Dynamic Radar Cruise Control (DRCC).

[0080] The vehicle according to the embodiment may be an internal combustion engine vehicle or an environmentally friendly vehicle.

[0081] In this embodiment, an internal combustion engine vehicle that executes a cruise control mode is taken as an example for description.

[0082] like Figure 1 As shown, the vehicle 1 includes an engine 10 , a transmission 20 , a braking device 30 , and a steering device 40 .

[0083] The engine 10 includes cylinders and pistons, and may generate power for driving the vehicle 1 .

[0084] The transmission 20 includes a plurality of gears and may transmit power generated by the engine 10 to wheels.

[0085] The braking device 30 can decelerate or stop the vehicle 1 through friction with the wheels.

[0086] The steering device 40 can change the driving direction of the vehicle 1 .

[0087] Vehicle 1 may include a plurality of electronic components.

[0088] For example, the vehicle 1 further includes an engine management system (EMS) 11 , a transmission control unit (TCU) 21 , an electronic brake control module 31 , an electronic power steering system (EPS) 41 , a body control module (BCM) 51 , and a driver assistance system (DAS) 100 .

[0089] The engine management system 11 may control the engine 10 in response to the driver's acceleration intention through the accelerator pedal or a request of the driver assistance system 100. For example, the engine management system 11 may control the torque of the engine 10.

[0090] The transmission control unit 21 may control the transmission 20 in response to a driver's shift command via a shift lever (also referred to as a shift lever, a gear lever, or a gear) and / or the driving speed of the vehicle 1. For example, the transmission control unit 21 may adjust the speed ratio from the engine 10 to the wheels.

[0091] The electronic brake control module 31 can control the brake device 30 in response to the driver's braking intention via the brake pedal and / or wheel slip. For example, the electronic brake control module 31 can temporarily release the brakes on the wheels in response to wheel slip detected when the vehicle 1 is braking (anti-lock braking system (ABS)).

[0092] The electronic brake control module 31 may selectively release wheel brakes in response to oversteering and / or understeering detected when the vehicle 1 is turning (electronic stability control (ESC)).

[0093] Furthermore, the electronic brake control module 31 may temporarily brake the wheels in response to wheel slip detected while the vehicle 1 is driving (Traction Control System (TCS)).

[0094] The electronic steering control device 41 can assist the operation of the steering device 40 in response to the driver's steering intention through the steering wheel, so that the driver can easily manipulate the steering wheel. For example, the electronic steering control device 41 can assist the operation of the steering device 40 to reduce the steering force when driving at low speeds or parking, and increase the steering force when driving at high speeds.

[0095] The body control module 51 may control the operation of electronic components that provide convenience to the driver or ensure the driver's safety. For example, the body control module 51 may control headlights, wipers, a combination meter, a multi-function switch, and a direction indicator light.

[0096] The driver assistance system 100 can assist the driver in operating (driving, braking, and steering) the vehicle 1. For example, the driver assistance system 100 detects the environment around the vehicle 1 (e.g., other vehicles, pedestrians, cyclists, lanes, road signs, etc.) and can control the driving and / or braking and / or steering of the vehicle 1 in response to the detected environment.

[0097] The driver assistance system 100 can provide various functions to the driver. For example, the driver assistance system 100 can provide Lane Departure Warning (LDW), Lane Keeping Assist (LKA), High Beam Assist (HBA), Autonomous Emergency Braking (AEB), Traffic Sign Recognition (TSR), Smart Cruise Control (SCC), Blind Spot Detection (BSD), etc.

[0098] The driver assistance system 100 may include an automatic driving control device, which uses the vehicle itself to identify the road environment, judge obstacles and driving conditions, and control the driving of the vehicle according to the planned driving path while avoiding obstacles, thereby automatically driving to the destination.

[0099] The driver assistance system 100 includes a camera module 101 for acquiring image data around the vehicle 1 and a radar module 102 for acquiring obstacle data around the vehicle 1 .

[0100] The camera module 101 includes a camera 101 a and an Electronic Control Unit (ECU) 101 b , which can capture the surroundings of the vehicle 1 and identify other vehicles, pedestrians, cyclists, lanes, road signs, etc.

[0101] The radar module 102 includes a radar 102 a and a controller 102 b , and can obtain the relative position, relative speed, etc. of obstacles (eg, other vehicles, pedestrians, cyclists, etc.) around the vehicle 1 .

[0102] The electronic components can communicate with each other via the vehicle communication network (NT). For example, the electronic components can transmit and receive data via Ethernet, Media Oriented Systems Transport (MOST), Flexray, Controller Area Network (CAN), and Local Interconnect Network (LIN).

[0103] The driver assistance system 100 may transmit a driving control signal, a braking control signal, and a steering control signal to the engine management system 11 , the electronic brake control module 31 , and the electronic steering control device 41 , respectively, through the vehicle communication network (NT).

[0104] Figure 2 is a configuration diagram of a driver assistance system provided in a vehicle according to an embodiment, Figure 3 FIG. 1 is an exemplary diagram of detection areas of a camera and a radar included in a driver assistance system for a vehicle according to an embodiment.

[0105] The driver assistance system of this embodiment can perform a collision avoidance function to prevent collisions with obstacles while driving. In this case, the driver assistance system can control braking to prevent collisions. In other words, the driver assistance system of this embodiment can be either a collision avoidance device or a brake control device.

[0106] like Figure 2 As shown, vehicle 1 may include a braking system 32 , a steering system 42 , and a driver assistance system 100 .

[0107] The brake system 32 includes a combination of Figure 1 The electronic brake control module 31 described (refer to Figure 1) and the brake device 30 (refer to Figure 1 ), the steering system 42 includes an electronic steering control device 41 (refer to Figure 1 ) and the steering device 40 (refer to Figure 1 ).

[0108] The driver assistance system 100 of this embodiment may include a front camera 110 as a camera of the camera module 101 , and may include a front radar 120 and multiple corner radars 130 ( 131 , 132 , 133 , 134 ) as radars of the radar module 102 .

[0109] like Figure 3 As shown, the driver assistance system 100 may include a front camera 110 for ensuring a field of view 110 a toward the front of the vehicle 1 , a front radar 120 , and multiple corner radars 130 .

[0110] The front camera 110 may be mounted on the front windshield of the vehicle 1 .

[0111] The front camera 110 can capture the front of the vehicle 1 and obtain image data in front of the vehicle 1. The image data in front of the vehicle 1 may include position information about at least one of other vehicles, pedestrians, cyclists, lanes, curbs, guardrails, roadside trees, and streetlights located in front of the vehicle 1.

[0112] The front camera 110 may include a plurality of lenses and an image sensor. The image sensor may include a plurality of photodiodes that convert light into electrical signals, and the plurality of photodiodes may be arranged in a two-dimensional matrix.

[0113] The front camera 110 may be electrically connected to the first control unit 140. For example, the front camera 110 may be connected to the first control unit 140 via a vehicle communication network (NT), may be connected to the first control unit 140 via a hard wire, or may be connected to the first control unit 140 via a printed circuit board (PCB).

[0114] The front camera 110 may transmit image data of the front of the vehicle 1 to the first control unit 140 .

[0115] The front radar 120 may have a sensing field of view 120a toward the front of the vehicle 1. The front radar 120 may be mounted on a grille or a bumper of the vehicle 1, for example.

[0116] The front radar 120 may include a transmitting antenna (or a transmitting antenna array) that transmits a transmission wave toward the front of the vehicle 1 and a receiving antenna (or a receiving antenna array) that receives a reflected wave reflected by an obstacle.

[0117] The front radar 120 may acquire front radar data from a transmission wave transmitted by a transmission antenna and a reflected wave received by a reception antenna.

[0118] The front radar data may include position information and speed information about other vehicles or pedestrians or cyclists located in front of the vehicle 1 .

[0119] The front radar 120 may calculate a relative distance to an obstacle based on a phase difference (or time difference) between a transmitted wave and a reflected wave, and may calculate a relative speed of the obstacle based on a frequency difference between the transmitted wave and the reflected wave.

[0120] The front radar 120 may be connected to the first control unit 140 through, for example, a vehicle communication network (NT) or a hard line or a printed circuit board. The front radar 120 may transmit the front radar data to the first control unit 140.

[0121] Multiple corner radars 130 include a first corner radar 131 installed on the right front side of the vehicle 1, a second corner radar 132 installed on the left front side of the vehicle 1, a third corner radar 133 installed on the right rear side of the vehicle 1, and a fourth corner radar 134 installed on the left rear side of the vehicle 1.

[0122] The first corner radar 131 may have a sensing field of view 131a toward the right front side of the vehicle 1. The first corner radar 131 may be installed on the right side of the front bumper of the vehicle 1.

[0123] The second corner radar 132 may have a sensing field of view 132 a toward the left front side of the vehicle 1 and may be installed on the left side of the front bumper of the vehicle 1 .

[0124] The third corner radar 133 may have a sensing field of view 133 a toward the right rear side of the vehicle 1 and may be installed on the right side of the rear bumper of the vehicle 1 .

[0125] The fourth corner radar 134 may have a sensing field of view 134 a toward the left rear side of the vehicle 1 and may be mounted on the left side of the rear bumper of the vehicle 1 .

[0126] Each of first corner radar 131 , second corner radar 132 , third corner radar 133 , and fourth corner radar 134 may include a transmitting antenna and a receiving antenna.

[0127] The first corner radar 131 , the second corner radar 132 , the third corner radar 133 , and the fourth corner radar 134 may respectively obtain first corner radar data, second corner radar data, third corner radar data, and fourth corner radar data.

[0128] The first-angle radar data may include distance information and speed information about another vehicle, pedestrian, or cyclist (hereinafter referred to as “obstacle”) located on the right front side of the vehicle 1 .

[0129] The second-angle radar data may include distance information and speed information about an obstacle located on the left front side of the vehicle 1 .

[0130] The third corner radar data and the fourth corner radar data may include distance information and speed information about obstacles located on the right rear side of the vehicle 1 and the left rear side of the vehicle 1 , respectively.

[0131] Each of first corner radar 131, second corner radar 132, third corner radar 133, and fourth corner radar 134 may be connected to first control unit 140 via a vehicle communication network (NT) or a hard line or a printed circuit board. First corner radar 131, second corner radar 132, third corner radar 133, and fourth corner radar 134 may transmit first corner radar data, second corner radar data, third corner radar data, and fourth corner radar data, respectively, to first control unit 140.

[0132] The first control unit 140 may include a camera module 101 (refer to Figure 1 ) of the controller 101b (refer to Figure 1 ) and / or radar module 102 (refer to Figure 1 ) of the controller 102b (refer to Figure 1 ) and / or a separate integrated controller.

[0133] The first control unit 140 includes a processor 141 and a memory 142 .

[0134] The processor 141 may process the front image data of the front camera 110 , the front radar data of the front radar 120 , and the corner radar data of the plurality of corner radars 130 , and may generate a braking signal and a steering signal for controlling the braking system 32 and the steering system 42 .

[0135] For example, the processor 141 may include an image signal processor that processes front image data of the front camera 110 and / or a digital signal processor that processes radar data of the radars 120 and 130 and / or a micro control unit (MCU) that generates braking signals and steering signals.

[0136] The processor 141 can detect obstacles in front of the vehicle 1 (e.g., other vehicles, pedestrians, cyclists, curbs, guardrails, roadside trees, street lights, etc.) based on the front image data of the front camera 110 and the front radar data of the front radar 120.

[0137] Specifically, the processor 141 can obtain position information (distance and direction) and speed information (relative speed) about obstacles in front of the vehicle 1 based on the front radar data from the front radar 120. The processor 141 can also obtain position information (direction) and type information (e.g., whether the obstacle is another vehicle, a pedestrian, a cyclist, a curb, a guardrail, a roadside tree, or a streetlight) of obstacles in front of the vehicle 1 based on the front image data from the front camera 110.

[0138] In addition, the processor 141 can match the obstacles detected based on the front image data with the obstacles detected based on the front radar data, and can obtain type information, position information and speed information of the obstacles in front of the vehicle 1 based on the matching results.

[0139] The processor 141 may generate a braking signal and a turning signal based on type information, position information, and speed information of a front obstacle.

[0140] For example, the processor 141 can calculate the time to collision (TTC) between the vehicle 1 and the obstacle in front based on the position information (relative distance) and speed information (relative speed) of the obstacle in front, and can warn the driver of the collision or transmit a braking signal to the braking system 32 or a steering signal to the steering system 42 based on the comparison result of the collision time with a predetermined reference time.

[0141] In response to the collision time being less than a predetermined first reference time, the processor 141 may output an alarm through audio and / or display.

[0142] In response to the collision time being less than a predetermined second reference time, the processor 141 may transmit a pre-braking signal to the braking system 32 .

[0143] In response to the collision time being less than the predetermined third reference time, the processor 141 may transmit an emergency braking signal to the braking system 32. At this time, the second reference time is less than the first reference time, and the third reference time is less than the second reference time.

[0144] The processor 141 may transmit a turn signal to the steering system 42 based on the direction information in the position information of the obstacle ahead.

[0145] As another example, the processor 141 can calculate the distance to collision (DTC) based on the speed information of the obstacle ahead (i.e., relative speed), and can warn the driver of the collision or transmit a braking signal to the braking system 32 based on the comparison result of the collision distance and the distance to the obstacle ahead.

[0146] The processor 141 can obtain position information (distance and direction) and speed information (relative speed) of obstacles on the sides (right front side, left front side, right rear side, left rear side) of the vehicle 1 based on the corner radar data of multiple corner radars 130.

[0147] The memory 142 may store programs and / or data used by the processor 141 to process image data, programs and / or data used to process radar data, and programs and / or data used to generate braking signals and / or turning signals.

[0148] The memory 142 may temporarily store image data received from the front camera 110 and / or radar data received from the radars 120 and 130 , and may temporarily store processing results of the image data and / or radar data by the processor 141 .

[0149] The memory 142 may include not only volatile memories such as S-RAM, D-RAM but also nonvolatile memories such as flash memory, read-only memory (ROM), erasable programmable read-only memory (EPROM).

[0150] Figure 4 is a diagram of a communication configuration of a vehicle according to an embodiment.

[0151] Figure 4 1 is a diagram for explaining communication among a first vehicle 1 , a second vehicle 2 , a third vehicle 3 , an infrastructure 4 , and a server 5 .

[0152] The first vehicle 1 can perform communication (V2I communication) with the infrastructure 4. Furthermore, the first vehicle 1 can perform communication (V2V communication) with a second vehicle and a third vehicle as other vehicles.

[0153] The first vehicle 1 can communicate with the infrastructure 4 and can communicate with the server 5. The first vehicle 1 can also communicate indirectly with the server 5 through the infrastructure 4 of the road.

[0154] The first vehicle 1 may transmit electromagnetic waves to the outside through the antenna 1 a. In this case, the antenna 1 a may transmit electromagnetic waves corresponding to the electrical signal transmitted from the second control unit 280 provided in the first vehicle 1 .

[0155] At this time, the first vehicle 1 receives the electromagnetic wave transmitted from at least one of the second vehicle 2 , the third vehicle 3 , and the infrastructure 4 through the antenna 1 a and converts the received electromagnetic wave into an electric signal.

[0156] The driving module of the antenna 1a of the first vehicle 1 demodulates the received electromagnetic wave and converts it into an electrical signal, which is then transmitted to the second control unit 280. At this time, the second control unit 280 of the first vehicle 1 generates a control signal corresponding to the converted electrical signal and uses the generated control signal to control the first vehicle 1.

[0157] The infrastructure 4 may perform wireless communication with at least one vehicle 1 , 2 , 3 traveling around, and may perform at least one of wired communication and wireless communication with the server 5 .

[0158] The infrastructure 4 can transmit various information transmitted from the server 5 to at least one vehicle 1, 2, 3 traveling around. When transmitting information to the first vehicle 1, the infrastructure 4 can convert the electrical signal of the information to be transmitted into electromagnetic waves and emit the converted electromagnetic waves through an antenna provided in the infrastructure.

[0159] The infrastructure 4 can transmit information received from at least one vehicle 1 , 2 , 3 traveling around to a server 5 .

[0160] The infrastructure 4 can receive the electromagnetic waves emitted from the antenna 1 a of the first vehicle 1 through the infrastructure's antenna, and can use the electrical signal corresponding to the received electromagnetic waves to obtain information provided by the first vehicle 1. For example, when the location information of the vehicle is received from the first vehicle 1, the infrastructure 4 can transmit the vehicle's location information and identification information to the server 5.

[0161] The server 5 may be a server that manages vehicles 1, 2, and 3 and provides various information about the vehicles. The server 5 may be a server of a vehicle manufacturer, a server of a location sharing service center, a server of an autonomous driving service center, or a server of a traffic information service center.

[0162] The first vehicle may include a position receiving unit that receives position information of the vehicle and transmits the received position information to the second control unit 280. The position receiving unit may be provided in the communication unit 250.

[0163] The position receiving unit may include a Global Positioning System (GPS) receiver that performs communication with a plurality of satellites to calculate the position of the vehicle.

[0164] The position receiving unit includes a global positioning system (GPS) signal receiving unit and a signal processing unit that processes the GPS signal obtained by the GPS signal receiving unit. Here, the GPS signal receiving unit includes an antenna that receives signals from multiple GPS satellites. The antenna can be set outside the vehicle.

[0165] The signal processing unit of the position receiving unit includes software for acquiring the current position using distance information and time information corresponding to position signals of a plurality of GPS satellites and an output unit for outputting the acquired position information of the vehicle.

[0166] The first vehicle may perform communication with various electronic devices in the vehicle.

[0167] The first vehicle may include one or more components capable of performing communication with an external device, and may include, for example, at least one of a short-range communication module, a wired communication module, and a wireless communication module.

[0168] The short-range communication module may include various short-range communication modules that transmit and receive signals within a short distance using a wireless communication network, such as a Bluetooth module, an infrared communication module, a radio frequency identification (RFID) communication module, a wireless local area network (WLAN) communication module, an NFC communication module, and a Zigbee communication module.

[0169] The wired communication module may include various wired communication modules such as a controller area network (CAN) communication module, a local area network (LAN) module, a wide area network (WAN) module, or a value-added network (VAN) module, and various cable communication modules such as a universal serial bus (USB), a high-definition multimedia interface (HDMI), a digital video interface (DVI), a recommended standard 232 (RS-232), power line communication, or a plain old telephone service (POTS).

[0170] In addition to the Wi-Fi module and the wireless broadband module, the wireless communication module may further include a wireless communication module that supports various wireless communication methods such as Global System for Mobile Communications (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Universal Mobile Telecommunications System (UMTS), Time Division Multiple Access (TDMA), and Long Term Evolution (LTE).

[0171] Figure 5 is a configuration diagram of a cruise control device 200 for executing a cruise control mode in a driver assistance system 100 provided in a vehicle (ie, a first vehicle) according to an embodiment.

[0172] In addition, the cruise control device can be a second control unit, which can communicate with the input unit 210, the obstacle detection unit 220, the driving information detection unit 230, the pole signal receiving unit 240, the communication unit 250, the display unit 260, the combination meter 261, the sound output unit 270, and the storage unit 281.

[0173] In the following description, the host vehicle is described as a first vehicle, other vehicles traveling around the host vehicle are described as a second vehicle, and vehicles traveling around the second vehicle are described as a third vehicle. Here, the surroundings may include the front.

[0174] The cruise control device 200 in the driver assistance system 100 may include an input unit 210, an obstacle detection unit 220, a driving information detection unit 230, a pole signal receiving unit 240, a communication unit 250, a display unit 260, a combination meter 261, a sound output unit 270, a second control unit 280 and a storage unit 281, and may further include a braking system 32 and a steering system 42.

[0175] The input unit 210 receives user input.

[0176] The input unit 210 may receive an on command and an off command of the cruise control mode and transmit a signal regarding the received command to the second control unit 280 .

[0177] The input unit 210 may receive an operation command for any one of the functions executable in the first vehicle 1. For example, the input unit 210 may receive an operation command for at least one of a radio function, an audio function, a video function, a map display function, a navigation function, a DMB function, a content playback function, and an Internet search function.

[0178] The input unit 210 may also receive a target driving speed for executing the cruise control mode.

[0179] The input unit 210 may receive a turn-on command and an turn-off command of a collision risk notification mode indicating a possibility of collision with an obstacle.

[0180] The input unit 210 may be provided in the head unit or the center instrument panel of the first vehicle 1 or in the vehicle terminal. The input unit 210 may be provided as a button, a key, a switch, an operating lever, a dial, etc., or may be provided as a touch panel.

[0181] The obstacle detection unit 220 detects obstacles in front of, on the left and right sides of the first vehicle 1, and transmits obstacle information regarding the detected obstacles to the second control unit 280. The obstacle information may include obstacle location information, which may include distance information to the obstacle and obstacle direction information. The distance information regarding the distance to the obstacle may be distance information regarding the relative distance to the obstacle.

[0182] The obstacle detection unit 220 may include the front radar 120 and the first and second corner radars 131 and 132 , and may further include a front camera.

[0183] In addition, the obstacle detection unit 220 may include a laser radar (LiDAR) sensor. A LiDAR sensor is a non-contact distance detection sensor that uses the principle of laser radar. The LiDAR sensor may include a transmitting unit that transmits laser light and a receiving unit that receives laser light reflected from the surface of an object within the sensor range.

[0184] The obstacle detection unit 220 may include an ultrasonic sensor.

[0185] Ultrasonic sensors generate ultrasonic waves for a certain period of time and then detect the signal reflected from an object. Ultrasonic sensors can be used to determine the presence of obstacles such as pedestrians within a short range.

[0186] The obstacle detection unit 220 may also detect obstacles behind the first vehicle 1 .

[0187] The first vehicle 1 may include a driving information detection unit 230 that detects driving information of the vehicle, such as driving speed information, driving direction information, yaw rate information, deceleration information, and acceleration information. Specifically, the driving information detection unit 230 may include a speed detection unit 231, a yaw rate detection unit 232, a steering angle detection unit 233, and a pressure detection unit 234.

[0188] The speed detection unit 231 may include a plurality of wheel speed sensors. The speed detection unit 231 may include an acceleration sensor. The speed detection unit 231 may include a plurality of wheel speed sensors and an acceleration sensor.

[0189] When the speed detection unit 231 is an acceleration sensor, the second control unit 280 may acquire the acceleration of the first vehicle 1 based on information detected by the acceleration sensor, and may acquire the traveling speed of the host vehicle based on the acquired acceleration.

[0190] When the speed detection unit 231 is an acceleration sensor and multiple wheel speed sensors, the second control unit 280 can obtain the acceleration of the first vehicle 1 based on the information detected by the acceleration sensor, and can obtain the driving speed of the first vehicle 1 based on the speed information obtained by the multiple wheel speed sensors.

[0191] The yaw rate detection unit 232 detects the yaw moment of the first vehicle 1. The yaw rate detection unit 232 detects the turning angular velocity as the yaw rate in the vertical axis direction of the vehicle.

[0192] The yaw rate detection unit 232 may be disposed on the body of the first vehicle 1 , or may be disposed at the lower portion of a center console, a driver's seat, etc., but is not limited to these locations.

[0193] The interior of the first vehicle 1 may include a steering wheel for adjusting the driving direction, a brake pedal pressed by a user (i.e., a driver) according to the user's braking intention, and an accelerator pedal pressed by the user according to the user's acceleration intention, and may further include a driving direction indicator lever 22 arranged around the steering wheel and indicating the turning direction regarding left turn, right turn and U-turn.

[0194] The steering angle detection unit 233 detects the angular velocity of the steering wheel to detect the steering angle of the vehicle. That is, the steering angle detection unit 233 may include an angular velocity detection unit.

[0195] The pressure detection unit 234 detects the pressure applied to the brake pedal.

[0196] The first vehicle 1 may further include a pressure detection unit that detects pressure applied to an accelerator pedal (ie, an accelerator pedal).

[0197] The lever signal receiving unit 240 receives a lever signal corresponding to the operation direction of the driving direction indication lever 22 and transmits the received lever signal to the second control unit 280 .

[0198] The lever signal corresponding to the operation direction may include a lever signal regarding a left turn and a lever signal regarding a right turn.

[0199] The first vehicle 1 may further include a lamp signal receiving unit (not shown) that receives a signal of a driving direction indicator lamp that performs lighting or extinguishing in response to the operation of the driving direction indicator lever.

[0200] That is, the driving direction indicator lever 22 is connected to the left turn indicator and the right turn indicator, and can perform a switch function of turning on the left turn indicator in response to an operation corresponding to a left turn and turning on the right turn indicator in response to an operation corresponding to a right turn.

[0201] The driving direction indicator lamp can be turned on and off according to a command of the second control unit 280 based on the navigation information and the current position information.

[0202] The communication unit 250 can communicate with the surrounding second vehicle 2 and third vehicle 3. At this time, it can receive at least one of the identification information, current position information, driving path information, destination information and driving speed information of the second vehicle 2 and the third vehicle 3, and can transmit at least one of the identification information, current position information, driving path information, destination information and driving speed information of the first vehicle to the second vehicle 2 and the third vehicle 3.

[0203] The communication unit 250 can communicate with at least one of the infrastructure 4 and the server 5 to receive information about other vehicles 2 and 3 in the surrounding area, and can also transmit information about the first vehicle to at least one of the infrastructure 4 and the server 5. For example, the communication unit 250 can receive at least one of identification information, current location information, driving path information, destination information, and driving speed information of the second vehicle 2 and the third vehicle 3 from the infrastructure or the server.

[0204] The display unit 260 displays operation information of the function being executed. For example, the display unit 260 can display information related to a phone call, or can display information related to content output through a terminal (not shown), or can display information related to music playback, and display external broadcast information.

[0205] The display unit 260 can display map information and can also display map information and route guidance information that matches the route to the destination. The display unit 260 can also display information such as going straight, turning left, turning right, and U-turn as driving direction information.

[0206] The display unit 260 may display on information and off information of the cruise control mode, and may display on information and off information of the collision risk notification mode.

[0207] The display unit 260 may display an image of a road, or may display position information of pedestrians and position information of other vehicles.

[0208] The display unit 260 may display collision risk information indicating a collision with an obstacle as an image.

[0209] The display unit 260 may display deceleration information and steering information for avoiding an obstacle as an image.

[0210] The display unit 260 may display deceleration guidance information and turning guidance information for preventing a collision with the third vehicle 3 as an image.

[0211] The display unit 260 may display an image or perform lighting and light-off in response to a control command of the second control unit 280 .

[0212] The display unit 260 may be a lamp such as an LED or a flat panel display device such as an LCD.

[0213] The display unit 260 may be a display panel provided in the vehicle terminal.

[0214] The display unit 260 may include a combination meter 261 provided in the first vehicle 1 .

[0215] The combination meter 261 may include a light indicating collision risk information, and the combination meter 261 may turn on or off the light in response to a control command of the second control unit 280 .

[0216] The combination meter 261 may display an image regarding collision risk information.

[0217] The instrument cluster 261 may include a tachometer, a speedometer, a coolant temperature gauge, a fuel gauge, a turn indicator light, a high beam indicator light, a warning light, a seat belt warning light, an odometer, a trip log, a gear lever indicator light, a door open warning light, an oil warning light, a low fuel warning light, etc.

[0218] The sound output unit 270 outputs sound in response to a control command of the second control unit 280 , and outputs the sound at a level corresponding to the control command of the second control unit 280 .

[0219] The sound output unit 270 may output warning information as sound to notify the danger of collision with an obstacle. The sound output unit 270 may be one or two or more speakers.

[0220] The sound output unit 270 may output a sound requesting deceleration to prevent collision with the second vehicle 2 and the third vehicle 3 in front.

[0221] The sound output unit 270 may output a sound notifying the risk of collision with the second vehicle 2 and the third vehicle 3 ahead, and may output different sounds.

[0222] When receiving a turn-on signal regarding a turn-on command of the cruise control mode through the input unit 210 , the second control unit 280 executes the cruise control mode.

[0223] When executing the cruise control mode, the second control unit 280 can control the vehicle to travel at a preset target driving speed or can control the vehicle to travel at a target driving speed input by the user, can control deceleration or acceleration based on the obstacle information detected by the obstacle detection unit 220, and can control the output of collision risk information.

[0224] Here, the collision risk information may be output or not output depending on whether the user has selected the collision risk notification mode.

[0225] When it is determined that there is no obstacle ahead based on obstacle information detected by the obstacle detection unit 220 when the cruise control mode is executed, the second control unit 280 may control the vehicle to travel at a target travel speed based on travel speed information detected by the speed detection unit 231 .

[0226] When the cruise control mode is executed, the second control unit 280 may control acceleration or deceleration based on driving information of at least two other vehicles traveling ahead of the driving path of the first vehicle.

[0227] When the cruise control mode is executed, the second control unit 280 can control braking based on driving information of the surrounding second vehicle 2, road environment information received through the communication unit 250, and driving information of the third vehicle 3. The surrounding second vehicle is an obstacle based on obstacle information detected by the obstacle detection unit 220. Here, the surrounding may include the front.

[0228] When executing the cruise control mode, the second control unit 280 can obtain the relative distance information and relative speed information with the second vehicle 2 based on the obstacle information detected by the obstacle detection unit 220, can obtain the first target deceleration based on the obtained relative distance information and relative speed information with the second vehicle 2, can obtain the second target deceleration based on the position information and driving speed information of the third vehicle 3 received through the communication unit 250 and based on the relative distance information and relative speed information with the third vehicle 3, and can control braking based on the first target deceleration and the second target deceleration.

[0229] The second control unit 280 may confirm a smaller target deceleration between the first target deceleration and the second target deceleration, and may control braking based on the confirmed target deceleration.

[0230] The second control unit 280 may control braking based on obstacle information about obstacles present on the driving path of the first vehicle among the information received through the communication unit 250. Here, the obstacle information may be information about obstacles other than other vehicles, such as fallen rocks, pedestrians, bicycles, or roadblocks.

[0231] When the cruise control mode is executed, the second control unit 280 may control braking based on the road environment information, the second vehicle's driving information, the second vehicle's position information, the third vehicle's position information, and the third vehicle's driving information received through the communication unit 250 .

[0232] When the cruise control mode is executed, the second control unit 280 can control the acceleration limit based on the obstacle information detected by the obstacle detection unit 220, the target driving speed input to the input unit 210, the driving speed information detected by the speed detection unit 231, and the pole signal received by the pole signal receiving unit 240, and can control the maintenance of the cruise control mode.

[0233] When executing the cruise control mode, the second control unit 280 can control the output of the deceleration request information based on the obstacle information detected by the obstacle detection unit 220, the target driving speed input to the input unit 210, the driving speed information detected by the speed detection unit 231, and the pole signal received by the pole signal receiving unit 240, and can control the release of the cruise control mode based on the pressure information detected by the pressure detection unit 234.

[0234] The second control unit 280 can determine whether the driving direction has changed based on the steering angle information detected by the steering angle detection unit 233 or the yaw rate information detected by the yaw rate detection unit 232, and can determine whether the driving direction has changed based on the wheel speed difference between the left and right wheels. Here, the driving direction change may include a lane change.

[0235] When the cruise control mode is executed, the second control unit 280 may control the output of the deceleration request information based on whether the driving direction is set.

[0236] When the driving direction is determined based on the navigation information when the cruise control mode is executed and when the determined driving direction is a left turn, a right turn or a U-turn direction, the second control unit 280 can control the output of the deceleration request information and can control the release of the cruise control mode based on the pressure information detected by the pressure detection unit 234.

[0237] When controlling braking, the second control unit 280 can control the operation of any one of the pre-filling unit 32a, the pre-braking unit 32b and the emergency braking unit 32c in the braking system 32 based on the time information until the collision with the second vehicle 2 or the third vehicle 3 or the relative distance information with the second vehicle 2 or the third vehicle 3.

[0238] For example, the second control unit 280 may control operation of any one of the pre-filling unit 32a, the pre-braking unit 32b, and the emergency braking unit 32c based on the first, second, and third braking distances and the relative distance information to the second vehicle 2.

[0239] The first braking distance is a braking distance for controlling the pre-filling unit 32a, the second braking distance is a braking distance for controlling the pre-braking unit 32b, and the third braking distance is a braking distance for controlling the emergency braking unit 32c, and each may be a preset braking distance.

[0240] The configuration of the second control unit 280 provided in the cruise control apparatus will be described in detail later with reference to a flowchart.

[0241] The second control unit 280 may be implemented as a single processor.

[0242] The second control unit 280 may be implemented as a memory (not shown) and a processor (not shown). The memory stores an algorithm for controlling the operation of components in the first vehicle or data representing a program that reproduces the algorithm, and the processor executes the aforementioned operations using the data stored in the memory. In this case, the memory and processor may each be implemented as a separate chip. Alternatively, the memory and processor may be implemented as a single chip.

[0243] The storage unit 281 stores map information and road information.

[0244] Map information may include road location information, location information of buildings around the road, etc. Road information may include location information of roadside trees around intersections or roads that allow left turns, right turns, and U-turns, location information of buildings, loading information of building items, location information of banners, etc.

[0245] The storage unit 281 may store information about the target driving speed.

[0246] The storage unit 281 may store a program and / or data for processing radar data, and a program and / or data for the second control unit 280 to generate a braking signal and / or a warning signal.

[0247] The storage unit 281 may temporarily store image data received from the front camera 110 and / or radar data received from the radars 120 and 130 , and may temporarily store processing results of the image data and / or radar data by the second control unit 280 .

[0248] The storage unit 281 may also store information about a braking distance preset for each braking unit of the braking system.

[0249] More specifically, the storage unit 281 may store information about a first braking distance of the pre-filling unit, a second braking distance of the pre-braking unit, and a third braking distance of the emergency braking unit.

[0250] The storage unit 281 may store information on the type and size of a sound corresponding to an alarm of a collision risk.

[0251] The storage unit 281 can be implemented as at least one of a non-volatile storage device such as a cache, a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), and a flash memory, or a volatile storage device such as a random access memory (RAM), or a storage medium such as a hard disk drive (HDD), a CD-ROM, but is not limited thereto.

[0252] The storage unit 281 may be a memory implemented by a chip separate from the processor described above with respect to the second control unit 280 , or may be implemented as a single chip with the processor.

[0253] Figure 6 This is a control flowchart of the vehicle (first vehicle, host vehicle) according to the embodiment, and is a control flowchart when traveling straight in the cruise control mode.

[0254] When destination information is received through the input unit 210 when the cruise control mode (301) is executed, the vehicle searches for a path from the current position to the destination based on the current position information and the destination information acquired by the position receiving unit, and matches the path information about the searched path with the map information to generate navigation information, and outputs a navigation image and path guidance information based on the generated navigation information.

[0255] When executing the navigation mode, the vehicle may also search for a route based on road environment information received through the communication unit, and match route information about the searched route with map information.

[0256] When driving in cruise control mode, the vehicle can obtain current location information based on location information received by the location receiving unit, and can control the output of navigation information according to driving based on the obtained current location information. When executing navigation mode, the vehicle can obtain driving path information about the vehicle's driving path based on the navigation information.

[0257] The vehicle can obtain the vehicle's driving speed based on multiple wheel speeds detected by multiple wheel speed sensors, can obtain the vehicle's driving speed based on the acceleration detected by the acceleration sensor, and can obtain the vehicle's actual driving speed information based on the multiple wheel speeds detected by the multiple wheel speed sensors and the acceleration detected by the acceleration sensor.

[0258] When the cruise control mode is executed, the vehicle can control acceleration and deceleration based on the target travel speed information and the actual travel speed information, and can control deceleration or acceleration based on the obstacle information detected by the obstacle detection unit 220. Here, the obstacle may be a second vehicle traveling in front of the first vehicle serving as the host vehicle, and may further include obstacles on the road other than the second vehicle 2.

[0259] The vehicle can control the output of collision risk information based on the obstacle information. Here, the collision risk information can be output or not output according to whether the user has selected the collision risk notification mode.

[0260] More specifically, the vehicle may identify other vehicles traveling in the driving path of the first vehicle based on obstacle information detected by the obstacle detection unit 220. For example, the vehicle may identify a second vehicle based on obstacle information detected by a front radar (302).

[0261] When the cruise control mode is executed, the vehicle can follow the second vehicle (303), and can follow the second vehicle based on the obstacle information detected by the obstacle detection unit 220. Here, following the second vehicle means driving while maintaining a certain distance from the second vehicle.

[0262] At this time, the vehicle may obtain relative distance information to the second vehicle ahead based on the distance information to the second vehicle.

[0263] In addition, the vehicle can identify a second vehicle traveling in front based on image information obtained by the front camera, and can also obtain relative distance information and relative speed information with respect to the second vehicle identified by the front camera based on obstacle information detected by the obstacle detection unit 220.

[0264] The vehicle can obtain relative speed information with respect to the second vehicle based on the obtained relative distance information with respect to the second vehicle and the driving speed information of the first vehicle. In other words, the vehicle can confirm the relative distance information with respect to the second vehicle that changes over time and can obtain the relative speed with respect to the second vehicle based on the changing relative distance information and the driving speed information of the first vehicle.

[0265] The vehicle can obtain the collision time (TTC) with the second vehicle 2 based on the relative distance information and relative speed information of the second vehicle in front, and can notify the driver of the collision risk or control braking based on the comparison result of the collision time with a predetermined reference time.

[0266] In response to the collision time being less than a predetermined first reference time, the vehicle may control output of the collision risk information through at least one of the sound output unit and the display unit.

[0267] In response to a collision time that is less than a predetermined second reference time, the vehicle may control braking. Here, the second reference time may be shorter than the first reference time.

[0268] That is, the vehicle can control the operation of at least one of the display unit and the sound output unit so that collision risk information is output when the collision time with the second vehicle is less than or equal to the first reference time and exceeds the second reference time, and when the collision time with the second vehicle is less than or equal to the second reference time, braking can be controlled to prevent collision.

[0269] As another example, the vehicle can obtain the collision distance (DTC) with the second vehicle based on the relative speed information of the second vehicle in front, and can notify the driver of the collision risk or control braking based on the comparison result of the collision distance and the distance to the second vehicle in front.

[0270] Specifically, the vehicle controls the operation of at least one of a display unit and an audio output unit so that when the distance to the second vehicle is a first reference distance, collision risk information is output, and when the distance to the second vehicle is a second reference distance, braking is controlled to prevent a collision. The second reference distance may be a distance shorter than the first reference distance. The first and second reference distances may be pre-stored information.

[0271] When it is determined that the collision cannot be prevented by braking, the vehicle may acquire the direction of the second vehicle and may output guidance information on the traveling direction of the first vehicle based on the acquired direction of the second vehicle to prevent the collision.

[0272] As described above, the vehicle follows the second vehicle 2 while executing the cruise control mode, and can prevent a collision with the second vehicle while traveling.

[0273] When the cruise control mode is executed, the vehicle may control braking based on driving information of other vehicles (eg, a third vehicle) traveling in a driving path of the first vehicle.

[0274] More specifically, the vehicle receives road environment information and information of a plurality of other vehicles received through the communication unit 250 while traveling following the second vehicle.

[0275] The road environment information received through the communication unit 250 may include information about obstacles in a stationary state. The obstacles in a stationary state may include fallen rocks, roadside trees, traffic lights, road barriers, and construction objects.

[0276] The information of other vehicles may include position information, driving information, and path information, and may further include identification information.

[0277] The road environment information received through the communication unit 250 may be information transmitted from the infrastructure 4 , the server 5 , and at least one of the second vehicle 2 and the third vehicle 3 .

[0278] In addition, the vehicle may receive position information and driving speed information of the third vehicle from the second vehicle.

[0279] When the driving information of the other vehicles is received through the communication unit 250 , the vehicle may recognize the driving information of the other vehicles except the second vehicle among the other vehicles existing in the path of the first vehicle.

[0280] The vehicle can identify other vehicles traveling on the same driving path as the first vehicle based on the position information and path information of the plurality of other vehicles in the received information, and can identify a third vehicle traveling ahead of the second vehicle among the identified other vehicles (304). The vehicle can receive the position information and driving information of the third vehicle through the communication unit 250 (305).

[0281] The vehicle may acquire relative distance information and relative speed information from the second vehicle based on the obstacle information detected by the obstacle detection unit, and may acquire a first target deceleration based on the acquired relative distance information and relative speed information from the second vehicle (306).

[0282] The vehicle can obtain relative speed information with the third vehicle based on the driving information of the third vehicle received through the communication unit 250 and the actual driving speed information of the first vehicle, can obtain relative distance information with the third vehicle based on the position information of the first vehicle and the position information of the third vehicle, and can obtain the second target deceleration (307) based on the obtained relative speed information and relative distance information with the third vehicle.

[0283] The vehicle may control deceleration and braking based on a first target deceleration and a second target deceleration, may determine the smaller target deceleration of the first target deceleration and the second target deceleration by comparing the first target deceleration and the second target deceleration (308), and may control deceleration and braking based on the determined target deceleration (309). That is, when the first target deceleration is smaller than the second target deceleration, the vehicle may control deceleration and braking based on the first target deceleration, and when the second target deceleration is smaller, the vehicle may control deceleration and braking based on the second target deceleration.

[0284] Therefore, if Figure 7a As shown, when it is determined that the second vehicle 2 is not detected by the obstacle detection unit 220 , the vehicle may determine that the second vehicle 2 has a sudden path change (suddenly cut out).

[0285] The sudden path change may include a state in which the distance to the obstacle acquired based on obstacle information detected by the obstacle detection unit changes by more than a reference distance within a predetermined time.

[0286] In the prior art, when a second vehicle traveling ahead changes lanes while traveling straight, if the difference between the current vehicle's actual speed and the target speed is large, the acceleration value increases, and a collision with a third vehicle ahead may occur. At this time, the driver's sense of unease increases.

[0287] Furthermore, the prior art has a problem in that if the first vehicle accelerates as the second vehicle's travel path changes and a third vehicle is ahead of the second vehicle, the driver may brake. This also creates the inconvenience of the driver having to reset the cruise control mode after the cruise control is released and driving becomes safe.

[0288] However, in the present invention, deceleration or braking is performed based on the driving information of the third vehicle, so even if the second vehicle traveling ahead changes the driving path, stable driving is possible, and psychological stability can be provided to the driver.

[0289] In the present invention, when the cruise control mode is in effect, deceleration and braking can be performed while maintaining the cruise control mode based on the driving information of the third vehicle ahead, thereby preventing the cruise control mode from being released. Therefore, the trouble of the driver having to reset the cruise control mode can be eliminated.

[0290] As described above, even if the first vehicle 1 controls acceleration because the second vehicle 2 traveling in front of the first vehicle deviates from the front of the first vehicle 1, since the acceleration amount of the first vehicle 1 is obtained by taking into account the driving information of the third vehicle 3 traveling in front of the second vehicle 2, the first vehicle 1 can be prevented from colliding with the third vehicle 3.

[0291] When it is determined that there is no third vehicle traveling in front of the second vehicle, the vehicle can obtain relative distance information and relative speed information with the second vehicle based on the obstacle information detected by the obstacle detection unit, can obtain a first target deceleration based on the obtained relative distance information and relative speed information with the second vehicle, and can control deceleration and braking based on the obtained first target deceleration.

[0292] The absence of the third vehicle includes the absence of a vehicle traveling within a set distance from the second vehicle.

[0293] When the cruise control mode is executed, the vehicle acquires the travel information and position information of the second vehicle received through the communication unit 250, so that the relative distance information and relative speed information of the second vehicle can be acquired.

[0294] The vehicle can determine whether there is a stationary obstacle in the driving path of the first vehicle based on the road environment information received through the communication unit 250, and can obtain relative distance information to the obstacle based on the position information of the stationary obstacle and the position information of the first vehicle, can obtain relative speed information to the obstacle based on the driving speed information of the first vehicle, and can adjust the target deceleration based on the relative distance information and relative speed information to the obstacle.

[0295] The vehicle can obtain the position information (direction) and type information of the obstacle in front of the vehicle 1 based on the front image data of the front camera (for example, the obstacle is another vehicle, pedestrian, cyclist, curb, guardrail, roadside tree or street light, etc.).

[0296] The vehicle may also determine whether the third vehicle is in a stationary state based on the driving information and position information of the third vehicle received through the communication unit 250 .

[0297] like Figure 7b As shown, the vehicle determines whether there is a stationary obstacle in the driving path. When it is determined that there is a stationary obstacle in the path, the target deceleration can be obtained based on the position information of the stationary obstacle and the driving speed information of the first vehicle, and deceleration and braking can be controlled based on the obtained target deceleration.

[0298] As described above, even if the second vehicle 2 suddenly brakes in the driving path because the third vehicle is stationary, the first vehicle 1 performs deceleration and braking considering the driving information of the third vehicle 3 traveling in front of the second vehicle 2, thereby preventing a collision with the second vehicle 2.

[0299] Figure 8 1 is a control flowchart of the vehicle according to the embodiment, and is a control flowchart when the vehicle is turning in the cruise control mode.

[0300] When destination information is received through the input unit 210 when the cruise control mode is executed, the vehicle searches for a path from the current position to the destination based on the current position information and the destination information obtained by the position receiving unit, and matches the path information about the searched path with the map information to generate navigation information, and outputs a navigation image and path guidance information based on the generated navigation information.

[0301] The vehicle may acquire current position information based on the position information received by the position receiving unit, and may control output of navigation information according to driving based on the acquired current position information.

[0302] When executing the navigation mode, the vehicle may acquire driving route information regarding the driving route of the vehicle based on the navigation information.

[0303] The vehicle can obtain the vehicle's actual driving speed based on multiple wheel speeds detected by multiple wheel speed sensors, can obtain the vehicle's actual driving speed based on the acceleration detected by the acceleration sensor, and can obtain the vehicle's actual driving speed information based on multiple wheel speeds detected by multiple wheel speed sensors and the acceleration detected by the acceleration sensor.

[0304] When the cruise control mode is executed, the vehicle travels while controlling acceleration and deceleration based on the target travel speed information and the actual travel speed information so that the actual travel speed reaches the target travel speed.

[0305] The vehicle can control deceleration or acceleration based on the obstacle information detected by the obstacle detection unit 220. That is, the vehicle can determine whether there is a second vehicle traveling ahead based on the obstacle information detected by the obstacle detection unit 220, control the vehicle to travel at a target travel speed when it is determined that there is no second vehicle, and control the vehicle to follow the second vehicle when it is determined that there is a second vehicle.

[0306] At this time, the vehicle can obtain relative distance information from the second vehicle based on the obstacle information detected by the obstacle detection unit, and can travel while adjusting the driving speed based on the obtained relative distance information from the second vehicle and the actual driving speed information of the first vehicle.

[0307] When executing the cruise control mode (311), the vehicle determines whether a driving direction change command is received. In this case, before determining whether the driving direction change command is received, the vehicle determines whether an actual driving speed is less than or equal to a target driving speed (312), and determines whether a second vehicle (313) exists in front of the first vehicle in the driving path of the first vehicle.

[0308] Furthermore, when it is judged that the actual traveling speed exceeds the target traveling speed, it can be judged that the possibility of the traveling direction change is low.

[0309] When it is determined that the second vehicle exists in the travel path of the first vehicle, it can be determined that there is a possibility that the acceleration limit control is unnecessary due to following the second vehicle.

[0310] That is, when it is determined that the actual driving speed is less than or equal to the target driving speed and there is no second vehicle, the vehicle may determine whether a driving direction change command is received ( 314 ).

[0311] The vehicle can determine whether the driving direction has changed by determining whether the current position of the vehicle is an intersection based on the path information and current position information in the navigation information.

[0312] When the navigation mode is not executed, the vehicle may determine whether the driving direction has changed based on at least one of the steering angle information detected by the steering angle detection unit 233 and the yaw rate information detected by the yaw rate detection unit 232 during driving. Here, the driving direction change may include a lane change.

[0313] In addition, the vehicle can determine whether the driving direction has changed based on the pole signal input to the pole signal receiving unit 240. At this time, the driver's turning intention can be determined. That is, the vehicle determines whether the driver's driving intention is to turn right or left.

[0314] When a lever signal corresponding to a left turn is received from the lever signal receiving unit 240, the vehicle controls the turning on operation of the left turn indicator, and when a lever signal corresponding to a right turn is received, the vehicle controls the turning on operation of the right turn indicator. In addition, when a lever signal corresponding to turning off the direction indicator is received from the lever signal receiving unit 240, the vehicle controls the turning off operation of the left turn indicator and the right turn indicator.

[0315] At this time, the vehicle can determine whether the driving direction has changed by confirming the on and off status of the left turn indicator and the right turn indicator.

[0316] Furthermore, when it is determined that the left turn indicator and the right turn indicator are in the on state, the vehicle may recognize it as a command to light up the emergency lights rather than a turn direction change command.

[0317] When it is determined that the driver's driving intention is received as a driving direction change command, the vehicle can determine whether the first vehicle is in a turning driving state (315), and when it is determined to be in a turning driving state, the vehicle can determine whether it is an acceleration restriction condition (316).

[0318] like Figure 9 As shown, when it is determined that there is a second vehicle in front, the vehicle can determine whether the driving path of the second vehicle changes when turning, and when it is determined that the driving path of the second vehicle has changed, the vehicle can terminate following the second vehicle and can determine whether it is an acceleration restriction condition.

[0319] Determining whether the vehicle is in a turning driving state includes determining whether a yaw rate value detected by a yaw rate detection unit has changed.

[0320] Determining whether the vehicle is in a turning driving state includes determining whether a differential value of a yaw rate value detected by a yaw rate detection unit has changed.

[0321] like Figure 10 As shown, when turning left, the yaw rate value output is a positive value, and when turning right, the yaw rate value output is a negative value.

[0322] That is, when the yaw rate value output by the yaw rate detection unit is a positive value, the vehicle can be determined to be turning left, and when the yaw rate value is a negative value, the vehicle can be determined to be turning right.

[0323] When the differential value of the detected yaw rate value changes from a positive value to a negative value, the vehicle can be determined to be turning left, and when the differential value of the yaw rate value changes from a negative value to a positive value, the vehicle can be determined to be turning right.

[0324] Determining whether the acceleration restriction condition exists includes determining whether the yaw rate value detected by the yaw rate detection unit is greater than or equal to a reference yaw rate value.

[0325] Determining whether it is an acceleration restriction condition includes acquiring a yaw acceleration value by differentiating the detected yaw rate value and determining whether the acquired yaw acceleration value is greater than or equal to a reference yaw acceleration value.

[0326] At this time, the absolute value of the yaw rate may be compared with a reference yaw rate value, and the absolute value of the acquired yaw acceleration value may be compared with a reference yaw acceleration value.

[0327] The reference yaw rate value may include a first offset value based on a steering parameter.

[0328] The reference yaw acceleration value may include a second offset value based on a steering parameter.

[0329] The first offset value and the second offset value may be values ​​acquired through experiments and stored.

[0330] Determining whether an acceleration restriction condition exists includes comparing the vehicle's actual driving speed information with reference driving speed information. Here, the reference driving speed may include a first reference driving speed and a second reference driving speed that is faster than the first reference driving speed. In other words, determining whether a turning state exists includes determining whether the vehicle's actual driving speed exceeds the first reference driving speed and is less than the second reference driving speed.

[0331] That is, when it is determined that the detected yaw rate value is greater than or equal to the reference yaw rate value, the obtained yaw acceleration (YawAcceleration) value is greater than or equal to the reference yaw acceleration value, and the actual driving speed of the vehicle exceeds the first reference driving speed and is less than the second reference driving speed, the vehicle can be determined to meet the acceleration limit condition.

[0332] That is, when it is determined that the acceleration restriction condition is not satisfied, the vehicle may be accelerated based on a preset acceleration control (317). Here, the preset acceleration may be an acceleration controlled when turning in a cruise control mode.

[0333] Next, when it is determined that the acceleration limit condition is satisfied, the vehicle may perform acceleration limit control based on the target acceleration (318). Here, the target acceleration may be approximately 0 m / s 2 .

[0334] Next, when the acceleration limit control is executed, the vehicle outputs deceleration request information (319) requesting deceleration to the user. At this time, the deceleration request information can be output through at least one of a display unit, a combination meter, and a sound output unit.

[0335] The vehicle can determine whether a braking command is received while turning (320). That is, the vehicle can determine whether the driver presses the brake pedal by determining whether pressure is detected by the pressure detection unit.

[0336] When it is determined that a braking command is received while turning, the vehicle is controlled to decelerate and the cruise control mode is released (321).

[0337] Subsequently, the vehicle executes the manual driving mode until the user resets the cruise control mode, and when the cruise control mode is reset while the manual driving mode is executed, the cruise control mode is executed (322).

[0338] When the cruise control mode is executed, the vehicle determines whether the turning travel is completed based on the yaw rate information (323), and when it is determined that the turning travel is completed, the acceleration limit control is released (324). Thereafter, the vehicle continues to travel in the cruise control mode.

[0339] If the first vehicle limits acceleration at a low speed when traveling on a turn, traffic flow may be disrupted and the driver may feel annoyed, whereas if acceleration is limited at a high speed, the problem of increased possibility of accidents can be solved.

[0340] When the driver relies on the cruise control mode to enter left and right turns, the driver is guided to slow down so that safe driving can be performed.

[0341] In the prior art, when turning left or right at an intersection, if a second vehicle disappears ahead, the first vehicle accelerates, increasing the driver's sense of unease. Furthermore, in the prior art, when the difference between the current vehicle's actual speed and the target speed is large, the acceleration value increases, potentially increasing the risk of a collision ahead.

[0342] Therefore, the present invention limits the acceleration of the vehicle in such a situation, thereby providing psychological stability to the driver and reducing the possibility of a collision with the vehicle ahead.

[0343] The prior art has a problem in that when accelerating while turning, if there is another vehicle ahead, the driver will decelerate and thus the cruise control will be released, after which the driver needs to reset the cruise control mode.

[0344] However, in the present invention, by automatically limiting acceleration in response to a change in the traveling direction of another vehicle ahead while the cruise control is being executed, the convenience of the user according to the resetting limit of the cruise control mode can be increased.

[0345] On the other hand, the disclosed embodiments may be implemented in the form of a recording medium storing computer-executable instructions. The instructions may be stored in the form of program code, and when the instructions are executed by a processor, a program module may be created to perform the operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

[0346] Computer-readable recording media include all types of recording media having computer-readable instructions stored thereon, such as read-only memory (ROM), random access memory (RAM), magnetic tapes, magnetic disks, flash memory, optical data storage devices, and the like.

[0347] The disclosed embodiments have been described above with reference to the accompanying drawings. Those skilled in the art will appreciate that the present invention may be implemented in forms other than the disclosed embodiments without changing the technical concept or essential features of the present invention. The disclosed embodiments are exemplary and should not be construed as limiting.

Claims

1. A driver assistance system for performing cruise control in a first vehicle, the driver assistance system comprising: a communication unit that performs communication with a plurality of other vehicles; an obstacle detection unit that detects surrounding obstacles and outputs obstacle information about the detected obstacles; as well as A control unit configured to: When the cruise control mode is executed, distance information of a second vehicle traveling around the first vehicle among obstacles is acquired based on obstacle information detected by the obstacle detection unit, travel information and position information of a third vehicle traveling around the second vehicle is acquired based on information received through the communication unit, and a first target deceleration is acquired based on current position information and actual travel speed information of the first vehicle and distance information about the second vehicle. acquiring a second target deceleration based on the current position information and actual travel speed information of the first vehicle and the travel information and position information of the third vehicle, and The deceleration is controlled based on the smaller target deceleration between the first target deceleration and the second target deceleration.

2. The driver assistance system according to claim 1, wherein: The control unit is configured to determine whether the second vehicle deviates from the driving path of the second vehicle based on obstacle information detected by the obstacle detection unit, and when it is determined that the second vehicle deviates from the driving path of the second vehicle, control acceleration and deceleration based on the driving information of the third vehicle.

3. The driver assistance system according to claim 1, wherein: The control unit is configured to control deceleration at a smaller target deceleration of the first target deceleration and the second target deceleration when a third vehicle exists around the second vehicle.

4. The driver assistance system according to claim 1, further comprising: a speed detection unit that detects a traveling speed of the first vehicle and outputs traveling speed information about the detected traveling speed, The communication unit receives the current position information of the first vehicle, The control unit is configured to obtain position information of a stationary obstacle in a driving path based on road environment information received through the communication unit, and control deceleration based on the obtained position information of the obstacle, current position information of the first vehicle, and driving speed information of the first vehicle.

5. A vehicle comprising: a communication unit that performs communication with a plurality of other vehicles and receives current position information; an obstacle detection unit that detects surrounding obstacles and outputs obstacle information about the detected obstacles; a speed detection unit that detects a traveling speed and outputs actual traveling speed information regarding the detected traveling speed; as well as A control unit configured to: When the cruise control mode is executed, distance information from another vehicle traveling around the obstacle in the driving path is obtained based on obstacle information detected by the obstacle detection unit, driving information and position information of another vehicle traveling around the another vehicle are obtained based on information received by the communication unit, and a first target deceleration is obtained based on current position information of the vehicle, actual driving speed information, and distance information about the another vehicle. obtaining a second target deceleration based on the current position information and actual travel speed information of the vehicle and the travel information and position information of the further vehicle, and The deceleration is controlled based on the smaller target deceleration between the first target deceleration and the second target deceleration.

6. The vehicle of claim 5, further comprising: a yaw rate detection unit that detects a yaw rate and outputs yaw rate information regarding the detected yaw rate, The control unit is configured to determine whether the vehicle is in a turning driving state based on the detected yaw rate information, obtain a yaw rate value and a yaw acceleration value based on the yaw rate information when the vehicle is in the turning driving state, and control acceleration restriction based on the obtained yaw rate value, yaw acceleration value, and actual driving speed information.

7. The vehicle according to claim 6, wherein: The control unit is configured to determine whether an acceleration limit condition is satisfied based on the acquired yaw rate value, the acquired yaw acceleration value, and the actual driving speed information; when it is determined that the acceleration limit condition is satisfied, control acceleration based on a target acceleration; and when it is determined that the acceleration limit condition is not satisfied, control acceleration based on a preset acceleration.

8. The vehicle according to claim 7, wherein: The acceleration limiting conditions include the conditions that the acquired yaw rate value is greater than or equal to a reference yaw rate value, the yaw acceleration value is greater than or equal to a reference yaw acceleration value, and the vehicle's driving speed exceeds a first reference driving speed and is less than a second reference driving speed.

9. The vehicle of claim 6, further comprising: The rod signal receiving unit receives the rod signal of the driving direction indicator rod, The control unit is configured to determine the acceleration restriction condition when determining that the actual travel speed is less than or equal to the target travel speed and the other vehicle does not exist, and determining that a turning travel command is received through the pole signal receiving unit.

10. The vehicle according to claim 6, wherein The control unit is configured to control at least one of a display unit, a combination meter, and a sound output unit to output deceleration request information when controlling the acceleration restriction.

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