Apparatus and method for controlling a vehicle

Abstract

The present disclosure relates to an apparatus and method for controlling a vehicle, and particularly, an apparatus and method for controlling a vehicle that can monitor a lower end of a parked / stopped vehicle to expand a detection area of the vehicle by adjusting a rotation angle of a sensor attached to the lower end of the front of the vehicle, prevent a collision accident in advance, and predict a situation of a collision risk that can occur due to a blind spot in advance.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority to Korean Patent Application No. 10-2021-0097026, filed on July 23, 2021, which is incorporated herein by reference for all purposes as fully set forth herein. Technical Field

[0003] The embodiments relate to an apparatus and method for controlling a vehicle. Background Technology

[0004] Recently, consumers have paid close attention to vehicle performance and safety. With increasing demands for vehicle performance, driver convenience, and safety, research and development of Advanced Driver Assistance Systems (ADAS)—which assist drivers in controlling and operating vehicles—are constantly progressing. Here, ADAS refers to various systems that minimize or mitigate damage caused by vehicle accidents by allowing drivers to take appropriate actions based on external environmental information detected by vehicle sensors, cameras, etc., or by automatically controlling the vehicle to create a safer driving environment. In particular, ADAS sensors are fundamental components of leading driver assistance systems, forming the basis for ensuring the safety of autonomous vehicles and improving driver convenience, and their market is expected to grow rapidly in the future.

[0005] Furthermore, ADAS sensor detection and prediction technologies have improved year by year, reaching a level of performance close to that currently suitable for autonomous driving. However, this technology only works when a specific object is within the field of view (FOV). Specifically, because ADAS sensors are mounted on the vehicle's bumper or windshield, they cannot detect objects in blind spots in advance. Therefore, it is impossible to prepare for objects emerging from between vehicles, and a problem arises where collisions are inevitable if detection is too late.

[0006] Therefore, there is a need for a device and method for controlling vehicles that can prevent accidents in advance by monitoring areas that cannot be detected by existing ADAS sensors and predicting collision risks in advance. Summary of the Invention

[0007] In this context, embodiments may provide an apparatus and method for controlling a vehicle that can prevent collisions that may occur due to blind spots.

[0008] According to one embodiment, a vehicle control device is provided, comprising: a position detector that uses a first sensor of the vehicle to detect whether a parked / stopped vehicle is located on the left or right side relative to the vehicle's direction of travel; an angle adjuster that adjusts the rotation angle of a second sensor attached to the lower end of the vehicle on the side where the parked / stopped vehicle is located; and a controller that uses the second sensor to monitor the lower end of the parked / stopped vehicle to set a moving object as a target and performs control based on the target, such as notifying the vehicle or slowing down the vehicle.

[0009] According to another embodiment, a vehicle control method is provided, comprising: using a first sensor of the vehicle to detect whether a parked / stopped vehicle is located on the left or right side relative to the vehicle's direction of travel; adjusting the rotation angle of a second sensor attached to the lower end of the vehicle on the side where the parked / stopped vehicle is located; and setting a moving object as a target by monitoring the lower end of the parked / stopped vehicle using the second sensor, and performing control based on the target, such as notifying the vehicle or slowing down the vehicle.

[0010] According to these embodiments, an apparatus and method for controlling a vehicle are capable of preventing potential collisions due to blind spots by expanding the vehicle's detection area. Attached Figure Description

[0011] Figure 1 This is a diagram illustrating the configuration of a vehicle control device according to an embodiment of the present disclosure.

[0012] Figure 2 This is a flowchart illustrating the operation of a vehicle control device according to an embodiment of the present disclosure as an example.

[0013] Figure 3 This is a flowchart illustrating, as an example, the operation of detecting the position of a parked / stopped vehicle according to an embodiment of the present disclosure.

[0014] Figure 4 This is a diagram illustrating the operation of adjusting the rotation angle of the second sensor according to an embodiment of the present disclosure.

[0015] Figure 5 This is a flowchart illustrating the operations of setting a target and determining the collision time according to an embodiment of the present disclosure.

[0016] Figure 6 This is a diagram illustrating the operation of collision time control notification and deceleration according to an embodiment of the present disclosure.

[0017] Figure 7 This is a flowchart of a vehicle control method according to an embodiment of the present disclosure. Detailed Implementation

[0018] This disclosure relates to an apparatus and method for controlling a vehicle.

[0019] In the following description of examples or embodiments of this disclosure, reference will be made to the accompanying drawings, in which specific examples or embodiments that may be implemented are illustrated by way of illustration, and in which the same reference numerals and symbols shown in different drawings may be used to denote the same or similar components. Further, in the following description of examples or embodiments of this disclosure, detailed descriptions of well-known functions and components incorporated herein are omitted when it is determined that the description might obscure the subject matter of some embodiments of this disclosure. Unless terms such as “comprising,” “having,” “including,” “constituting,” “forming,” “comprise,” and “form” are used herein in conjunction with the term “only,” these terms are generally intended to allow for the addition of additional components. As used herein, the singular forms are intended to include the plural forms unless the context clearly indicates otherwise.

[0020] Terms such as “first,” “second,” “A,” “B,” “(A),” or “(B)” may be used herein to describe elements of this disclosure. Each of these terms is not used to define essence, order, sequence, or quantity, but only to distinguish the corresponding element from other elements.

[0021] When referring to a first element as "connected to or coupled to," "in contact with," or "overlapping" with a second element, it should be explained that not only can the first element be "directly connected to or coupled to" or "directly in contact with or overlap" the second element, but a third element can also be "inserted" between the first and second elements, or the first and second elements can be "connected to or coupled to," "in contact with," or "overlapped" with each other through a fourth element. Here, a second element can be included in at least one of two or more elements that are "connected to or coupled to," "in contact with," or "overlap" with each other.

[0022] When time-relative terms such as “after,” “following,” “next,” “before,” etc., are used to describe the process or operation of an element or configuration, or to describe the flow or steps in an operation, process, or manufacturing method, these terms may also be used to describe discontinuous or non-sequential processes or operations, unless used with the terms “directly” or “immediately.”

[0023] Furthermore, when referring to any size, relative dimensions, etc., even without specific related descriptions, the numerical values ​​or corresponding information of the component or feature (e.g., grade, range, etc.) should be taken into account, including tolerances or error ranges that may be caused by various factors (e.g., process factors, internal or external influences, noise, etc.). Further, the term "can" fully encompasses all the meanings of the term "can".

[0024] Figure 1 This is a diagram illustrating the configuration of a vehicle control device according to an embodiment of the present disclosure.

[0025] Reference Figure 1 According to embodiments of the present disclosure, a vehicle control device 100 may include: a position detector 110 that uses a first sensor of the vehicle to detect whether the parked / stopped vehicle is located on the right or left side relative to the vehicle's direction of travel; an angle adjuster 120 that adjusts the rotation angle of a second sensor attached to the lower end of the vehicle on the side where the parked / stopped vehicle is located; and a controller 130 that uses the second sensor to monitor the lower end of the parked / stopped vehicle, sets a moving object as a target, and controls notification or deceleration based on the target.

[0026] As an example, position detector 110 can use the vehicle's first sensor to detect another vehicle within a predetermined distance. Additionally, position detector 110 can determine whether the detected other vehicle, based on its relative speed obtained using the vehicle's first sensor, corresponds to a parked / stopped vehicle. For example, position detector 110 can use the first sensor to detect objects present in front of, to the front side of, and to the rear of the vehicle. Position detector 110 can use the first sensor to acquire information about the distance, relative speed, and relative acceleration between the vehicle and the detected objects. For a more specific example, position detector 110 can determine whether the other vehicle is parked / stopped by using a camera to detect it and using radar to check its relative speed.

[0027] Here, the first sensor can be configured to use one or more of various known sensors, including cameras, infrared cameras, radar, lidar, ultrasonic sensors, etc., mounted at a suitable location in front of the vehicle. The first sensor can be mounted in locations such as near a room mirror, grille, or headlights to detect objects in front of the vehicle. However, this configuration is not limited to these.

[0028] As another example, the position detector 110 can use a first sensor to detect whether a parked / stopped vehicle is positioned to the left or right relative to the vehicle's direction of travel. For instance, the position detector 110 can determine the parked / stopped vehicle closest to the vehicle among those identified using the first sensor. The position detector 110 can then detect whether the nearest parked / stopped vehicle is positioned to the left or right relative to the vehicle's direction of travel.

[0029] As an example, the angle adjuster 120 can adjust the rotation angle of the second sensor attached to the lower end of the vehicle on the side where the parked / stopped vehicle is located. For example, the angle adjuster 120 can adjust the rotation angle such that the second sensor rotates based on the vehicle's direction of travel and the position of the parked / stopped vehicle. For a more specific example, if the nearest parked / stopped vehicle is detected to the left relative to the vehicle's direction of travel, the angle adjuster 120 can adjust the rotation angle such that the second sensor rotates to the left. On the other hand, if the nearest parked / stopped vehicle is detected to the right relative to the vehicle's direction of travel, the angle adjuster 120 can adjust the rotation angle such that the second sensor rotates to the right.

[0030] Here, the second sensor is an additional sensor besides the first sensor, and can be any known sensor attached to the lower part of the front of the vehicle to detect the lower part in front and to the lower part on the front side, such as a camera, infrared camera, radar, lidar, ultrasonic sensor, etc. However, this configuration is not limited to this. Additionally, the second sensor can be installed to adjust the rotation angle. More specifically, although the second sensor can use a motor or the like to adjust the rotation angle, the second sensor can be any sensor corresponding to a device capable of adjusting the rotation angle.

[0031] As another example, the angle adjuster 120 can set a threshold range for the rotation angle based on the field of view (FOV) of the second sensor, and adjust the rotation angle within the threshold range according to the movement of the vehicle relative to the parked / stopped vehicle. For example, if the field of view of the second sensor is equal to or greater than 100 degrees, the angle adjuster 120 can set the threshold range for the rotation angle of the second sensor to within 45 degrees. Therefore, if the second sensor rotates within 45 degrees before the vehicle catches up with the parked / stopped vehicle, the angle adjuster 120 is able to monitor the underside of the parked / stopped vehicle. However, this is only an example, and the configuration is not limited to this.

[0032] As an example, controller 130 can use a second sensor to monitor the lower end of a parked / stopped vehicle and set a moving object as a target. For example, controller 130 can use the second sensor to monitor movement within the space under the parked / stopped vehicle and set a moving object as a target. For example, controller 130 can control notification or deceleration based on the set target. For example, controller 130 can determine the level of risk of collision with the target based on various conditions by executing a predetermined algorithm or predetermined logic using information from the second sensor. Then, controller 130 can perform control such that the method for notifying the driver varies according to the level of risk of collision with the target, and automatically performs deceleration or braking if necessary. Here, controller 130 can be an electronic control unit (ECU), microcontroller unit (MCU), etc.

[0033] As an example, controller 130 can use a second sensor to acquire the lateral velocity of the set target, as well as the longitudinal and lateral distances of the target, which represent the distance between the vehicle and the set target. Additionally, controller 130 can determine the time of impact (TTC) with the target based on the acquired lateral velocity, longitudinal distance, and lateral distance. For example, controller 130 can use at least one of the acquired lateral velocity, longitudinal distance, or lateral distance to determine a collision time including a first collision time and a second collision time. Here, the first collision time can be the ratio of the longitudinal distance to the vehicle speed, and the second collision time can be the ratio of the difference between the lateral distance and the lateral movement distance to the lateral velocity. In other words, the lateral velocity can represent the distance the target moves in one second in the lateral direction.

[0034] As another example, controller 130 can compare the determined time of collision with the target with a pre-set reference time. Controller 130 can then perform control based on the comparison result, such as notifying the vehicle or slowing it down. For example, if it is determined that the time of the first and second collisions is shorter than a first reference time, controller 130 can perform control to notify the vehicle. For a more specific example, controller 130 can perform control to notify the vehicle using visual, auditory, or tactile alarms, etc., based on the determined result. Optionally, controller 130 can perform control to provide alerts by varying the combination or magnitude of alarms based on the driver's awareness of the collision risk.

[0035] As another example, if it is determined that the first and second collision times are shorter than the second reference time, the controller 130 can perform control to apply partial braking to the vehicle. For a more specific example, if the full braking force is defined as 1g, the controller 130 can perform control to apply partial braking to the vehicle by transmitting a partial braking command of approximately 0.2g to the braking device based on the determined result. This braking force can vary based on the vehicle's design type, vehicle type, etc., but is not limited thereto. Here, partial braking can refer to a braking force with a magnitude less than that of emergency braking by the braking device. For another specific example, the controller 130 can perform control to apply partial braking by changing the braking force based on the difference between the collision time and the second reference time. The controller 130 can perform control to apply partial braking in multiple levels by forming multiple intervals based on the difference between the collision time and the second reference time and applying 0.2g, 0.4g, 0.6g, etc., according to the corresponding intervals. In other words, the controller 130 can perform control to apply partial braking by increasing the braking force based on the determined reduction in collision time.

[0036] Additionally, as another example, if it is determined that the time of the first and second collisions is shorter than the third reference time, the controller 130 can execute control to apply emergency braking to the vehicle. For a more specific example, if full braking force is defined as 1g, the controller 130 can execute control to apply emergency braking to the vehicle by transmitting an emergency braking command of approximately 1g to the braking device based on the determined result. Here, emergency braking can refer to full braking. On the other hand, the controller 130 can maintain an alert while performing partial or emergency braking.

[0037] Figure 2 This is a flowchart illustrating the operation of a vehicle control device according to an embodiment of the present disclosure as an example.

[0038] Reference Figure 2 According to one embodiment of this disclosure, the position detector 110 can detect parked / stopped vehicles (S210). For example, the position detector 110 can use a first sensor to detect another vehicle located within a predetermined distance from the vehicle, and determine whether the other vehicle corresponds to the parked / stopped vehicle based on the relative speed of the detected other vehicle. For example, the position detector 110 can use the first sensor to detect a vehicle located in front of or to the front side of the vehicle within a predetermined distance from the vehicle in advance as another vehicle. Additionally, even if the vehicle in front is not within the predetermined distance, the position detector 110 can detect a vehicle within a minimum safe distance from the vehicle in advance as another vehicle based on the vehicle's speed. The position detector 110 can determine whether another vehicle corresponds to the parked / stopped vehicle by preferentially considering other vehicles within a predetermined distance set for each speed of the vehicle. As another example, the position detector 110 can use the first sensor to determine whether another vehicle is parked or stopped based on the relative speed information of the other vehicle and the vehicle's speed information. Then, the position detector 110 can detect whether the parked / stopped vehicle is located to the left or right relative to the vehicle's direction of travel. The following will refer to... Figure 3 Describe the details of the operation used to detect the position of parked / stopped vehicles.

[0039] According to one embodiment of this disclosure, the angle adjuster 120 can adjust the rotation angle of the second sensor (S220). For example, the angle adjuster 120 can adjust the rotation angle of the second sensor, attached to the lower end of the vehicle, on the side where the parked / stopped vehicle is located. For example, the angle adjuster 120 can set a threshold range for the rotation angle based on the field of view of the second sensor, and adjust the rotation angle within the set threshold range according to the movement of the vehicle relative to the parked / stopped vehicle. For a more specific example, the angle adjuster 120 can set a threshold range for the rotation angle of the second sensor such that a parked / stopped vehicle located next to the vehicle can be monitored. Here, the threshold range for the rotation angle can be set to a value obtained by dividing the angle obtained by subtracting the field of view of the second sensor from 180 degrees by 2. If the parked / stopped vehicle is within the field of view of the second sensor, the angle adjuster 120 can maintain the rotation angle of the second sensor at the existing angle. On the other hand, if the parked / stopped vehicle is outside the field of view of the second sensor, the angle adjuster 120 can adjust the rotation angle of the second sensor relative to the position of the parked / stopped vehicle. On the other hand, the angle adjuster 120 can also adjust the rotation speed of the second sensor according to the vehicle's driving speed.

[0040] According to one embodiment of this disclosure, the controller 130 may use a second sensor to monitor the lower end of a parked / stopped vehicle (S230). As an example, the controller 130 may use the second sensor to monitor the lower end of a parked / stopped vehicle and designate a moving object as a target. For example, the controller 130 may detect a moving object by using a second sensor attached to the lower end of the vehicle to monitor the lower end of a parked / stopped vehicle located to its front side. More specifically, the controller 130 may use the second sensor to detect the angle, distance, relative velocity, relative acceleration, etc., of an object at the lower end of the parked / stopped vehicle and determine whether the object is a moving object. Then, if the object at the lower end of the parked / stopped vehicle is determined to be a moving object, the controller 130 may designate the object as a target.

[0041] Controller 130 can control notification or deceleration based on a target (S240). As an example, controller 130 can determine the collision time based on the lateral velocity of the set target and the longitudinal and lateral distances between the vehicle and the set target. Alternatively, controller 130 can control notification or deceleration by comparing the collision time with a first reference time, a second reference time, and a third reference time. The following will refer to... Figure 5 and Figure 6 Describe the details of setting the target and determining the collision time.

[0042] Figure 3This is a flowchart illustrating, as an example, the operation of detecting the position of a parked / stopped vehicle according to an embodiment of the present disclosure.

[0043] Reference Figure 3 According to one embodiment of this disclosure, the position detector 110 can monitor the front, front side, and rear side of a vehicle (S310). As an example, the position detector 110 can use a first sensor mounted at a position suitable for monitoring the front or front side of the vehicle to monitor the roadway or objects present in front of the vehicle. Optionally, the position detector 110 can use a first sensor mounted at a position suitable for monitoring the rear side of the vehicle to monitor objects behind the vehicle. For example, in the position detector 110, the first sensor may consist of one or more sensors, and each of the sensors can monitor a predetermined range. The first sensor refers to a sensor typically attached to the vehicle and can refer to all sensors except for the second sensor.

[0044] According to one embodiment of this disclosure, the position detector 110 can determine whether a parked / stopped vehicle is present (S320). As an example, the position detector 110 can use a first sensor to detect another vehicle located within a predetermined distance in front of or to the side of the vehicle. The position detector 110 can then determine the presence of a parked / stopped vehicle based on whether the detected other vehicle is a parked or stopped vehicle. For example, the position detector 110 can determine whether the other vehicle corresponds to a parked / stopped vehicle based on the relative speed of the other vehicle and the speed of the host vehicle obtained using the first sensor. As another example, the position detector 110 can use the first sensor to determine whether the other vehicle is parked on the side of the road rather than on the roadway, based on the position of the vehicle in the left and right lanes of the road or its distance from objects such as pedestrian blocks or roadside objects.

[0045] According to one embodiment of this disclosure, the position detector 110 can detect the position of a parked / stopped vehicle relative to the vehicle's direction of travel (S330). As an example, if a parked / stopped vehicle is determined to exist, the position detector 110 can detect the position of the parked / stopped vehicle relative to the vehicle's direction of travel. On the other hand, if it is determined that no parked / stopped vehicle exists, the position detector 110 can monitor the area in front of, to the front side of, and to the rear of the vehicle to detect another vehicle in front of or to the front side of the vehicle. For example, in the case of multiple parked / stopped vehicles, the position detector 110 determines the parked / stopped vehicle closest to the vehicle in a first-order category, and can detect whether the determined parked / stopped vehicle is located to the left or right of the vehicle's direction of travel.

[0046] According to one embodiment of this disclosure, the angle adjuster 120 can adjust the rotation angle of the second sensor (S340). As an example, the angle adjuster 120 can adjust the rotation angle of the second sensor, attached to the lower end of the vehicle, on the side where the parked / stopped vehicle is located. For example, the angle adjuster 120 can set a threshold range for the rotation angle based on the field of view of the second sensor, and adjust the rotation angle within the set threshold range according to the movement of the vehicle relative to the parked / stopped vehicle.

[0047] Figure 4 This is a diagram illustrating the operation of adjusting the rotation angle of the second sensor according to an embodiment of the present disclosure.

[0048] Reference Figure 4 The operation of the angle adjuster 120 adjusting the rotation angle of the second sensor according to one embodiment of the present disclosure can be described more specifically. As an example, the angle adjuster 120 can adjust the rotation angle of the second sensor on the side where the parked / stopped vehicle is located. For example, the position detector 110 can detect a parked / stopped vehicle 420 on the right-hand road immediately adjacent to the driving lane currently being traveled by vehicle 410. Then, the angle adjuster 120 can maintain the rotation angle of the second sensor 400 or adjust the rotation angle to rotate to the right based on whether the second sensor 400 of vehicle 410 can detect the lower end of the parked / stopped vehicle 420 on the right-hand road. On the other hand, the position detector 110 can detect a parked / stopped vehicle 430 on the left-hand road adjacent to the driving lane currently being traveled by vehicle 410. Then, the angle adjuster 120 can maintain the rotation angle of the second sensor 400 or adjust the rotation angle to rotate to the left based on whether the second sensor 400 of vehicle 410 can detect the lower end of the parked / stopped vehicle 430 on the left-hand road side. For a more specific example, if the parked / stopped vehicle 420 is within the field of view of the second sensor 400 at its current location on vehicle 410, the angle adjuster 120 can maintain the rotation angle of the second sensor 400. Alternatively, if the parked / stopped vehicle 420 is outside the field of view of the second sensor 400 at its current location on vehicle 410, the angle adjuster 120 can adjust the rotation angle of the second sensor 400 so that the parked / stopped vehicle 420 is within the field of view of the second sensor 400.

[0049] As another example, the angle adjuster 120 can adjust the rotation angle of the second sensor 400 until the vehicle 410 is ahead of the parked / stopped vehicles 420, 430. More specifically, by setting a threshold range for the rotation angle and adjusting the rotation angle within the set threshold range, for reference, the angle adjuster 120 may not perform detection when the vehicle 410 is in front of the parked / stopped vehicles 420, 430.

[0050] As another example, when adjusting the rotation angle of the second sensor 400 within a threshold range, the angle adjuster 120 can control the rotation speed based on the moving speed of the vehicle 410, so that the parked / stopped vehicles 420, 430 are within the field of view of the second sensor 400.

[0051] Figure 5 This is a flowchart illustrating the operations of setting a target and determining the collision time according to an embodiment of the present disclosure.

[0052] Reference Figure 5 According to one embodiment of this disclosure, the angle adjuster 120 can adjust the rotation angle of the second sensor (S340). As an example, if the parked / stopped vehicle is on the left, the angle adjuster 120 can adjust the rotation angle such that the second sensor attached to the lower end of the vehicle rotates to the left. If the parked / stopped vehicle is on the right, the angle adjuster 120 can adjust the rotation angle such that the second sensor attached to the lower end of the vehicle rotates to the right.

[0053] According to one embodiment of this disclosure, the controller 130 can use a second sensor to monitor the lower end of a parked / stopped vehicle (S510). As an example, the rotation angle is adjusted so that the parked / stopped vehicle enters the field of view of the second sensor, and the controller 130 can monitor the lower end of the parked / stopped vehicle based on information acquired by the second sensor. The second sensor is attached to the lower end of the vehicle and is adapted to monitor the lower end of the parked / stopped vehicle.

[0054] According to one embodiment of this disclosure, the controller 130 can set a moving object as a target (S520). As an example, if a moving object is detected at the lower end of a parked / stopped vehicle using a second sensor, the controller 130 can set the detected moving object as a target. For example, if a moving object is identified by detecting the position, movement, etc. of an object on the side where the parked / stopped vehicle is located using a second sensor, the controller 130 can centrally monitor the object by setting the detected moving object as a target.

[0055] If a target is set, the controller 130 according to one embodiment of this disclosure can set the longitudinal distance, lateral distance, and lateral velocity (S530). As an example, the controller 130 can obtain the longitudinal distance and lateral distance relative to the set target and the vehicle from information monitored using a second sensor, and obtain the lateral velocity of the target. Additionally, if needed, the controller 130 can obtain the longitudinal distance, lateral distance, and lateral velocity from information measured using a first sensor.

[0056] According to one embodiment of this disclosure, the controller 130 can determine a first collision time and a second collision time (S540). As an example, the controller 130 can determine the collision time between the vehicle and a set target, and can determine the probability of a collision with the vehicle. Additionally, the controller 130 can use at least one of the acquired lateral velocity, longitudinal distance, or lateral distance of the target to determine the collision time, including the first and second collision times. For example, the controller 130 can determine the first collision time as the ratio of the longitudinal distance to the vehicle speed. Furthermore, the controller 130 can determine the second collision time as the ratio of the difference between the lateral distance and the lateral movement distance to the lateral velocity. In this case, the lateral movement distance can be determined by the lateral velocity 630 of the target, which is the distance the target moves in the lateral direction for one second.

[0057] According to one embodiment of this disclosure, the controller 130 can perform notification and deceleration control (S550). As an example, if it is determined that the collision time is shorter than a pre-set first reference time, the controller 130 can perform control to notify the vehicle. Additionally, if it is determined that the collision time is shorter than a pre-set second reference time, the controller 130 can perform control to apply partial braking to the vehicle, and if it is determined that the collision time is shorter than a pre-set third reference time, it can perform control to apply emergency braking to the vehicle. Alternatively, the controller 130 can issue a notification while performing braking control.

[0058] Figure 6 This is a diagram illustrating the operation of collision time control notification and deceleration according to an embodiment of the present disclosure.

[0059] Reference Figure 6The following describes the specific operations of controller 130 according to one embodiment of the present disclosure, which controls notification and deceleration based on collision time. As an example, controller 130 may determine the first collision time as the ratio of longitudinal distance to vehicle speed. Here, longitudinal distance 610 may be the relative longitudinal distance between the vehicle and target 600. As another example, controller 130 may determine the second collision time as the ratio of the difference between lateral distance 620 and lateral movement distance to lateral speed 630. More specifically, lateral distance 620 may be the relative lateral distance between the vehicle and target 600, and lateral speed 630 may be the lateral speed (lateral rate) at which target 600 moves to the side of the vehicle. Additionally, the lateral movement distance can be determined using the lateral speed 630 of the target, which is the distance the target moves in the lateral direction for one second. Here, target 600 may be a moving object detected by second sensor 400 at the lower end of a parked / stopped vehicle 420. However, if the moving object is moving on the side opposite to the vehicle, the object can be excluded from target 600.

[0060] According to one embodiment of this disclosure, the controller 130 can use the time-to-collision (TTC) with the determined target 600 to determine the probability of a collision and control the notification or deceleration of the vehicle. For example, if the determined first and second collision times are determined to be shorter than a first reference time, the controller 130 can execute control to notify the vehicle. Here, the first reference time can be set to two seconds, but is not limited thereto. As another example, if the determined first and second collision times are determined to be shorter than a second reference time, the controller 130 can execute control to apply partial braking to the vehicle. Additionally, the controller 130 can execute control to apply partial braking by changing the braking force based on the difference between the collision time and the second reference time. Here, the second reference time can be set to 1.5 seconds, but is not limited thereto. As another example, if the determined first and second collision times are determined to be shorter than a third reference time, the controller 130 can execute control to apply emergency braking to the vehicle. Here, the third reference time can be set to 0.8 seconds, but is not limited thereto.

[0061] If the collision prediction is based on the result of collision time determination, controller 130 according to one embodiment of this disclosure can perform control to perform deceleration by either Automatic Emergency Braking (AEB) or Adaptive Cruise Control (ACC). For example, if deceleration is performed by partial braking or emergency braking, controller 130 can perform control to determine the deceleration of the vehicle based on the distance between the vehicle and another vehicle behind, the speeds of the vehicle and the other vehicle, and the deceleration of the other vehicle behind, and perform deceleration. However, if a collision with a target can be predicted even by braking, controller 130 can perform control to perform a steering maneuver to another lane. Optionally, if a collision with another vehicle due to deceleration is predicted, controller 130 can perform control to perform a steering maneuver to another lane. As another example, if a collision is predicted, controller 130 can perform control to notify the vehicle and also notify the target or another vehicle behind.

[0062] The following will describe what can be obtained from reference. Figures 1 to 6 The vehicle control method performed by the described vehicle control device.

[0063] Figure 7 This is a flowchart of a vehicle control method according to an embodiment of the present disclosure.

[0064] Reference Figure 7 The vehicle control method according to this disclosure may include a position detection step (S710) to detect the presence of a parked / stopped vehicle. As an example, the vehicle control device may use a first sensor of the vehicle to detect another vehicle located within a predetermined distance from the vehicle. Additionally, the vehicle control device may determine whether the other vehicle detected based on the relative speed of the other vehicle obtained using the first sensor corresponds to a parked / stopped vehicle. For example, the vehicle control device may use the first sensor to detect objects in front of, to the front side of, and to the rear side of the vehicle, and acquire information about the distance, relative speed, and relative acceleration between the vehicle and the detected objects. Here, the first sensor may be configured to use one or more of various known sensors, including cameras, infrared cameras, radar, lidar, ultrasonic sensors, etc., mounted at a suitable location in front of the vehicle. The first sensor may be mounted at a location such as near a rearview mirror, grille, headlights, etc., to detect objects in front of the vehicle. However, this configuration is not limited to this.

[0065] As another example, the vehicle control unit can use a first sensor to detect whether a parked / stopped vehicle is positioned to the left or right relative to the vehicle's direction of travel. For instance, the vehicle control unit can determine the parked / stopped vehicle closest to the vehicle identified using the first sensor. Then, the vehicle control unit can detect whether the parked / stopped vehicle is positioned to the left or right relative to the vehicle's direction of travel.

[0066] The vehicle control method may include an angle adjustment step (S720) to adjust the rotation angle of the second sensor. As another example, the vehicle control device may adjust the rotation angle of the second sensor, attached to the lower end of the vehicle, on the side where the parked / stopped vehicle is located. For example, the vehicle control device may adjust the rotation angle such that the second sensor rotates based on the vehicle's driving direction and the position of the parked / stopped vehicle. Here, the second sensor is an additional sensor besides the first sensor, and may be various known sensors attached to the lower end of the front of the vehicle to be suitable for detecting the lower end in front and the lower end to the front side, such as cameras, infrared cameras, radar, lidar, ultrasonic sensors, etc. However, this configuration is not limited to this. Additionally, the second sensor can be installed to adjust the rotation angle. More specifically, although the second sensor may use a motor or the like to adjust the rotation angle, the second sensor may use any sensor corresponding to a device capable of adjusting the rotation angle.

[0067] As another example, the vehicle control unit can set a threshold range for the rotation angle based on the field of view (FOV) of the second sensor, and adjust the rotation angle within the threshold range according to the movement of the vehicle relative to the parked / stopped vehicle. For example, if the field of view of the second sensor is equal to or greater than 100 degrees, the vehicle control unit can set the threshold range for the rotation angle of the second sensor to within 45 degrees. Therefore, if the second sensor rotates within 45 degrees before the vehicle catches up with the parked / stopped vehicle, the vehicle control unit is able to perform monitoring of the lower part of the parked / stopped vehicle. However, this is only an example, and the configuration is not limited to this.

[0068] The vehicle control method may include a control step (S730) based on a target-based control notification or deceleration. As an example, the vehicle control device may use a second sensor to monitor the lower end of a parked / stopped vehicle and set a moving object as the target. Additionally, the vehicle control device may control notification or deceleration based on the set target.

[0069] As another example, the vehicle control unit can execute notifications or deceleration based on a set target. Additionally, the vehicle control unit can determine the time of collision (TTC) with the target based on acquired lateral velocity, longitudinal distance, and lateral distance. For example, the vehicle control unit can use at least one of the acquired lateral velocity, longitudinal distance, or lateral distance to determine a collision time that includes a first collision time and a second collision time. Here, the first collision time can be the ratio of longitudinal distance to vehicle speed, and the second collision time can be the ratio of the difference between the lateral distance and the lateral movement distance to the lateral velocity. In other words, the lateral velocity can represent the distance the target moves in one second in the lateral direction.

[0070] As another example, the vehicle control unit can compare the determined time of collision with the target with a pre-set reference time and execute control measures, such as notifying the vehicle or slowing it down. For example, if it is determined that the first and second collision times are shorter than a first reference time, the vehicle control unit can execute control measures and notify the vehicle. As another example, if it is determined that the first and second collision times are shorter than a second reference time, the vehicle control unit can execute control measures and apply partial braking to the vehicle. Furthermore, as another example, if it is determined that the first and second collision times are shorter than a third reference time, the vehicle control unit can execute control measures and apply emergency braking to the vehicle. On the other hand, the vehicle control unit can maintain a warning while performing partial or emergency braking.

[0071] As described above, according to this disclosure, an apparatus and method for controlling a vehicle capable of anticipating collision accidents can be provided. In particular, an apparatus and method for controlling a vehicle can be provided that can monitor the lower end of a parked / stopped vehicle by adjusting the rotation angle of a sensor attached to the lower end of the front of the vehicle to expand the vehicle's detection area, thereby preventing collision accidents in advance and predicting potential collision risks due to blind spots.

[0072] The foregoing description is intended to enable any person skilled in the art to implement and use the technical ideas of this disclosure, and is provided in the context of a particular application and its requirements. Various modifications, additions, and substitutions to the described embodiments will be apparent to those skilled in the art, and the general principles defined herein can be applied to other embodiments and applications without departing from the spirit and scope of this disclosure. The foregoing description and accompanying drawings provide examples of the technical ideas of this disclosure for illustrative purposes only. That is, the disclosed embodiments are intended to illustrate the scope of the technical ideas of this disclosure. Therefore, the scope of this disclosure is not limited to the illustrated embodiments, but is consistent with the widest scope consistent with the claims. The scope of protection of this disclosure should be interpreted based on the appended claims, and any technical ideas falling within their equivalent scope should be interpreted as including within the scope of this disclosure.

Claims

1. A vehicle control device, comprising: A position detector uses the vehicle's first sensor to detect whether a parked / stopped vehicle is positioned to the left or right relative to the vehicle's direction of travel. An angle adjuster adjusts the rotation angle of a second sensor attached to the lower end of the vehicle on the side where the parked / stopped vehicle is located. and The controller sets a moving object as a target by monitoring the lower end of the parked / stopped vehicle using the second sensor, and performs control based on the target, either notifying the vehicle or causing the vehicle to slow down. The controller uses the second sensor to acquire the lateral velocity of the target, as well as the longitudinal and lateral distances between the vehicle and the target, and determines the time of collision (TTC) with the target. The controller performs partial braking at multiple levels by forming multiple intervals based on the difference between the collision time and the second reference time. The controller uses at least one of the lateral velocity, the longitudinal distance, or the lateral distance to determine the collision time, which includes a first collision time and a second collision time; and the first collision time is the ratio of the longitudinal distance to the vehicle's speed, and the second collision time is the ratio of the difference between the lateral distance and the target's lateral movement distance to the lateral velocity. The controller: if it determines that the first collision time and the second collision time are shorter than the second reference time, it executes control to apply partial braking to the vehicle; and if it determines that the first collision time and the second collision time are shorter than the third reference time, it executes control to apply emergency braking to the vehicle. The angle adjuster adjusts the rotation speed of the second sensor according to the vehicle's moving speed until the vehicle is ahead of the parked / stopped vehicle.

2. The vehicle control device of claim 1, wherein the position detector uses the first sensor to detect another vehicle within a predetermined distance from the vehicle, and determines whether the other vehicle corresponds to the parked / stopped vehicle based on the relative speed of the detected other vehicle.

3. The vehicle control device according to claim 1, wherein the angle adjuster sets a threshold range of the rotation angle based on the field of view (FOV) of the second sensor, and adjusts the rotation angle within the threshold range according to the movement of the vehicle relative to the parked / stopped vehicle.

4. The vehicle control device according to claim 1, wherein the controller compares the determined collision time with a pre-set reference time.

5. The vehicle control device according to claim 1, wherein if it is determined that the first collision time and the second collision time are shorter than the first reference time, the controller performs control and sends a notification to the vehicle.

6. A vehicle control method, comprising: The vehicle's first sensor is used to detect whether the parked / stopped vehicle is located on the left or right relative to the vehicle's direction of travel; Adjust the rotation angle of the second sensor attached to the lower end of the vehicle on the side where the parked / stopped vehicle is located; and By using the second sensor to monitor the lower end of the parked / stopped vehicle to target a moving object, and performing control based on the target, either notifying the vehicle or causing it to slow down. In setting up the moving object and executing control, the second sensor is used to acquire the lateral velocity of the target, as well as the longitudinal and lateral distances between the vehicle and the target, to determine the time of collision (TTC). The execution control includes performing partial braking at multiple levels by forming multiple intervals based on the difference between the collision time and the second reference time. In setting the moving object and executing control, the collision time, including a first collision time and a second collision time, is determined using at least one of the lateral velocity, the longitudinal distance, or the lateral distance; and the first collision time is the ratio of the longitudinal distance to the vehicle's speed, and the second collision time is the ratio of the difference between the lateral distance and the target's lateral movement distance to the lateral velocity. In setting the moving object and executing control, if it is determined that the first collision time and the second collision time are shorter than the second reference time, then control is executed to apply partial braking to the vehicle; and if it is determined that the first collision time and the second collision time are shorter than the third reference time, then control is executed to apply emergency braking to the vehicle. The angle adjuster adjusts the rotation speed of the second sensor according to the vehicle's moving speed until the vehicle is ahead of the parked / stopped vehicle.

7. The vehicle control method of claim 6, wherein in position detection, the first sensor is used to detect another vehicle within a predetermined distance from the vehicle, and it is determined whether the other vehicle corresponds to the parked / stopped vehicle based on the relative speed of the detected other vehicle.

8. The vehicle control method according to claim 6, wherein in adjusting the rotation angle, a threshold range of the rotation angle is set based on the field of view (FOV) of the second sensor, and the rotation angle is adjusted within the threshold range according to the movement of the vehicle relative to the parked / stopped vehicle.

9. The vehicle control method according to claim 6, wherein in setting the moving object and performing control, the determined collision time is compared with a pre-set reference time.

10. The vehicle control method according to claim 6, wherein in setting the moving object and executing control, if it is determined that the first collision time and the second collision time are shorter than the first reference time, then control is executed to notify the vehicle.

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