Rear side collision warning system and method for preventing false warnings when changing lanes

Abstract

The present invention relates to a rear side collision warning system and method, which can include a steering angle sensor detecting a steering angle of a vehicle, a first rear side radar detecting an object at a left rear side of the vehicle, a second rear side radar detecting an object at a right rear side of the vehicle, and a control unit judging a condition of changing a lane at an angle equal to or greater than a set angle based on steering angle and direction information detected by the steering angle sensor, and modifying an object position to be located at a direction opposite to a steering direction if the first rear side radar or the second rear side radar detects an object at a lane change direction to prevent an error warning from being issued.

Description

TECHNICAL FIELD

[0001] The present application relates to a system and method for detecting other vehicles in a rear lateral blind area to perform a collision warning. BACKGROUND

[0002] Recently, technology for ensuring safety by confirming a blind area while a vehicle is traveling and technology development of an autonomous vehicle are actively being developed, and various technologies for confirming a blind area using various sensors, determining a distance from an object, and determining a type of an object are being proposed.

[0003] A rear lateral collision warning (BCW, blind spot collision warning) system or a BSD (blind spot detection) system is a system for detecting other vehicles in a blind area while changing a lane to inform a driver of a collision danger, and the system detects whether a traveling vehicle exists in other lanes on the left and right sides of a vehicle using a radar sensor and visually and / or aurally warns a driver.

[0004] As described above, the BCW and BSD systems have an advantage that a vehicle approaching from a rear lateral side is detected to help safe driving, but when a lane change is made, a detection area of the radar sensor changes according to a steering angle, an error warning occurs, and a problem that a driver can be confused can occur.

[0005] Figure 1 is an example diagram for explaining a case in which an error warning is issued in the existing rear lateral collision warning method.

[0006] As shown in (a) of Figure 1 , in a situation in which the own vehicle 100 travels in a designated lane L1 and then changes a lane to a lane L2 located on the left side of the lane L1, a target vehicle 200 traveling in the lane L1 on the rear side of the own vehicle 100 enters a left side detection area DAL according to a change in a steering angle of the own vehicle 100, and thus an error warning is issued.

[0007] This is actually an error warning state in which a warning is issued in a situation in which the target vehicle 200 traveling in the lane L1 on the rear side of the own vehicle 100 has no collision danger, and a driver of the own vehicle 100 can be confused due to the error warning.

[0008] In addition, as shown in (b) of Figure 1 , after the own vehicle 100 completely changes a lane to the lane L2 as a lane change object, a target vehicle 200 traveling in the lane L1 is detected in a right side detection area (DAR).

[0009] In the above example, a lane change of the own vehicle 100 from the lane L1 before a lane change to the lane L2 after the lane change to the left side is shown and explained, but can also be applied to a reverse lane change.

[0010] To explain the false warning in more detail, when the host vehicle 100 makes a lane change, a sharp change in steering angle, such as reverse steering, causes a change in yaw rate, and thus a sharp change in the driving path from a straight line to a curve and back to a straight line causes a change in the geometry of the host vehicle 100.

[0011] In particular, in a situation where the vehicle is traveling at a speed of 20 to 30 km / h, the change in the driving path due to the change in the yaw rate has a greater impact on generating a false warning.

[0012] As related art, Korean Patent No. 10-2192549 (Blind Zone Monitoring System, granted on December 11, 2020) describes a technology for detecting the driving state of a driver and changing the blind zone monitoring area when driving without concentration.

[0013] However, the above-mentioned granted patent is based on the driving state of the driver, and thus is not applicable when making a normal lane change. SUMMARY

[0014] (PROBLEMS TO BE SOLVED)

[0015] The technical problem to be solved by the present invention, which considers the above-mentioned problems, is to provide a rear side collision warning system and method that can modify the position of a target vehicle according to a change in the steering angle in a normal lane change situation.

[0016] In addition, the technical problem to be solved by the present invention is to provide a rear side collision warning system and method that can perform a warning suppression in a situation where a false warning is feared.

[0017] (MEANS FOR SOLVING THE PROBLEMS)

[0018] The rear side collision warning system according to an aspect of the present invention for solving the above-mentioned problems can include a steering angle sensor that detects the steering angle of a vehicle, a first rear side radar that detects an object at the rear left side of the vehicle, a second rear side radar that detects an object at the rear right side of the vehicle, and a control part that determines a situation where a lane change is made at an angle of more than a set angle based on the steering angle and direction information detected by the steering angle sensor, and modifies the position of the object to be located at the opposite side of the steering direction to prevent a false warning from being issued if the first rear side radar or the second rear side radar detects an object in the lane change direction.

[0019] In the embodiment of the present application, the control unit is configured to, in a case where the lane change is performed and a lane change in a direction opposite to the direction of the lane change is attempted at an angle of 20 degrees or more within a set time after the lane change, if an object is detected by the second rear side radar or the first rear side radar on a second rear side of the direction of the lane change, modifying the position of the object.

[0020] In the embodiment of the present application, the first set angle can be 20 degrees to 25 degrees or -20 degrees to -25 degrees.

[0021] In the embodiment of the present application, the control unit is configured to, in a case where the lane change is performed and a lane change in a direction opposite to the direction of the lane change is attempted at an angle of 20 degrees or more within a set time after the lane change, if an object is detected by the second rear side radar or the first rear side radar on a second rear side of the direction of the lane change, modifying the position of the object.

[0022] In the embodiment of the present application, the second set angle can be -2 degrees to 2 degrees.

[0023] The rear side collision warning method of another aspect of the present application can include, as a method of the rear side collision warning performed by the control unit, a) a step of determining a lane change condition if a steering angle is 20 degrees or more, and b) a step of modifying a position of a detected object to a side opposite to a steering direction if the object is detected on a rear side of the first steering direction side in the lane change condition.

[0024] In the embodiment of the present application, the c) step of restoring the modified position of the object to the original position if the steering angle is within a second set angle of 0 degrees can be further included after the b) step.

[0025] In the embodiment of the present application, after the c) step, if it is determined that a lane change condition in a second steering direction opposite to the first steering direction at an angle of 20 degrees or more occurs within a set time, it is determined whether an object exists on a rear side of the second steering direction, a warning can be issued in a case where the object exists, and the position information of the object is not modified.

[0026] In the embodiment of the present application, the first set angle can be -20 degrees to -25 degrees and 20 degrees to 25 degrees.

[0027] In the embodiment of the present application, the second set angle can be -2 degrees to 2 degrees.

[0028] (EFFECTS OF THE INVENTION)

[0029] The present application is to detect a change in a steering angle, to detect a lane change situation according to a size of the steering angle, to modify a position of a target vehicle if the size of the steering angle is above a set angle, to prevent a false warning from being issued, and to further have an effect of preventing a confusing situation for a driver due to the false warning.

[0030] In particular, the present application is to limit a case of modifying a target position, to not perform a position modification of the target vehicle in a driving situation to return to an original lane again in a state where the lane change is completed, and to further maintain a normal warning state, and to have an effect of being able to contribute to safe driving. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is an example diagram of a state where a false warning occurs in a conventional rear side collision warning method.

[0032] Figure 2 is a configuration block diagram of a rear side collision warning system of a preferred embodiment of the present application.

[0033] Figure 3 is a flowchart of a rear side collision warning method of a preferred embodiment of the present application.

[0034] Figures 4 to 7 are example diagrams for explaining whether a target vehicle position information modification according to a driving state of a host vehicle is performed and a warning state.

[0035] (REFERENCE NUMERALS)

[0036] 10: control section 20: steering angle sensor

[0037] 30: first rear side radar 40: second rear side radar

[0038] 50: warning issuing section DETAILED DESCRIPTION

[0039] Hereinafter, a rear side collision warning system and method of the present application will be described in detail with reference to the accompanying drawings.

[0040] The embodiments of the present application are provided in order to more completely explain the present application to those having ordinary knowledge in the technical field of the art, and the embodiments described below can be modified in various different forms, and the scope of the present application is not limited to the following embodiments. Rather, these embodiments are provided in order to make the present application more complete and complete and to completely convey the idea of the present application to those skilled in the art.

[0041] The terms used in the present specification are used to describe particular embodiments and are not intended to limit the present application. As used in the present specification, an singular form includes a plural form unless it is clearly otherwise understood from the context. Also, the use of "include" and / or "includes" in the present specification is intended to indicate that there are items or components that are present, but not exclude the presence or addition of one or more other items or components. As used in the present specification, the term "and / or" includes one or more of the listed items.

[0042] In the present specification, the terms first, second, and so on are used to describe various components, regions, and / or portions, but these components, parts, regions, layers, and / or portions are not limited to the terms, as is apparent. These terms do not imply a particular order, up and down, or superiority and inferiority, but are used only to distinguish one component, region, or portion from another component, region, or portion. Thus, the first component, region, or portion to be described below can be referred to as the second component, region, or portion without departing from the teachings of the present application.

[0043] Embodiments of the present application will be described below with reference to the accompanying drawings, which schematically illustrate embodiments of the present application. In the drawings, for example, deformation of the shape shown can be predicted depending on the manufacturing technology and / or tolerance. Thus, the embodiments of the present application should not be interpreted as limited to the specific shape of the region shown in the present specification, for example, and should include manufacturing-induced shape variations.

[0044] Figure 2 is a configuration block diagram of a rear side collision warning system which is a preferred embodiment of the present application.

[0045] With reference to Figure 2 , the present application includes: a steering angle sensor 20 that detects a steering angle at the time of travel; a first rear side radar 30 that detects an object on the left rear side of the vehicle; a second rear side radar 40 that detects an object on the right rear side of the vehicle; a control section 10 that selectively modifies the position of an object detected by the first rear side radar 30 or the second rear side radar 40 based on the steering angle detection result of the steering angle sensor 20, and judges whether or not to issue a warning in consideration of the modification result; and a warning issue section 50 that issues a warning if the control section 10 judges that a warning should be issued.

[0046] The structure and action of the rear side collision warning system of the present application configured as described above will be described in more detail below.

[0047] First, the steering angle sensor 20 detects the steering angle of the steering wheel. The state of straightening the steering wheel is 0 degrees, and taking 0 degrees as a reference point, the left turn is detected as a positive (+) angle, and the right turn is detected as a negative (-) angle. This is an example, and the right turn can also be detected as a negative (-) angle, and the left turn can be detected as a positive (+) angle.

[0048] The steering angle detected by the steering angle sensor 20 is provided to the control section 10, and the control section 10 determines the lane change situation based on the steering angle information. That is, the control section 10 has information on a positive reference angle value (R+) and a negative reference angle value (R-), and if the steering angle is within the range of the positive reference angle value (R+) and the negative reference angle value (R-), it is not a lane change, and if it exceeds the range, it can be determined as a lane change.

[0049] That is, if the steering angle is greater than or equal to the positive reference angle value (R+), it can be determined as a situation of changing lanes to the left lane, and if the steering angle is less than or equal to the negative reference angle value (R-), it can be determined as a situation of changing lanes to the right lane.

[0050] In the above, positive and negative indicate directions, so if the absolute value of the steering angle is greater than or equal to the reference angle value (R), it can be determined as a lane change situation.

[0051] The first rear side radar 30 and the second rear side radar 40 respectively detect targets in the left and right rear of the vehicle.

[0052] The control section 10 controls the warning issuing section 50 to issue a warning based on whether the first rear side radar 30 and the second rear side radar 40 detect a target (another vehicle in the rear side) in the lane change situation. The warning issuing section 50 can issue a warning using one or all of visual warnings, auditory warnings.

[0053] The control section 10 performs a process of modifying the position of a target detected by the first rear side radar 30 or the second rear side radar 40 according to the steering direction, and performs control to stop the position modification process in the state where the lane change is completed.

[0054] For this, a more specific example will be described as follows.

[0055] Figure 3 is a flowchart of the rear side collision warning method of the present application.

[0056] Figure 3 is a flow performed by the above-mentioned control section 10.

[0057] First, as in step S31, the steering angle and direction are determined, and it is further determined whether it is a lane change situation and a lane change direction.

[0058] As described above, the steering angle detected by the steering angle sensor 20 has a positive angle or a negative angle depending on the direction, and in the present application, for the sake of convenience, the left side is taken as the positive angle and the right side is taken as the negative angle for the explanation.

[0059] The present application functions only in the case where the lane change condition and the direction are judged based on the steering angle detection, and only in the case where the steering angle is above the positive reference angle (R+) or below the negative reference angle (R-).

[0060] The reference angle R can be 20 to 25 degrees.

[0061] For example, if the steering angle becomes 21 degrees after driving in the state of the steering angle of 0 degrees by sharp steering operation, it can be judged that the lane change to the left lane side is in progress.

[0062] On the contrary, if the steering angle becomes -21 degrees after driving in the state of the steering angle of 0 degrees, it can be judged that the lane change to the right lane is in progress.

[0063] Figure 4 is an example in which the host vehicle 1 changes lanes to the left lane L2 from the driving lane LI.

[0064] When the steering angle of the host vehicle 1 detected by the steering angle sensor 20 is above the positive reference angle (R+), it is judged that the host vehicle 1 changes lanes to the left lane L2.

[0065] In the case where the host vehicle 1 changes lanes at a gentle angle that is less than the positive reference angle (R+), there is no need to worry about giving a false warning, and thus the present application does not function.

[0066] That is, the present application is applied only when the steering wheel is sharply operated.

[0067] Then, as in the S32 step, the control section 10 confirms whether or not the first rear side radar 30, which detects the target of the left rear side as the steering direction, detects the target vehicle 2.

[0068] The target vehicle 2 is actually a vehicle located behind the host vehicle 1 in the driving lane LI, but because of the sharp steering of the host vehicle 1, this target vehicle 2 can be detected as a vehicle that travels behind the host vehicle 1 on the left side.

[0069] If the target vehicle 2 is not detected in the detection area of the first rear side radar 30, that is, the left detection area DAL, as in the S39 step, the collision danger warning is omitted.

[0070] In addition, if the target vehicle 2 is detected in the left detection area DAL, the control section 10 does not perform the control to issue a warning, but performs the process to modify the position of the target vehicle 2 to the opposite side of the turning direction, as in S33.

[0071] This is because, as described above, the actual target vehicle 2 is traveling on the lane LI on the right side of the own vehicle 1, and the modified target vehicle 3 is arranged by modifying the position of the detected target vehicle 2 to the right detection area (DAL) side in consideration of this, thereby preventing an erroneous warning from being issued.

[0072] Then, if the lane change is completed, the position of the modified target is modified back to the original position, as in S34.

[0073] Figure 5 is an example diagram for explaining S34.

[0074] The completion of the lane change can be specified by the case where the steering angle detected by the steering angle sensor 20 is within a range set with 0 degrees as a reference. For example, it can be the case where it is within ±2 degrees.

[0075] Thus, the position of the modified target vehicle 3 is restored to the position of the original target vehicle 2 in the state where the lane change is completed.

[0076] Thus, there can be a target vehicle 2 on the right lane LI of the lane L2 where the own vehicle 1 is located.

[0077] In the state described above, the control section 10 can confirm whether the own vehicle 1 attempts to perform the lane change to the opposite lane again, as in S35.

[0078] Figure 6 is an example diagram for explaining the state where the lane change to the opposite lane is attempted in the state where the lane change is performed.

[0079] S35 is applied when the lane change to the opposite lane is performed again within a set time after the lane change, and the control section 10 determines that the lane change to the opposite lane is performed after the lane change in the case where the steering angle detected by the steering angle sensor 20 is below the reference angle (R-) (above the absolute value).

[0080] At this time, the change in the steering angle is also taken into account, and in the case where the steering is performed below the reference angle (R-) in the negative direction, if the position of the target vehicle 2 is modified in the reverse direction as in the S33 step, the collision danger warning cannot be performed, and therefore in the case where the target vehicle 2 is detected in the right detection area (DAR) in the S36 step, the position information of the target vehicle 2 is omitted in the S36 step, and the control is performed to issue a warning in the S38 step, and further the warning issue section 50 warns the driver of the danger of collision.

[0081] That is, the present application performs the control to modify the position of the target in order to prevent a false warning in the case where the target is detected in the detection area in the same direction as the steering direction when the steering is performed with a sharp change in the steering angle above the reference angle (R).

[0082] Further, the present application is characterized in that the modification of the target is omitted to warn of the danger of collision in the case where the lane change is attempted with a sharp change in the reverse direction within the set time after the lane change.

[0083] Figure 7 As an example of the case where the steering angle is re-steered within the range set with the 0-degree steering angle as a reference, the S31 step is re-executed thereafter.

[0084] The present application is not limited to the described embodiments, but various modifications, alterations, and the like can be implemented within the scope that does not exceed the technical gist of the present application, and this will be apparent to a person having ordinary knowledge in the technical field to which the present application pertains.

Claims

1. A rear side collision warning system comprising: a steering angle sensor that detects a steering angle of a vehicle; a first rear side radar that detects an object on a left rear side of the vehicle; a second rear side radar that detects an object on a right rear side of the vehicle; and a control unit that, based on the steering angle and direction information detected by the steering angle sensor, determines a lane change condition in which a lane change is attempted at an angle of a set angle or more, and modifies a position of an object detected by the first rear side radar or the second rear side radar on a side opposite to a direction of the lane change to prevent a false warning from being issued, characterized in that the control unit is configured to not perform the modification of the position of the object if the second rear side radar or the first rear side radar on the current lane change direction detects an object in a case where a lane change is attempted at an angle of the first set angle or more in a direction opposite to a previous lane change direction after the lane change has been made within a set time.

2. The rear side collision warning system according to claim 1, characterized in that the first set angle is 20 degrees to 25 degrees or -20 degrees to -25 degrees.

3. The rear side collision warning system according to claim 1, characterized in that the control unit is configured to determine that the lane change is completed if the steering angle detected by the steering angle sensor is within a second set angle from 0 degrees, restore the position of the object modified by the control unit to an original position if the lane change is completed.

4. The rear side collision warning system according to claim 3, characterized in that the second set angle is -2 degrees to 2 degrees.

5. A rear side collision warning method as a method of a rear side collision warning performed by a control unit, comprising: a) a step of determining a lane change condition if a steering angle is a first set angle or more, b) a step of modifying a position of an object detected on a side opposite to a direction of the lane change if the object is detected on the side opposite to the direction of the lane change in the lane change condition, characterized in that the method further comprises: c) a step of determining that a lane change is completed if the steering angle is within a second set angle from 0 degrees, and restoring the position of the object modified to an original position, after the c) step, if it is determined that a lane change condition in which a lane change is attempted at an angle of a set angle or more in a second direction opposite to the first direction of the lane change occurs within a set time, it is determined whether an object exists on a rear side in the second direction, a warning is issued if the object exists, and the position information of the object is not modified.

6. The rear side collision warning method according to claim 5, characterized in that the first set angle is -20 degrees to -25 degrees or 20 degrees to 25 degrees.

7. The rear side collision warning method according to claim 5, characterized in that the second set angle is -2 degrees to 2 degrees. ​ ​

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