Anti-collision device and anti-collision method

Abstract

An anti-collision device and an anti-collision method according to an embodiment of the present disclosure may prevent a collision between a traveling vehicle and an object on which the anti-collision device is mounted by receiving a signal output from an object detection device, and generating and transmitting a virtual reflected signal different from an actual reflected signal of the received signal on the basis of the received signal and the virtual traveling speed, the object detection device being mounted on a traveling vehicle traveling on a road.

Description

Technical Field

[0001] Embodiments of this disclosure relate to collision avoidance devices and collision avoidance methods. Background Technology

[0002] In recent years, with the development of vehicle control technology, cruise control technologies such as intelligent cruise control are being applied to vehicles. Cruise control technology is a function that maintains a constant speed of a vehicle without pressing the accelerator pedal, or maintains a vehicle-to-vehicle distance set by the driver by detecting vehicles ahead (moving vehicles ahead) using forward sensors (object detection devices).

[0003] In recent years, drivers have frequently used cruise control while driving on the road. However, even when cruise control is in operation, fatal accidents can still occur due to driver drowsiness or inattention. Summary of the Invention

[0004] Technical issues Embodiments of this disclosure may provide a collision avoidance device and a collision avoidance method that prevent collisions between vehicles traveling on a road and objects on the road.

[0005] Embodiments of this disclosure may provide a collision avoidance device and method that can lead to active control of vehicles traveling on a road, so that the vehicles traveling on the road do not collide with objects on the road.

[0006] Embodiments of this disclosure may provide a collision avoidance device and method that can lead to active control of a moving vehicle performing cruise control, so that the moving vehicle does not collide with an object stationary on the road.

[0007] Embodiments of this disclosure may provide a collision avoidance device and method that can be installed on an object stationary on a road to enable active control of a moving vehicle, allowing the moving vehicle performing cruise control to safely decelerate or stop on its own.

[0008] Embodiments of this disclosure may provide a collision avoidance device and a collision avoidance method that can lead to active control of a high-speed moving vehicle, such that when a moving vehicle with cruise control operation is traveling at high speed on a road, the moving vehicle will not collide with a stationary engineering vehicle or road facility on the road.

[0009] Technical solution The collision avoidance device (also known as a virtual moving target generation device or virtual target generation device) according to embodiments of the present disclosure may include a receiving antenna, a virtual reflection signal generator, and a transmitting antenna. The receiving antenna receives a signal output from an object detection device mounted on a moving vehicle traveling on a road. The virtual reflection signal generator generates a virtual reflection signal that is different from the actual reflection signal of the received signal based on the received signal received through the receiving antenna and the virtual moving speed. The transmitting antenna transmits the virtual reflection signal.

[0010] Collision avoidance devices can be positioned stationary in front of the direction of travel of a vehicle on the road.

[0011] Collision avoidance devices can be installed on objects that are stationary on the road. For example, an object equipped with collision avoidance devices can be a construction vehicle that is stationary on the road. Alternatively, an object equipped with collision avoidance devices can be road infrastructure installed on the road.

[0012] The virtual travel speed can be a preset default speed value or a speed value adaptively set based on the input signal. The input signal is a signal generated by traffic monitoring radar equipment included inside or outside the collision avoidance device, and may include at least one of the vehicle's speed information and distance information. The virtual travel speed can be equal to or greater than a preset threshold speed value.

[0013] The virtual reflection signal generator may include: a velocity component adder processor that adds velocity component values ​​corresponding to the virtual travel speed to the received signal to generate a virtual reflection signal; and a controller that controls the operation of the velocity component adder processor.

[0014] Alternatively, the virtual reflection signal generator may include: a range component delay processor that performs delay processing on the received signal using virtual range component values; a velocity component adder processor that adds a velocity component value corresponding to the virtual travel speed to the signal that has already undergone delay processing to generate a virtual reflection signal; and a controller that controls the operation of the range component delay processor and the velocity component adder processor.

[0015] A moving vehicle can be a vehicle that performs cruise control based on the detection results of an object detection device.

[0016] The collision avoidance method of the collision avoidance device according to embodiments of the present disclosure may include: a first step of receiving a signal output from an object detection device via a receiving antenna included in the collision avoidance device, the object detection device being installed on a vehicle traveling on a road; a second step of generating a virtual reflection signal that is different from the actual reflection signal of the received signal based on the received signal received via the receiving antenna and a preset virtual travel speed; and a third step of transmitting the virtual reflection signal via a transmitting antenna included in the collision avoidance device.

[0017] Advantages and effects According to embodiments of this disclosure, a collision avoidance device and a collision avoidance method may be provided to prevent collisions between vehicles traveling on a road and objects on the road.

[0018] According to embodiments of this disclosure, a collision avoidance device and method can be provided, which can lead to active control of vehicles traveling on the road so that the vehicles traveling on the road do not collide with objects on the road.

[0019] According to embodiments of this disclosure, a collision avoidance device and method can be provided that can lead to active control of a moving vehicle performing cruise control, so that the moving vehicle will not collide with an object stationary on the road.

[0020] According to embodiments of this disclosure, a collision avoidance device and method can be provided, which can be installed on an object that is stationary on a road to enable active control of a moving vehicle, so that the moving vehicle performing cruise control can safely decelerate or stop on its own.

[0021] According to embodiments of this disclosure, a collision avoidance device and method can be provided, which can lead to active control of a high-speed moving vehicle, such that when a moving vehicle with cruise control operation is traveling at high speed on a road, the moving vehicle will not collide with a stationary engineering vehicle or road facility on the road. Attached Figure Description

[0022] Figure 1 The diagram illustrates the state in which a collision avoidance device according to an embodiment of the present disclosure is installed on an object on a road.

[0023] Figure 2 This is a configuration diagram illustrating a collision avoidance device according to an embodiment of the present disclosure.

[0024] Figure 3 This is a more detailed configuration diagram illustrating a collision avoidance device according to an embodiment of the present disclosure.

[0025] Figure 4 This is a view illustrating a method of collision avoidance operation when a collision avoidance device according to an embodiment of the present disclosure is installed on an engineering vehicle.

[0026] Figure 5 This is a view illustrating a method of collision avoidance operation when a collision avoidance device according to an embodiment of the present disclosure is installed on road infrastructure.

[0027] Figure 6 A road with a road work activity area is shown, in which a collision avoidance device according to an embodiment of the present disclosure is installed.

[0028] Figure 7This is a flowchart illustrating a collision avoidance method according to an embodiment of the present disclosure.

[0029] Figure 8 This is a flowchart illustrating the virtual reflection signal generation step in a collision avoidance method according to an embodiment of the present disclosure. Detailed Implementation

[0030] In the following, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. When assigning reference numerals to components in each figure, the same reference numerals may be assigned to the same components even if they are shown in different figures. When determining to obscure the subject matter of the present disclosure, details of known techniques or functions may be skipped. As used herein, when a component “comprises,” “has,” or “is composed of” another component, that component may include other components, unless that component “only” includes, has, or is composed of other components. As used herein, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” are intended to include the plural forms.

[0031] When describing the components of the present invention, designations such as "first", "second", "A", "B", "(A)" and "(B)" may be used. These designations are provided only to distinguish one component from another, and the nature, order, or number of the components is not limited by the designations.

[0032] When describing the positional relationship between components, when two or more components are described as “connected,” “coupled,” or “linked,” these two or more components may be directly “connected,” “coupled,” or “linked,” or another component may intervene. Here, the other component may be included in one or more of the two or more components that are “connected,” “coupled,” or “linked” to each other.

[0033] When terms such as “after,” “next,” “follow-up,” and “before” are used to describe time-flow relationships related to components, operating methods, and manufacturing methods, they may include discontinuous relationships unless the terms “immediately” or “directly” are used.

[0034] When a component is labeled with a value or its corresponding information (e.g., level), that value or corresponding information can be interpreted to include tolerances that may arise due to various factors (e.g., process factors, internal or external influences, or noise).

[0035] Various embodiments of this disclosure will be described in detail below with reference to the accompanying drawings.

[0036] Cruise control technology, such as intelligent cruise control, is a function that maintains a constant speed of a vehicle without pressing the accelerator pedal, or maintains a vehicle-to-vehicle distance set by the driver by detecting a vehicle ahead (moving vehicle ahead) using a forward sensor (object detection device).

[0037] In other words, cruise control technologies such as intelligent cruise control can detect objects (vehicles ahead) in the direction of travel of the main vehicle using object detection devices such as a 77GHz radar mounted on the front grille of the vehicle, and control the vehicle while maintaining a predetermined distance from the detected vehicle ahead.

[0038] In the case of radar within object detection equipment, it can transmit and receive electromagnetic waves to obtain distance, speed, and direction information for multiple objects ahead. To utilize radar to detect and differentiate multiple vehicles and pedestrians in various road environments and amidst clutter (road surface, structures, etc.), distance, speed, and direction information should be used.

[0039] Due to various road conditions and the vertical movement of vehicles, it can be difficult to distinguish stationary objects, signs, and structures on the lane. Therefore, there is a limitation: when the radar initially detects a moving object, only the moving object can be identified as a vehicle. In other words, during cruise control operations, when initially detected by the radar, braking control can be performed by identifying only the moving object (vehicle) as the vehicle ahead.

[0040] During cruise control operations, malfunctions may occur when stationary objects are present ahead. Due to limitations in cruise control functionality, stationary targets may be ignored when the radar initially detects them in a driving environment above a predetermined speed (e.g., 50 km / h). In recent years, stationary vehicles can be identified using forward-facing cameras, but due to operational limitations, these cameras can only operate at predetermined speeds (e.g., below 50 km / h). Furthermore, the various appearances of road construction vehicles may prevent the camera image from being detected.

[0041] However, in recent years, cruise control has primarily been used at speeds exceeding the predetermined speed (e.g., 50 km / h). Yet, most fatal accidents occur on roads limited to motor vehicles (highways, etc.) due to driver drowsiness or failure to pay attention ahead.

[0042] The inventors of this disclosure have discovered that when a vehicle is using cruise control, such as intelligent cruise control, and there is a stationary object (e.g., a stationary vehicle, road infrastructure, etc.) in front, the vehicle using cruise control may not slow down, which could lead to a collision between the vehicle using cruise control and the stationary object in front.

[0043] Therefore, embodiments of this disclosure can provide a collision avoidance device and method that guides a cruise-controlled vehicle (cruise-controlled operating vehicle) to decelerate and stop automatically, even when there is a stationary object in front.

[0044] According to embodiments of this disclosure, the collision avoidance device can be installed on an object that is stationary in front of a cruise control operating vehicle.

[0045] The collision avoidance device according to embodiments of the present disclosure can generate and transmit virtual reflection signals, enabling the cruise control vehicle to set up a virtual follower target that does not actually exist. Therefore, the collision avoidance device according to embodiments of the present disclosure can also be referred to as a virtual follower target generation device.

[0046] The collision avoidance device and collision avoidance method according to embodiments of the present disclosure are described in detail below.

[0047] Figure 1 The image shows a state in which a collision avoidance device 100, according to an embodiment of the present disclosure, is installed on an object 10 on a road.

[0048] refer to Figure 1 The object detection device 21 and the cruise control system 22 can be installed on the vehicle 20 traveling on the road.

[0049] The cruise control system 22 can perform cruise control based on the detection results of the object detection device 21.

[0050] Here, cruise control may include control that maintains the vehicle speed at a constant speed preset by the driver; it may include control that uses the vehicle's acceleration / deceleration devices to control the distance to the vehicle in front, so as to follow the vehicle in front continuously in low-speed driving conditions (e.g., in congested traffic conditions); and it may include various intelligent cruise controls. Cruise control may include adaptive cruise control (ACC) or intelligent cruise control (SCC); and may also include vehicle-to-vehicle maintenance control technology that includes stop and forward control.

[0051] refer to Figure 1 According to an embodiment of the present disclosure, the anti-collision device 100 is installed on an object 10 on a road and can prevent a moving vehicle 20 traveling on the road from colliding with the object 10.

[0052] The anti-collision device 100 can be installed on an object 10 that is stationary on the road.

[0053] The object 10 equipped with the anti-collision device 100 can be positioned stationary in front of the traveling vehicle 20 on the road in the direction of travel. In other words, the anti-collision device 100 installed on the object 10 can be positioned stationary in front of the traveling vehicle 20 on the road in the direction of travel.

[0054] The stationary state of object 10 can be a state where the velocity of object 10 is zero. More comprehensively, the stationary state of object 10 can be a state where the velocity of object 10 is less than a threshold velocity. For example, the threshold velocity can be 5 km / h. Alternatively, the threshold velocity can be 5 km / h or a lower value.

[0055] The object 10 equipped with the collision avoidance device 100 can be an object that is actually stationary on the road or moving at a speed lower than that determined to be stationary by the cruise control system 22 (hereinafter also referred to as a "stationary object" or "stationary vehicle"). Here, the speed determined to be stationary by the cruise control system 22 can be, for example, a speed lower than 5 km / h.

[0056] For example, a stationary vehicle can be an engineering vehicle used for road work.

[0057] For example, a stationary object might be road infrastructure.

[0058] For example, road facilities can be temporarily installed on roads for road work and can include one or more traffic cones, various types of barriers, etc. As another example, road facilities can include various road structures installed in the direction of travel, even if they are not related to road work.

[0059] The anti-collision device 100 installed on object 10 can be positioned in a stationary state in front of the direction of travel of the vehicle 20 on the road.

[0060] According to an embodiment of the present disclosure, the collision avoidance device 100 can receive a signal (RS) sent from the object detection device 21 of the moving vehicle 20, and generate and send a "virtual reflection signal (VRS)" so that the moving vehicle 20 can be positioned as a "following target (following the vehicle in front)" moving in front of the moving vehicle 20.

[0061] Therefore, the cruise control system 22 of the vehicle 20 can set the following target based on the results of the virtual reflection signal (VRS) detected by the object detection device 21, and perform cruise control to follow the following target.

[0062] The cruise control system 22 of the moving vehicle 20 can prevent collisions with stationary objects 10 by gradually reducing speed through cruise control.

[0063] The virtual reflection signal (VRS) can be a pseudo reflection signal that is different from the signal (RS) sent from the object detection device 21 that is actually reflected from the object 10 or the collision avoidance device 100 (the actual reflection signal).

[0064] Virtual reflection signal (VRS) can be a signal used to guide active control (deceleration control) of the moving vehicle 20 to prevent collision between the moving vehicle 20 and the object 10 equipped with anti-collision device 100.

[0065] Virtual reflection signal (VRS) can be a signal that enables the object detection device 21 of the moving vehicle 20 to identify the object 10 equipped with the collision avoidance device 100 as a low-speed moving vehicle in front.

[0066] Virtual Reflection Signal (VRS) can be a signal that guides the cruise control system 22 of the moving vehicle 20 to identify the target (following the vehicle in front) in order to perform cruise control.

[0067] For example, the object detection device 21 of the moving vehicle 20 may include one or more of radar (radio detection and ranging) sensors, lidar (light detection and ranging) sensors, and ultrasonic sensors.

[0068] Figure 2 This is a configuration diagram showing an anti-collision device 100 according to an embodiment of the present disclosure.

[0069] refer to Figure 2 The anti-collision device 100 according to embodiments of the present disclosure may include a receiving antenna 210, a virtual reflection signal generator 220, and a transmitting antenna 230.

[0070] The receiving antenna 210 can receive signals (RS) sent from the object detection device 21 of the moving vehicle 20.

[0071] The virtual reflection signal generator 220 can generate a virtual reflection signal (VRS) that is different from the actual reflection signal of the received signal (RS) based on the received signal (RS) received through the receiving antenna 210 and the virtual travel speed.

[0072] The transmitting antenna 230 can transmit virtual reflected signals (VRS).

[0073] Virtual reflection signal (VRS) can be a signal used to guide active control (deceleration control) of the moving vehicle 20 to prevent collision between the moving vehicle 20 and the object 10 equipped with anti-collision device 100.

[0074] Virtual reflection signal (VRS) can be a signal that enables the object detection device 21 of the moving vehicle 20 to identify the object 10 equipped with the collision avoidance device 100 as a low-speed moving vehicle in front.

[0075] Virtual Reflection Signal (VRS) can be a signal that guides the cruise control system 22 of the moving vehicle 20 to identify the target (following the vehicle in front) in order to perform cruise control.

[0076] The virtual travel speed can be a preset default speed value or a speed value that is adaptively set according to the input signal. Here, the input signal is a signal generated by traffic monitoring equipment included inside or outside the collision avoidance device 100, and may include the speed and / or distance information of the traveling vehicle 20.

[0077] For example, traffic monitoring equipment may include one or more of radar, cameras, and lidar.

[0078] The virtual travel speed can be equal to or greater than a preset threshold speed value. For example, the threshold speed value can be 5 km / h.

[0079] As the distance between the moving vehicle 20 and the object 10 decreases, the virtual travel speed can be reduced.

[0080] Figure 3 This is a more detailed configuration diagram showing a collision avoidance device 100 according to an embodiment of the present disclosure.

[0081] refer to Figure 3 The virtual reflection signal generator 220 included in the collision avoidance device 100 according to the embodiments of the present disclosure may include a velocity component adder processor 320 and a controller 300.

[0082] The virtual reflection signal generator 220 can use velocity components to generate virtual reflection signals.

[0083] In this configuration, the virtual reflection signal generator 220 may include a velocity component adder processor 320 and a controller 300. The velocity component adder processor 320 adds a velocity component value corresponding to the virtual travel speed to the received signal to generate a virtual reflection signal, and the controller 300 controls the operation of the velocity component adder processor 320.

[0084] Simultaneously, the virtual reflection signal generator 220 can use range and velocity components to generate a virtual reflection signal. In this case, reference... Figure 3 The virtual reflection signal generator 220 included in the collision avoidance device 100 according to the embodiments of the present disclosure may include a distance component delay processor 310, a velocity component adder processor 320 and a controller 300.

[0085] The range component delay processor 310 can perform delay processing on the received signal (RS) using virtual range component values. The velocity component adder processor 320 can add the velocity component value corresponding to the virtual travel speed to the signal that the range component delay processor 310 has already delayed to generate a virtual reflected signal (VRS).

[0086] Controller 300 can control the operation of the distance component delay processor and the velocity component adder processor.

[0087] The virtual reflection signal generator 220 may include a receiver-side mixer, a receiver-side oscillator, a receiver-side phase-locked loop, a filter, a receiver-side attenuator, a virtual range component delay unit, etc. The virtual reflection signal generator 220 may also include a transmitter-side attenuator, a transmitter-side phase-locked loop, a transmitter-side oscillator, a transmitter-side mixer, etc.

[0088] The signal (RS) received by receiving antenna 210 can be input to the receiving-side mixer. The virtual reflected signal (VRS) can be output from the transmitting-side mixer and transmitted through transmitting antenna 230.

[0089] By using a receiver-side attenuator and a virtual range component delayer, the received signal (RS) can be delayed by the range component of the desired virtual target. For example, a virtual component delayer (virtual range component delayer) can convert electromagnetic waves into optical axes and convert length (range component) by combining optical cables and optical switches.

[0090] The transmitter-side oscillator can input signals with summing or subtracting frequencies that have virtual velocity components into the transmitter-side mixer.

[0091] refer to Figure 3 The collision avoidance device 100 according to an embodiment of the present disclosure may further include at least one first transmission line 331 for transmitting a virtual reflection signal (VRS) from the virtual reflection signal generator 220 to the transmitting antenna 230.

[0092] According to embodiments of the present disclosure, the anti-collision device can generate a virtual reflection signal (VRS) with a time delay via at least one first transmission line 331.

[0093] refer to Figure 3 The collision avoidance device 100 according to an embodiment of the present disclosure may further include a first signal strength modulator 341, which amplifies or attenuates the signal strength of a virtual reflection signal (VRS) on at least one first transmission line 331. Here, the first signal strength modulator 341 may include at least one of an amplifier and an attenuator.

[0094] refer to Figure 3 The anti-collision device 100 according to an embodiment of the present disclosure may further include at least one second transmission line 332 for transmitting a received signal (RS) received by the receiving antenna 210 from the receiving antenna 210 to the virtual reflection signal generator 220.

[0095] According to embodiments of the present disclosure, the anti-collision device can generate a time delay of the received signal (RS) via at least one second transmission line 332.

[0096] refer to Figure 3The collision avoidance device 100 according to an embodiment of the present disclosure may further include a second signal strength modulator 342, which amplifies or attenuates the signal strength of a received signal (RS) on at least one second transmission line 332. Here, the second signal strength modulator 342 may include at least one of an amplifier and an attenuator.

[0097] The anti-collision device 100 according to embodiments of the present disclosure may include only at least one first transmission line 331, only at least one second transmission line 332, or both at least one first transmission line 331 and at least one second transmission line 332.

[0098] Therefore, the anti-collision device 100 according to the embodiments of this disclosure may include only the first signal strength modulator 341, only the second signal strength modulator 342, or both the first signal strength modulator 341 and the second signal strength modulator 342.

[0099] Based on the above, the time delay of the virtual reflection signal (VRS) can be controlled, so that the collision avoidance device 100 can more accurately prevent the moving vehicle 20 approaching the object equipped with the collision avoidance device from colliding with the object.

[0100] In other words, by controlling the time delay of the Virtual Reflected Signal (VRS), the object detection device 21 of the moving vehicle 20 approaching the object equipped with the collision avoidance device 100 can detect objects with various speeds or various interval distances (the distance between the collision avoidance device 100 and the moving vehicle 20). For example, the object equipped with the collision avoidance device 100 may actually be a stationary object or vehicle on the road, but the object may be detected by the object detection device 21 of the moving vehicle 20 as a vehicle (e.g., a following vehicle), object, or pedestrian moving on the road. As another example, the object equipped with the collision avoidance device 100 may actually be a moving object or vehicle on the road, but the object may be detected by the object detection device 21 of the moving vehicle 20 as a vehicle (e.g., a following vehicle), object, or pedestrian moving on the road at a speed different from the actual speed.

[0101] According to an embodiment of the present disclosure, the anti-collision device 100 can adjust the signal strength of at least one of the received signal (RS) received by the receiving antenna 210 and the virtual reflected signal (VRS) generated by the virtual reflected signal generator 220.

[0102] According to an embodiment of the present disclosure, when the signal strength of at least one of the received signal (RS) received by the receiving antenna 210 and the virtual reflected signal (VRS) generated by the virtual reflected signal generator 220 exceeds a predefined threshold, the virtual reflected signal generator 220 can limit the signal strength of at least one of the received signal (RS) received by the receiving antenna 210 and the virtual reflected signal (VRS) generated by the virtual reflected signal generator 220 to below the threshold.

[0103] As described above, by controlling the signal strength, the collision avoidance device 100 can further improve the performance of collision avoidance control, prevent the moving vehicle 20 approaching the object equipped with the collision avoidance device 100 from colliding with the object, and reduce control errors.

[0104] Figure 4 This is a view illustrating a method of collision avoidance operation when the collision avoidance device 100 according to an embodiment of the present disclosure is installed on an engineering vehicle 400.

[0105] refer to Figure 4 The object 10 on which the collision avoidance device 100 is installed can be an engineering vehicle 400 that is actually stationary on the road or traveling at a speed lower than that determined to be stationary by the cruise control system 22. The collision avoidance device 100 is installed on the engineering vehicle 400 that is stationary on the road due to road work.

[0106] The collision avoidance device 100 installed on the engineering vehicle 400 can generate and transmit virtual reflection signals (VRS) to guide active control of the cruise control system 22 of the moving vehicle 20. In embodiments of this disclosure, generating a virtual reflection signal (VRS) can have the same meaning as generating a virtual follow target.

[0107] The object detection device 21 of the moving vehicle 20 can receive virtual reflection signals (VRS) and, based on the virtual reflection signals (VRS), identify that there is a vehicle moving ahead (the vehicle ahead, the following target) as the result of object detection.

[0108] The vehicle ahead identified by the object detection device 21 of the moving vehicle 20 is actually a virtual vehicle that does not exist, and may be a virtual vehicle generated by the virtual reflection signal (VRS) of the collision avoidance device 100.

[0109] The cruise control system 22 of the moving vehicle 20 can set the vehicle in front identified by the object detection device 21 as a virtual follow target (VT) and control the behavior of the moving vehicle 20 so that the moving vehicle 20 follows the virtual follow target (VT).

[0110] The engineering vehicle 400 is an actual, existing vehicle, and its actual speed is zero. In contrast, the virtual speed of the vehicle ahead, which serves as the virtual follow target (VT) generated by the collision avoidance device 100, can be equal to or greater than a threshold speed (TH). For example, the threshold speed (TH) could be 5 km / h, and so on. For example, the threshold speed (TH) could be the minimum speed at which the cruise control system 22 can identify the collision avoidance device 100 as moving. For example, the threshold speed (TH) could be a speed faster than the speed at which the cruise control system 22 determines the vehicle to be stationary.

[0111] The cruise control system 22 of the vehicle 20 can control the vehicle 20 to follow a virtual follow target (VT) identified as traveling at or above a threshold speed.

[0112] By controlling the transmitted Virtual Reflection Signal (VRS), the collision avoidance device 100 enables the cruise control system 22 of the moving vehicle 20 to recognize the deceleration of the virtual following target (VT) and control it to reduce the speed of the moving vehicle 20.

[0113] Alternatively, by controlling the transmitted Virtual Reflection Signal (VRS), the collision avoidance device 100 can enable the cruise control system 22 of the moving vehicle 20 to recognize the deceleration and stopping of the virtual following target (VT) and control it to decelerate and stop the moving vehicle 20.

[0114] Figure 5 This is a view illustrating a method of collision avoidance operation when the collision avoidance device 100 according to an embodiment of the present disclosure is installed on a road facility 500.

[0115] refer to Figure 5 The object 10 on which the anti-collision device 100 is installed can be a road facility 500 installed on the road. The anti-collision device 100 is installed on the road facility 500 which is stationary on the road due to road work.

[0116] refer to Figure 5 For example, road facilities 500 may include at least one of traffic cones 510 and various types of barriers 520, 530, 540, etc.

[0117] The collision avoidance device 100 installed on the road infrastructure 500 can generate and transmit virtual reflection signals (VRS) for guiding the active control of the cruise control system 22 of the moving vehicle 20. In embodiments of this disclosure, generating a virtual reflection signal (VRS) can have the same meaning as generating a virtual follow target.

[0118] The object detection device 21 of the moving vehicle 20 can receive virtual reflection signals (VRS) and, based on the virtual reflection signals (VRS), identify that there is a vehicle moving ahead (the vehicle ahead, the following target) as the result of object detection.

[0119] The vehicle ahead identified by the object detection device 21 of the moving vehicle 20 is actually a virtual vehicle that does not exist, and may be a virtual vehicle generated by the virtual reflection signal (VRS) of the collision avoidance device 100.

[0120] The cruise control system 22 of the moving vehicle 20 can set the vehicle in front identified by the object detection device 21 as a virtual follow target (VT) and control the behavior of the moving vehicle 20 so that the moving vehicle 20 follows the virtual follow target (VT).

[0121] Road facility 500 is an actual object installed on the road, and its actual speed is zero. In contrast, the virtual speed of the vehicle ahead, which is a virtual following target (VT) generated by collision avoidance device 100, can be equal to or greater than a threshold speed (TH). For example, the threshold speed (TH) could be 5 km / h, and so on.

[0122] The cruise control system 22 of the vehicle 20 can control the vehicle 20 to follow a virtual follow target (VT) identified as traveling at or above a threshold speed.

[0123] By controlling the transmitted Virtual Reflection Signal (VRS), the collision avoidance device 100 enables the cruise control system 22 of the moving vehicle 20 to recognize the deceleration of the virtual following target (VT) and control it to reduce the speed of the moving vehicle 20.

[0124] Alternatively, by controlling the transmitted Virtual Reflection Signal (VRS), the collision avoidance device 100 can enable the cruise control system 22 of the moving vehicle 20 to recognize the deceleration and stopping of the virtual following target (VT) and control it to decelerate and stop the moving vehicle 20.

[0125] Figure 6 A road with a road work activity area is shown, in which a collision avoidance device 100 according to an embodiment of the present disclosure is installed.

[0126] refer to Figure 6 When roadwork is being carried out in certain sections of the second lane of a road consisting of a first lane, a second lane, and a shoulder, multiple road facilities 500, including multiple traffic cones, can be installed around the perimeter of the roadwork activity area to guide the roadwork activity area. Engineering vehicles 400 can be parked within the roadwork activity area.

[0127] refer to Figure 6The collision avoidance device 100 according to embodiments of the present disclosure can be installed on the engineering vehicle 400. Furthermore, the collision avoidance device 100 according to embodiments of the present disclosure can be installed on all or some of a plurality of road facilities 500.

[0128] Collision avoidance devices 100 installed on some or all of multiple road facilities 500 or on engineering vehicles 400 can detect whether a moving vehicle 20 enters a preset danger detection zone.

[0129] The preset hazard detection zone may include an active deceleration sensing section. For example, the active deceleration sensing section may be the section from the position of the collision avoidance device 100 to 200m ahead.

[0130] When the anti-collision device 100 installed on all or some of the multiple road facilities 500 or on the engineering vehicle 400 detects that the moving vehicle 20 has entered the preset danger detection area, it can output a virtual reflection signal (VRS) through the transmitting antenna 230.

[0131] Therefore, the cruise control system 22 of the vehicle 20 can identify a following target (VT) moving at a low speed (virtual travel speed) ahead based on the virtual reflection signal (VRS) received by the object detection device 21, and perform cruise control to follow the following target (VT). Here, cruise control may include one or more of the acceleration control, deceleration control, steering control and braking control of the vehicle 20.

[0132] Collision avoidance devices 100 installed on some or all of multiple road facilities 500 or on engineering vehicles 400 can generate and send virtual reflection signals (VRS) that are changed and set based on the virtual speed of deceleration.

[0133] Therefore, the cruise control system 22 of the vehicle 20 can detect that the speed of the target (VT) is decreasing, and reduce the speed of the vehicle 20, and stop the vehicle 20 if necessary. Thus, the vehicle 20 performing cruise control can safely decelerate or stop without colliding with road facilities 500 and engineering vehicles 400 stationary in the road work activity area, or can pass by avoiding the road work activity area.

[0134] Figure 7 This is a flowchart illustrating a collision avoidance method according to an embodiment of the present disclosure.

[0135] refer to Figure 7The collision avoidance method of the collision avoidance device 100 according to an embodiment of the present disclosure may include: step (S710), receiving a signal output from an object detection device 21 via a receiving antenna 210 included in the collision avoidance device 200, the object detection device 21 being mounted on a moving vehicle 20 traveling on a road; step (S720), the virtual reflection signal generator 220 of the collision avoidance device 100 generating a virtual reflection signal (VRS) different from the actual reflection signal of the received signal (RS) based on the received signal (RS) received via the receiving antenna 210 and a preset virtual travel speed; and step (S730), transmitting the virtual reflection signal (VRS) via a transmitting antenna 230 included in the collision avoidance device 100.

[0136] Virtual reflection signal (VRS) can be a signal used to guide active control (deceleration control) of the moving vehicle 20 to prevent collision between the moving vehicle 20 and the object 10 equipped with anti-collision device 100.

[0137] Virtual reflection signal (VRS) can be a signal that enables the object detection device 21 of the moving vehicle 20 to identify the object 10 equipped with the collision avoidance device 100 as a low-speed moving vehicle in front.

[0138] Virtual Reflection Signal (VRS) can be a signal that guides the cruise control system 22 of the moving vehicle 20 to identify the target (following the vehicle in front) in order to perform cruise control.

[0139] The traveling vehicle 20 can be a vehicle that performs cruise control based on the detection results of the object detection device 21.

[0140] The anti-collision device 100 can be positioned stationary in front of the traveling vehicle 20 on the road in the direction of travel.

[0141] The anti-collision device 100 can be installed on an object 10 that is stationary on the road.

[0142] The object 10 equipped with anti-collision equipment 100 can be an engineering vehicle 400 stationary on the road.

[0143] The object 10 equipped with anti-collision device 100 can be a road facility 500 installed on a road.

[0144] The virtual travel speed can be a preset default speed value or a speed value that is adaptively set based on the input signal. The virtual travel speed can be equal to or greater than a preset threshold speed value.

[0145] refer to Figure 7The object detection device 21 of the moving vehicle 20 sends a signal (RS) (S700). When the moving vehicle 20 enters within a predetermined distance from the collision avoidance device 10, the receiving antenna 210 of the collision avoidance device 100 receives the signal (RS) sent from the object detection device 21 of the moving vehicle 20 (S710).

[0146] refer to Figure 7 After the step of sending the virtual reflection signal (VRS) (S730), the method may further include: step (S740), where the object detection device 21 installed on the traveling vehicle 20 receives the virtual reflection signal (VRS); step (S750), where the cruise control system 22 installed on the traveling vehicle 20 identifies the collision avoidance device 100 as a vehicle ahead traveling on the road, and sets a following target using the result of the virtual reflection signal (VRS) detected by the object detection device 21; and step (S760), where the cruise control system 22 installed on the traveling vehicle 20 performs cruise control of the traveling vehicle 20 so that the traveling vehicle 20 follows the following target.

[0147] By step S760, the speed of the moving vehicle 20 can be reduced, or the moving vehicle 20 can be safely stopped. Therefore, collisions between the moving vehicle 20, which is performing cruise control, and the stationary object 10 can be prevented.

[0148] refer to Figure 7 When the vehicle 20 enters the preset danger detection area, at least one of steps S710, S720 and S730 can be executed.

[0149] Figure 8 This is a flowchart illustrating the virtual reflection signal generation step in a collision avoidance method according to an embodiment of the present disclosure.

[0150] refer to Figure 8 When using velocity components to generate virtual reflection signals (VRS), the step of generating virtual reflection information (VRS) (S720) may include a virtual travel speed application processing step (S820). For example, when the traveling vehicle 20 is a low-speed vehicle with a speed below a predetermined speed, the virtual reflection signal (VRS) may be generated using only the velocity components.

[0151] refer to Figure 8 In some cases, when a virtual reflection signal (VRS) is generated using both distance and velocity components, the step of generating the virtual reflection information (VRS) (S720) may include a virtual distance delay processing step (S810) and a virtual travel speed application processing step (S820). For example, when the traveling vehicle 20 is at or above a predetermined speed, or when more precise performance is required, velocity and distance components may be used to generate the virtual reflection signal (VRS).

[0152] The virtual distance delay processing performed in the virtual distance delay processing step (S810) may be a process that allows the object detection device 21 of the moving vehicle 20 to identify the object 10 as a moving (moving) vehicle (object) rather than a stationary state.

[0153] The virtual travel speed application processing performed in the virtual travel speed application processing step (S820) may be a process that allows the object detection device 21 of the traveling vehicle 20 to identify the speed of the object 10 as a predetermined value instead of zero.

[0154] In the virtual distance delay processing step (S810), the virtual reflection signal generator 220 of the collision avoidance device 100 can perform delay processing on the received signal (RS) through virtual distance component values.

[0155] In the virtual travel speed application processing step (S820), the virtual reflection signal generator 220 of the collision avoidance device 100 can add the virtual travel speed component value corresponding to the virtual travel speed to the signal that has already undergone delay processing to generate a virtual reflection signal (VRS).

[0156] The above embodiments are briefly described below.

[0157] The collision avoidance device (also known as a virtual moving target generation device or virtual target generation device) according to embodiments of the present disclosure may include a receiving antenna, a virtual reflection signal generator, and a transmitting antenna. The receiving antenna receives a signal output from an object detection device mounted on a moving vehicle traveling on a road. The virtual reflection signal generator generates a virtual reflection signal that is different from the actual reflection signal of the received signal based on the received signal received through the receiving antenna and the virtual moving speed. The transmitting antenna transmits the virtual reflection signal.

[0158] Virtual reflection signals can be used to guide active control of moving vehicles to prevent collisions between moving vehicles and stationary vehicles or objects equipped with collision avoidance devices.

[0159] Virtual reflection signals can be signals that guide a moving vehicle to identify a stationary vehicle or object equipped with collision avoidance devices as a slow-moving vehicle in front.

[0160] Virtual reflected signals can be signals that guide a moving vehicle to identify and follow targets for cruise control purposes.

[0161] Collision avoidance devices can be positioned stationary in front of the direction of travel of a vehicle on the road.

[0162] Collision avoidance devices can be installed on objects that are stationary on the road.

[0163] For example, the object equipped with collision avoidance equipment can be an engineering vehicle that is stationary on the road or moving at a speed lower than that determined to be stationary by the cruise control system.

[0164] For example, objects equipped with anti-collision devices can be road facilities installed on roads.

[0165] The virtual travel speed can be a preset default speed value or a speed value that is adaptively set according to the input signal.

[0166] The input signal is generated by traffic monitoring radar equipment included inside or outside the collision avoidance device, and may include at least one of the speed information and distance information of the moving vehicle.

[0167] The virtual travel speed can be equal to or greater than a preset threshold speed value. For example, the threshold speed value can be 5 km / h.

[0168] The virtual reflection signal generator may include a velocity component adder processor and a controller. The velocity component adder processor adds a velocity component value corresponding to the virtual travel speed to the received signal to generate a virtual reflection signal. The controller controls the operation of the distance component delay processor and the velocity component adder processor.

[0169] Alternatively, the virtual reflection signal generator may include a range component delay processor, a velocity component adder processor, and a controller. The range component delay processor performs delay processing on the received signal using virtual range component values. The velocity component adder processor adds a velocity component value corresponding to the virtual travel speed to the signal that has already undergone delay processing to generate a virtual reflection signal. The controller controls the operation of the range component delay processor and the velocity component adder processor.

[0170] The collision avoidance device according to embodiments of the present disclosure may further include at least one first transmission line for transmitting a virtual reflection signal from a virtual reflection signal generator to a transmitting antenna.

[0171] According to the collision avoidance device of the embodiments of the present disclosure, the time delay of the virtual reflection signal can be generated by at least one first transmission line.

[0172] The collision avoidance device according to embodiments of the present disclosure may further include a first signal strength modulator that amplifies or attenuates the signal strength of a virtual reflected signal on at least one first transmission line.

[0173] The collision avoidance device according to embodiments of the present disclosure may further include at least one second transmission line for transmitting a received signal received by the receiving antenna from the receiving antenna to a virtual reflection signal generator.

[0174] According to an embodiment of the collision avoidance device of this disclosure, the time delay of receiving signals can be generated by at least one second transmission line.

[0175] The collision avoidance device according to embodiments of the present disclosure may further include a second signal strength modulator that amplifies or attenuates the signal strength of a received signal on at least one second transmission line.

[0176] When a moving vehicle enters a preset danger detection area, the transmitting antenna can output a virtual reflection signal.

[0177] A moving vehicle can be a vehicle that performs cruise control based on the detection results of an object detection device.

[0178] The virtual travel speed can be reduced as the distance between the moving vehicle and the collision avoidance equipment decreases.

[0179] According to an embodiment of the collision avoidance device of the present disclosure, the virtual reflection signal generator can adjust the signal strength of at least one of the received signal received through the receiving antenna and the virtual reflection signal generated by the virtual reflection signal generator.

[0180] According to an embodiment of the present disclosure, when the signal strength of at least one of the received signal received through the receiving antenna and the virtual reflection signal generated by the virtual reflection signal generator exceeds a predefined threshold, the virtual reflection signal generator can limit the signal strength of at least one of the received signal received through the receiving antenna and the virtual reflection signal generated by the virtual reflection signal generator to be below the threshold.

[0181] The collision avoidance method of the collision avoidance device according to embodiments of the present disclosure may include: a first step of receiving a signal output from an object detection device via a receiving antenna included in the collision avoidance device, the object detection device being installed on a vehicle traveling on a road; a second step of generating a virtual reflection signal that is different from the actual reflection signal of the received signal based on the received signal received via the receiving antenna and a preset virtual travel speed; and a third step of transmitting the virtual reflection signal via a transmitting antenna included in the collision avoidance device.

[0182] Virtual reflection signals can be used to guide active control of moving vehicles to prevent collisions between moving vehicles and stationary vehicles or objects equipped with collision avoidance devices.

[0183] Virtual reflection signals can be signals that guide a moving vehicle to identify a stationary vehicle or object equipped with collision avoidance devices as a slow-moving vehicle in front.

[0184] Virtual reflected signals can be signals that guide a moving vehicle to identify and follow targets for cruise control purposes.

[0185] A moving vehicle can be a vehicle that performs cruise control based on the detection results of an object detection device.

[0186] Collision avoidance devices can be positioned stationary in front of the direction of travel of a vehicle on the road.

[0187] Collision avoidance devices can be installed on objects that are stationary on the road.

[0188] Objects equipped with collision avoidance devices can be engineering vehicles that are stationary on the road or moving at a speed lower than that determined to be stationary by the cruise control system.

[0189] Objects equipped with anti-collision devices can be road facilities installed on roads.

[0190] The virtual travel speed can be a preset default speed value or a speed value that is adaptively set according to the input signal.

[0191] The virtual travel speed can be equal to or greater than a preset threshold speed value.

[0192] The steps for generating a virtual reflection signal may include: performing delay processing on the received signal using virtual distance component values, and adding virtual travel speed component values ​​corresponding to the virtual travel speed to the signal that has already undergone delay processing to generate a virtual reflection signal.

[0193] The collision avoidance method of the collision avoidance device according to the embodiments of the present disclosure may further include: after the step of sending a virtual reflection signal, the step of the object detection device installed on the moving vehicle identifying the collision avoidance device as a vehicle ahead moving on the road and setting a following target, and the step of performing cruise control on the following target.

[0194] The virtual travel speed can be reduced as the distance between the moving vehicle and the collision avoidance equipment decreases.

[0195] In the collision avoidance method of the collision avoidance device according to the embodiments of the present disclosure, when a moving vehicle enters a preset danger detection area, at least one of the first step, the second step, and the third step can be performed.

[0196] According to embodiments of this disclosure, a collision avoidance device and a collision avoidance method may be provided to prevent collisions between vehicles traveling on a road and objects on the road.

[0197] According to embodiments of this disclosure, a collision avoidance device and a collision avoidance method may be provided, which can lead to active control of a vehicle traveling on a road so that the vehicle traveling on the road will not collide with objects on the road.

[0198] According to embodiments of this disclosure, a collision avoidance device and method can be provided that can lead to active control of a moving vehicle performing cruise control, so that the moving vehicle will not collide with an object that is stationary on the road.

[0199] According to embodiments of this disclosure, a collision avoidance device and method can be provided, which can be installed on an object stationary on a road to enable active control of a moving vehicle, allowing the moving vehicle performing cruise control to safely decelerate or stop on its own.

[0200] According to embodiments of this disclosure, a collision avoidance device and a collision avoidance method may be provided, which can lead to active control of a moving vehicle traveling at high speed, such that when a moving vehicle with cruise control operation is traveling at high speed on a road, the moving vehicle will not collide with a stationary engineering vehicle or road facility on the road.

[0201] The above embodiments are merely examples, and those skilled in the art will recognize that various modifications can be made without departing from the scope of the invention. Therefore, the embodiments described herein are provided for illustrative purposes only and do not limit the scope of the invention; it should be understood that the scope of protection of the invention is not limited by the embodiments.

[0202] Legend of the attached figures 10: Object 20: Moving Vehicle 21: Object detection equipment; 22: Cruise control system 100: Collision avoidance equipment; 210: Receiving antenna 220: Virtual reflection signal generator; 230: Transmitting antenna 310: Distance component delay processor; 320: Velocity component adder processor 330: Controller; 400: Engineering vehicle 500: Road facilities 510: Traffic cones 520, 530, 540: Barrier Cross-references to related applications Pursuant to 35 USC 119(a), this patent application claims priority to Korean Patent Application No. 10-2023-0068384, filed on May 26, 2023, with the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference. This patent application also claims priority to other applications filed in other countries, the entire contents of which are also incorporated herein by reference.

Claims

1. A collision avoidance device, comprising: A receiving antenna receives signals output from an object detection device, which is mounted on a moving vehicle traveling on a road. A virtual reflection signal generator generates a virtual reflection signal that differs from the actual reflection signal of the received signal, based on the received signal received through the receiving antenna and the virtual travel speed. as well as The transmitting antenna sends the virtual reflected signal.

2. The anti-collision device according to claim 1, wherein, The collision avoidance device is positioned stationary in front of the traveling vehicle on the road in the direction of travel.

3. The anti-collision device according to claim 1, wherein, The collision avoidance device is installed on an object that is stationary on the road.

4. The anti-collision device according to claim 3, wherein, The object equipped with the aforementioned collision avoidance device is an engineering vehicle that is stationary on the road or moving at a speed lower than that determined to be stationary by the cruise control system.

5. The anti-collision device according to claim 3, wherein, The objects on which the aforementioned anti-collision devices are installed are road facilities installed on the road.

6. The anti-collision device according to claim 1, wherein, The virtual travel speed is a preset default speed value or a speed value adaptively set according to an input signal, wherein the input signal is a signal generated by traffic monitoring equipment included inside or outside the collision avoidance device, and the input signal includes at least one of the speed information and distance information of the traveling vehicle, and wherein the virtual travel speed is equal to or greater than a preset threshold speed value.

7. The anti-collision device according to claim 1, wherein, The virtual reflection signal generator includes: A velocity component adder processor adds the velocity component value corresponding to the virtual travel speed to the received signal to generate the virtual reflected signal; and The controller controls the operation of the velocity component adder.

8. The anti-collision device according to claim 1, wherein, The virtual reflection signal generator includes: A distance component delay processor performs delay processing on the received signal using virtual distance component values; A velocity component adder processor adds the velocity component value corresponding to the virtual travel speed to the signal that has already undergone the delay processing to generate the virtual reflection signal; and The controller controls the operation of the distance component delay processor and the velocity component adder.

9. The anti-collision device according to claim 1, further comprising at least one first transmission line for transmitting the virtual reflection signal from the virtual reflection signal generator to the transmitting antenna, wherein, The time delay of the virtual reflected signal is generated through the at least one first transmission line.

10. The anti-collision device according to claim 9 further includes a first signal strength modulator, the first signal strength modulator amplifying or attenuating the signal strength of the virtual reflected signal on the at least one first transmission line.

11. The anti-collision device of claim 1, further comprising at least one second transmission line for transmitting the received signal from the receiving antenna to the virtual reflection signal generator, wherein, The time delay of the received signal is generated by the at least one second transmission line.

12. The anti-collision device according to claim 11 further includes a second signal strength modulator, the second signal strength modulator amplifying or attenuating the signal strength of the received signal on the at least one second transmission line.

13. The anti-collision device according to claim 1, wherein, When the vehicle enters the preset danger detection area, the transmitting antenna outputs the virtual reflection signal.

14. The anti-collision device according to claim 1, wherein, The vehicle is a vehicle that performs cruise control based on the detection results of the object detection equipment.

15. The anti-collision device according to claim 1, wherein, As the distance between the moving vehicle and the collision avoidance device decreases, the virtual moving speed decreases.

16. The anti-collision device according to claim 1, wherein, The virtual reflection signal generator adjusts the signal strength of at least one of the received signal and the virtual reflection signal.

17. The anti-collision device according to claim 16, wherein, When the signal strength of at least one of the received signal and the virtual reflected signal exceeds a predefined threshold, the virtual reflected signal generator limits the signal strength of at least one of the received signal and the virtual reflected signal to be below the threshold.

18. A collision avoidance method for a collision avoidance device, comprising: The first step is to receive a signal output from an object detection device via a receiving antenna included in the collision avoidance device, which is installed on a vehicle traveling on the road. In the second step, the collision avoidance device generates a virtual reflection signal that is different from the actual reflection signal of the received signal based on the received signal received through the receiving antenna and a preset virtual travel speed. as well as The third step is to transmit the virtual reflection signal through the transmitting antenna included in the collision avoidance device.

19. The collision avoidance method according to claim 18, wherein, The collision avoidance device is positioned stationary in front of the traveling vehicle on the road in the direction of travel.

20. The collision avoidance method according to claim 18, wherein, The object equipped with the aforementioned collision avoidance device is an engineering vehicle that is stationary on the road or moving at a speed lower than that determined to be stationary by the cruise control system.

21. The collision avoidance method according to claim 18, wherein, The objects on which the aforementioned anti-collision devices are installed are road facilities installed on the road.

22. The collision avoidance method according to claim 18, wherein, The virtual travel speed is a preset default speed value or a speed value adaptively set according to an input signal. The input signal is a signal generated by traffic monitoring equipment included inside or outside the collision avoidance device, and the input signal includes at least one of the speed information and distance information of the traveling vehicle. The virtual travel speed is equal to or greater than a preset threshold speed value.

23. The anti-collision method according to claim 18, wherein, The second step includes adding a virtual travel speed component value corresponding to the virtual travel speed to the received signal to generate the virtual reflection signal.

24. The collision avoidance method according to claim 18, wherein, The second step includes: Delay processing is performed on the received signal using virtual distance component values; and The virtual travel speed component value corresponding to the virtual travel speed is added to the signal that has already undergone the delay processing to generate the virtual reflection signal.

25. The collision avoidance method according to claim 18, wherein, As the distance between the moving vehicle and the collision avoidance device decreases, the virtual moving speed decreases.

26. The collision avoidance method according to claim 18, wherein, When the vehicle enters the preset danger detection area, at least one of the first step, the second step, and the third step is executed.

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