Collision prevention device and collision prevention method

Abstract

The collision prevention device and collision prevention method according to the embodiments of the present disclosure can prevent collisions between a vehicle and an object on which the collision prevention device is installed by receiving a signal output from an object detection device mounted on a vehicle traveling on a road, and generating and transmitting a virtual reflected signal that is different from the actual reflected signal of the received signal based on the received signal and the virtual driving speed.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to a collision prevention device and a collision prevention method.

Background Art

[0002] In recent years, with the development of vehicle control technology, cruise control technologies such as smart cruise control have been applied to vehicles. The cruise control technology is a function that keeps the vehicle speed constant without stepping on the accelerator pedal, or the front sensor (object detection device) detects a vehicle ahead (a vehicle traveling ahead) and maintains a vehicle-to-vehicle distance by a distance set by the driver.

[0003] Recently, drivers often use the cruise control function when driving on the road. However, even when the cruise control function is operating in the vehicle, there is a possibility of a fatal accident due to the driver's drowsiness or lack of attention ahead.

Summary of the Invention

Problems to be Solved by the Invention

[0004] Embodiments of the present disclosure can provide a collision prevention device and a collision prevention method for preventing a collision between a vehicle traveling on a road and an object on the road.

[0005] Embodiments of the present disclosure can provide a collision prevention device and a collision prevention method for inducing active control of a vehicle traveling on a road so that the vehicle traveling on the road does not collide with an object on the road.

[0006] Embodiments of the present disclosure can provide a collision prevention device and a collision prevention method for inducing active control of a vehicle traveling while executing cruise control so that the vehicle traveling does not collide with an object stopped on the road.

[0007] Embodiments of this disclosure can provide a collision avoidance device and collision avoidance method that can be installed on an object stationary on the road and guide the active control of a moving vehicle, enabling the vehicle to autonomously and safely reduce its speed or stop while performing cruising control.

[0008] Embodiments of this disclosure can provide a collision prevention device and collision prevention method that can guide the active control of a vehicle traveling at high speed on a road so that the vehicle does not collide with a construction vehicle or road structure that is stopped on the road while cruising control is in operation. [Means for solving the problem]

[0009] A collision avoidance device (also referred to as a virtual driving target generation device or virtual target generation device) according to an embodiment of the present disclosure may include a receiving antenna that receives a signal output from an object detection device mounted on a vehicle traveling on a road, a virtual reflection signal generation unit that generates a virtual reflection signal different from the actual reflection signal of the received signal based on the received signal received via the receiving antenna and the virtual driving speed, and a transmitting antenna that transmits the virtual reflection signal.

[0010] The collision avoidance device can be positioned in a stationary state in front of the vehicle's direction of travel on the road.

[0011] Collision avoidance devices can be installed on objects stationary on the road. For example, an object to which a collision avoidance device is installed may be a construction vehicle stationary on the road. For example, an object to which a collision avoidance device is installed may be a road installation.

[0012] The virtual driving speed may be a preset base speed value or a speed value adaptively set according to the input signal. The input signal is a signal generated by a traffic monitoring radar device included inside or outside the collision avoidance system, and may include at least one of the speed information and distance information of the vehicle in motion. The virtual driving speed may be equal to or greater than a preset threshold speed value.

[0013] The virtual reflection signal generation unit may include a velocity component addition processing unit that generates a virtual reflection signal by adding only the velocity component value corresponding to the virtual travel speed to the received signal, and a control unit that controls the operation of the velocity component addition processing unit.

[0014] Alternatively, the virtual reflection signal generation unit may include a distance component delay processing unit that delays the received signal by a virtual distance component value, a speed component addition processing unit that adds a speed component value corresponding to the virtual travel speed to the delayed signal to generate a virtual reflection signal, and a control unit that controls the operation of the distance component delay processing unit and the speed component addition processing unit.

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

[0016] A collision prevention method for a collision prevention device according to an embodiment of the present disclosure may include: a first step of receiving a signal output from an object detection device mounted on a vehicle traveling on a road via a receiving antenna included in the collision prevention device; a second step of generating a virtual reflected signal that differs from the actual reflected signal of the received signal based on the received signal received via the receiving antenna and a preset virtual driving speed; and a third step of transmitting the virtual reflected signal via a transmitting antenna included in the collision prevention device. [Effects of the Invention]

[0017] According to embodiments of this disclosure, it is possible to provide a collision prevention device and a collision prevention method for preventing collisions between a vehicle traveling on a road and an object on the road.

[0018] According to embodiments of this disclosure, it is possible to provide a collision prevention device and a collision prevention method that can guide the active control of a vehicle traveling on a road so that the vehicle does not collide with an object on the road.

[0019] According to an embodiment of the present disclosure, it is possible to provide a collision prevention device and a collision prevention method that can induce active control of a traveling vehicle so that the traveling vehicle during cruise control does not collide with an object stopped on the road.

[0020] According to an embodiment of the present disclosure, it is possible to provide a collision prevention device and a collision prevention method that are installed on an object stopped on the road and can induce active control of a traveling vehicle so that the traveling vehicle during cruise control can autonomously and safely reduce speed or stop.

[0021] According to an embodiment of the present disclosure, when a traveling vehicle is traveling at high speed on the road during operation of cruise control, it is possible to provide a collision prevention device and a collision prevention method that can induce active control of the traveling vehicle traveling at high speed so that the traveling vehicle does not collide with a construction vehicle or road facility stopped on the road.

Brief Description of the Drawings

[0022] [Figure 1] Shows the state where the collision prevention device according to an embodiment of the present disclosure is installed on an object on the road. [Figure 2] It is a configuration diagram of the collision prevention device according to an embodiment of the present disclosure. [Figure 3] It is a more detailed configuration diagram of the collision prevention device according to an embodiment of the present disclosure. [Figure 4] It is a diagram for explaining the collision prevention operation method when the collision prevention device according to an embodiment of the present disclosure is installed on a construction vehicle. [Figure 5] It is a diagram for explaining the collision prevention operation method when the collision prevention device according to an embodiment of the present disclosure is installed on a road facility. [Figure 6] Shows a road having a road work activity area where the collision prevention device according to an embodiment of the present disclosure is installed. [Figure 7] It is a flowchart of the collision prevention method according to an embodiment of the present disclosure. [Figure 8] It is a flowchart of the virtual reflection signal generation stage in the collision prevention method according to an embodiment of the present disclosure.

Best Mode for Carrying Out the Invention

[0023] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to exemplary drawings. When adding reference numerals to the components of each drawing, the same components may be given the same reference numerals as much as possible even if they are shown on other drawings. In the description of the present disclosure, when it is determined that a specific description of a related known configuration or function may obscure the gist of the present disclosure, the detailed description thereof will be omitted. When terms such as "including", "having", "consisting of", etc. mentioned in this specification are used, other parts may be added unless "only" is used. When a component is expressed in the singular, it can include the case of including a plurality, unless there are particularly explicit descriptions.

[0024] Also, when describing the components of the present disclosure, terms such as first, second, A, B, (a), (b), etc. can be used. These terms are only for distinguishing the components from other components, and the essence, order, sequence, number, etc. of the components are not limited by these terms.

[0025] In the description of the positional relationship of components, when it is described that two or more components are "connected", "coupled" or "joined", it should be understood that two or more components can be directly "connected", "coupled" or "joined", but it is also possible that two or more components and other components are further "interposed" and "connected", "coupled" or "joined". Here, the other components may be included in at least one of the two or more components that are "connected", "coupled" or "joined" to each other.

[0026] In the description of the relationship of the time flow regarding components, operation methods, manufacturing methods, etc., for example, when the time sequence relationship or the flow sequence relationship is described by "after ~", "subsequent to ~", "next to ~", "before ~", etc., it may include the case where it is not continuous unless "immediately" or "directly" is used.

[0027] On the other hand, if numerical values ​​or corresponding information (e.g., levels) relating to components are mentioned, even without further explicit mention, these numerical values ​​or corresponding information may be interpreted as including a range of errors that can occur due to various factors (e.g., process factors, internal or external shocks, noise, etc.).

[0028] Various embodiments of this disclosure will be described in detail below with reference to the attached drawings.

[0029] Cruise control technologies such as Smart Cruise Control either maintain a constant vehicle speed without the driver having to press the accelerator pedal, or use forward sensors (object detection devices) to detect the vehicle ahead (vehicles traveling ahead) and maintain a distance set by the driver.

[0030] In other words, cruising control technologies such as Smart Cruise Control can detect objects in the vehicle's path (vehicles ahead) via object detection devices such as 77GHz radar mounted on the front grille of the vehicle, and control the vehicle while maintaining a constant distance from the detected vehicle ahead.

[0031] In the case of radar in object detection devices, electromagnetic waves can be transmitted and received to acquire distance, speed, and direction information for multiple objects ahead. To detect and distinguish multiple vehicles and pedestrians in various road environments and amidst clutter noise (roadbed, structures, etc.), distance, speed, and direction information must be utilized.

[0032] Due to various road conditions and the vertical movement of vehicles, it can sometimes be difficult to distinguish between stationary objects on the road surface and signs or structures. This creates a limitation: when radar first detects an object, it can only recognize a moving object as a vehicle. In other words, during cruising control, when radar first detects an object (vehicle), it can only recognize a moving object as a vehicle ahead and initiate braking control.

[0033] During cruising control operation, malfunctions may occur if there is a stationary object ahead. Due to the limitations of the cruising control function, when the radar first detects a stationary target while traveling at a certain speed (e.g., 50 km / h) or higher, the stationary target is ignored. Recently, it has become possible to recognize stationary vehicles with the forward camera, but due to the limitations of the camera's operation, it only operates at a certain speed (e.g., below 50 km / h). In addition, the diverse appearance of road construction vehicles may make it impossible to detect them in the camera image.

[0034] Incidentally, recently, when driving at high speeds above a certain speed (for example, 50 km / h), cruising control is mainly used. However, due to driver drowsiness and inattention to the road ahead, most fatal accidents occur on expressways (such as highways).

[0035] The inventors of this specification have found that when a vehicle is traveling using a cruising control system such as Smart Cruise Control, if there is a stationary object (e.g., a stationary vehicle, a road fixture, etc.) ahead, the vehicle with cruising control in operation may not be able to decelerate, potentially resulting in a collision between the vehicle with cruising control in operation and the stationary object ahead.

[0036] Therefore, embodiments of the present disclosure can provide a collision avoidance device and collision avoidance method that guide a vehicle operating under cruising control (cruising control operating vehicle) so that it can autonomously decelerate and stop, even if there is a stationary object in front of it.

[0037] The collision avoidance device according to the embodiment of the present disclosure can be installed on an object that is stationary in front of a cruising control vehicle.

[0038] The collision avoidance device according to the embodiments of the present disclosure can generate and transmit virtual reflection signals so that a cruising control vehicle can set a virtual follow target that does not actually exist. Therefore, the collision avoidance device according to the embodiments of the present disclosure may also be called a virtual follow target generator.

[0039] The following describes in detail the collision prevention device and collision prevention method according to embodiments of the present disclosure.

[0040] Figure 1 shows a collision avoidance device 100 according to an embodiment of the present disclosure installed on an object 10 on a road.

[0041] Referring to Figure 1, a vehicle 20 traveling on a road may be equipped with an object detection device 21 and a cruising control system 22.

[0042] The cruising control system 22 can perform cruising control based on the detection results of the object detection device 21.

[0043] Here, cruising control can include control that maintains a constant vehicle speed at a speed predetermined by the driver, control the distance to the vehicle ahead using the vehicle's acceleration / deceleration device, etc., and control that allows the vehicle to follow the preceding vehicle and maintain a constant speed in low-speed driving conditions such as traffic congestion, and can include various intelligent cruising controls. Cruising control can include adaptive cruise control (ACC) or smart cruise control (SCC), and can further include distance keeping control technologies such as stop and go control.

[0044] Referring to Figure 1, the collision prevention device 100 according to the embodiment of the present disclosure is installed on an object 10 on the road and can prevent a vehicle 20 traveling on the road from colliding with the object 10.

[0045] The collision avoidance device 100 can be installed on an object 10 that is stationary on the road.

[0046] The object 10 on which the collision avoidance device 100 is installed can be positioned in a stationary state in front of the vehicle 20 in the direction of travel on the road. In other words, the collision avoidance device 100 installed on the object 10 can be positioned in a stationary state in front of the vehicle 20 in the direction of travel on the road.

[0047] Object 10 being at rest can mean that its velocity is 0 (zero). More broadly, object 10 being at rest can mean that its velocity is below a threshold velocity. For example, the threshold velocity could be 5 km / h. Alternatively, the threshold velocity could be a value less than or equal to 5 km / h.

[0048] The object 10 on which the collision avoidance device 100 is installed may be an object that is actually stopped on the road or an object moving at a speed below which the cruising control system 22 determines it to be stopped (hereinafter also referred to as "stopped object" or "stopped vehicle"). Here, the speed at which the cruising control system 22 determines it to be stopped may, for example, be a speed slower than 5 km / h.

[0049] For example, a parked vehicle could be a construction vehicle carrying out road work.

[0050] For example, a stationary object could be a road installation.

[0051] For example, road installations may be temporarily placed on the road for road work and may include one or more of the following: traffic cones, various forms of median strips, etc. In another example, road installations may include various road structures that are installed in the direction of travel, regardless of road work.

[0052] The collision prevention device 100 installed on object 10 can be positioned in a stationary state in front of the vehicle 20 in the direction of travel on the road.

[0053] The collision avoidance device 100 according to the embodiment of the present disclosure receives a signal RS transmitted from the object detection device 21 of the vehicle 20, and can generate and transmit a "virtual reflection signal VRS" so that the vehicle 20 can set a "follow target (vehicle following ahead)" that is traveling in front of the vehicle 20.

[0054] As a result, the cruising control system 22 of the moving vehicle 20 can set a follow target based on the result of detecting the virtual reflection signal VRS of the object detection device 21 and perform cruising control to follow the follow target.

[0055] The cruising control system 22 of the moving vehicle 20 can prevent a collision with the stationary object 10 by performing cruising control and gradually reducing the speed.

[0056] The virtual reflection signal VRS may be a false reflection signal in which the signal RS transmitted from the object detection device 21 is different from the signal (actual reflection signal) that is actually reflected from the object 10 or the collision avoidance device 100.

[0057] The virtual reflection signal VRS may be a signal used to guide active control (speed reduction control) of the vehicle 20 to prevent a collision between the vehicle 20 and the object 10 on which the collision avoidance device 100 is installed.

[0058] The virtual reflection signal VRS may be a signal that causes the object detection device 21 of the moving vehicle 20 to recognize the object 10 on which the collision avoidance device 100 is installed as a vehicle traveling ahead at a low speed.

[0059] The virtual reflection signal VRS may be a signal that guides the cruising control system 22 of the moving vehicle 20 to recognize a follow target (a vehicle following ahead) in order to perform cruising control.

[0060] For example, the object detection device 21 of a moving vehicle 20 may include one or more of the following: a radar (RADAR: Radio Detecting and Ranging) sensor, a lidar (LIDAR: Light Detection and Ranging) sensor, an ultrasonic sensor, etc.

[0061] Figure 2 is a diagram showing the configuration of a collision avoidance device 100 according to an embodiment of the present disclosure.

[0062] Referring to Figure 2, the collision avoidance device 100 according to the embodiment of the present disclosure may include a receiving antenna 210, a virtual reflection signal generation unit 220, and a transmitting antenna 230, etc.

[0063] The receiving antenna 210 can receive the signal RS transmitted from the object detection device 21 of the moving vehicle 20.

[0064] The virtual reflection signal generation unit 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 and virtual travel speed received via the receiving antenna 210.

[0065] The transmitting antenna 230 can transmit a virtual reflected signal VRS.

[0066] The virtual reflection signal VRS may be a signal used to guide active control (speed reduction control) of the vehicle 20 to prevent a collision between the vehicle 20 and the object 10 on which the collision avoidance device 100 is installed.

[0067] The virtual reflection signal VRS may be a signal that causes the object detection device 21 of the moving vehicle 20 to recognize the object 10 on which the collision avoidance device 100 is installed as a vehicle traveling ahead at a low speed.

[0068] The virtual reflection signal VRS may be a signal that guides the cruising control system 22 of the moving vehicle 20 to recognize a follow target (a vehicle following ahead) in order to perform cruising control.

[0069] The virtual driving speed may be a preset base speed value or a speed value adaptively set according to an input signal. Here, the input signal is a signal generated by a traffic monitoring device included inside or outside the collision avoidance device 100, and may include speed and / or distance information of the vehicle 20.

[0070] For example, a traffic monitoring device may include one or more of the following: radar, cameras, and lidars.

[0071] The virtual driving speed may be greater than or equal to a predetermined threshold speed value. For example, the threshold speed value may be 5 km / h.

[0072] The closer the distance between the moving vehicle 20 and the object 10, the lower the virtual driving speed can be.

[0073] Figure 3 is a more detailed configuration diagram of the collision avoidance device 100 according to an embodiment of the present disclosure.

[0074] Referring to Figure 3, the virtual reflection signal generation unit 220 included in the collision avoidance device 100 according to the embodiment of the present disclosure may include a velocity component addition processing unit 320 and a control unit 300.

[0075] The virtual reflection signal generation unit 220 can generate a virtual reflection signal using the velocity component.

[0076] In this case, the virtual reflection signal generation unit 220 may include a speed component addition processing unit 320 that adds a speed component value corresponding to the virtual travel speed to the received signal to generate a virtual reflection signal, and a control unit 300 that controls the operation of the speed component addition processing unit 320.

[0077] On the other hand, the virtual reflection signal generation unit 220 can generate a virtual reflection signal using a distance component in addition to the velocity component. In this case, referring to Figure 3, the virtual reflection signal generation unit 220 included in the collision avoidance device 100 according to the embodiment of the present disclosure may include a distance component delay processing unit 310, a velocity component addition processing unit 320, and a control unit 300.

[0078] The distance component delay processing unit 310 can delay the received signal RS by a virtual distance component value. The speed component addition processing unit 320 can add a speed component value corresponding to the virtual travel speed to the signal that has been delayed by the distance component delay processing unit 310 to generate a virtual reflected signal VRS.

[0079] The control unit 300 can control the operation of the distance component delay processing unit and the velocity component addition processing unit.

[0080] The virtual reflected signal generation unit 220 may include a receiving mixer, a receiving oscillator, a receiving phase-locked loop, a filter, a receiving attenuator, a virtual distance component delay unit, and the like. The virtual reflected signal generation unit 220 may further include a transmitting attenuator, a transmitting phase-locked loop, a transmitting oscillator, a transmitting mixer, and the like.

[0081] The signal RS received via the receiving antenna 210 may be input to the receiving mixer. The virtual reflected signal VRS may be output from the transmitting mixer and transmitted via the transmitting antenna 230.

[0082] The receiving attenuator and virtual distance component delayer can delay the distance component of the received signal RS by the desired virtual target. For example, the virtual component delayer can switch the electromagnetic wave to the optical axis and convert the length (distance component) by combining an optical cable and an optical switch.

[0083] The transmitting oscillator can input a signal to the transmitting mixer in which the frequency of the virtual velocity component has been added or subtracted.

[0084] Referring 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 generation unit 220 to the transmitting antenna 230.

[0085] According to the collision avoidance device of the embodiment of the present disclosure, a time delay may occur with respect to the virtual reflected signal VRS through at least one first transmission line 331.

[0086] Referring to Figure 3, the collision avoidance device 100 according to an embodiment of the present disclosure may further include a first signal intensity adjustment device 341 that amplifies or attenuates the signal intensity of a virtual reflected signal VRS on at least one first transmission line 331. Here, the first signal intensity adjustment device 341 may include at least one of an amplifier and an attenuator.

[0087] Referring to Figure 3, the collision avoidance 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 via the receiving antenna 210 from the receiving antenna 210 to the virtual reflected signal generation unit 220.

[0088] According to the collision avoidance device of the embodiment of the present disclosure, a time delay with respect to the received signal RS may occur through at least one second transmission line 332.

[0089] Referring to Figure 3, the collision avoidance device 100 according to an embodiment of the present disclosure may further include a second signal intensity adjustment device 342 for amplifying or attenuating the signal intensity of a received signal RS on at least one second transmission line 332. Here, the second signal intensity adjustment device 342 may include at least one of an amplifier and an attenuator.

[0090] The collision avoidance device 100 according to the embodiments of the present disclosure may include only at least one first transmission line 331, or only at least one second transmission line 332, or may include both at least one first transmission line 331 and at least one second transmission line 332.

[0091] Accordingly, the collision prevention device 100 according to the embodiments of the present disclosure may include only the first signal intensity adjustment device 341, only the second signal intensity adjustment device 342, or both the first signal intensity adjustment device 341 and the second signal intensity adjustment device 342.

[0092] As mentioned above, the time delay of the virtual reflection signal VRS can be controlled, and the collision avoidance device 100 can more precisely prevent a vehicle 20 approaching an object on which the collision avoidance device 100 is installed from colliding with that object.

[0093] In other words, by controlling the time delay of the virtual reflection signal VRS, the object detection device 21 of a vehicle 20 approaching an object on which the collision avoidance device 100 is installed can detect objects having various speeds or various distances (distance between the collision avoidance device 100 and the vehicle 20). For example, an object on which the collision avoidance device 100 is installed may actually be an object or vehicle stationary on the road, but may be detected by the object detection device 21 of the vehicle 20 as a moving vehicle (e.g., a following vehicle), an object, or a pedestrian on the road. As another example, an object on which the collision avoidance device 100 is installed may actually be an object or vehicle moving on the road, but may be detected by the object detection device 21 of the vehicle 20 as a vehicle (e.g., a following vehicle), an object, or a pedestrian moving at a different speed on the road than it actually is.

[0094] According to the collision avoidance device 100 of the embodiment of the present disclosure, the virtual reflection signal generation unit 220 can adjust the signal intensity of at least one of the received signal RS received via the receiving antenna 210 and the virtual reflection signal VRS generated by the virtual reflection signal generation unit 220.

[0095] According to the collision avoidance device 100 of the embodiment of the present disclosure, if the signal strength of at least one of the received signal RS received via the receiving antenna 210 and the virtual reflected signal VRS generated by the virtual reflected signal generation unit 220 exceeds a predetermined threshold, the virtual reflected signal generation unit 220 can limit the signal strength of at least one of the received signal RS received via the receiving antenna 210 and the virtual reflected signal VRS generated by the virtual reflected signal generation unit 220 to below the threshold.

[0096] As described above, by controlling the signal strength, the collision prevention device 100 can further improve the performance of its collision prevention control, which prevents a vehicle 20 approaching an object on which the collision prevention device 100 is installed from colliding with the object, and can reduce control errors.

[0097] Figure 4 is a diagram illustrating the collision prevention operation method when the collision prevention device 100 according to the embodiment of this disclosure is installed on a construction vehicle 400.

[0098] Referring to Figure 4, the object 10 on which the collision avoidance device 100 is installed may be a construction vehicle 400 that is actually stopped on the road or moving at a speed below which the cruising control system 22 determines it to be stopped. The collision avoidance device 100 is installed on the construction vehicle 400 that is stopped on the road due to road work.

[0099] The collision avoidance device 100 installed on the construction vehicle 400 can generate and transmit a virtual reflection signal VRS to guide the active control of the cruising control system 22 of the moving vehicle 20. In embodiments of this disclosure, generating a virtual reflection signal VRS may be equivalent to generating a virtual follow target.

[0100] The object detection device 21 of the moving vehicle 20 receives a virtual reflection signal VRS and, based on the virtual reflection signal VRS, detects an object, thereby recognizing the presence of a vehicle moving ahead (a vehicle ahead, a target to follow).

[0101] The vehicle ahead recognized 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 collision avoidance device 100 using a virtual reflection signal VRS.

[0102] The cruising control system 22 of the vehicle 20 can set the vehicle ahead recognized by the object detection device 21 as a virtual follow target VT, and control the behavior of the vehicle 20 so that it follows the virtual follow target VT.

[0103] Construction vehicle 400 is an actual existing vehicle, and its actual speed is 0 (zero). In contrast, the virtual speed of the preceding vehicle, which is a virtual follow target VT generated by the collision avoidance device 100, may be greater than or equal to the threshold speed TH. For example, the threshold speed TH may be 5 km / h. For example, the threshold speed TH may be the minimum speed at which the cruising control system 22 can recognize that the collision avoidance device 100 is moving. For example, the threshold speed TH may be a speed faster than the speed at which the cruising control system 22 determines the vehicle to be stopped.

[0104] The cruising control system 22 of the vehicle 20 can control the vehicle 20 to follow a virtual follow target VT that is recognized as traveling at a threshold speed or higher.

[0105] The collision avoidance device 100, through the control of the transmitted virtual reflection signal VRS, allows the cruising control system 22 of the vehicle 20 to recognize the speed reduction of the virtual following target VT and control the vehicle 20 to reduce its speed.

[0106] Alternatively, the collision avoidance device 100 can control the transmitted virtual reflection signal VRS, allowing the cruising control system 22 of the vehicle 20 to recognize the deceleration and stopping of the virtual follow target VT and control the vehicle 20 to decelerate and stop.

[0107] Figure 5 is a diagram illustrating the collision prevention operation method when the collision prevention device 100 according to the embodiment of this disclosure is installed on a road structure 500.

[0108] Referring to Figure 5, the object 10 on which the collision avoidance device 100 is installed may be a road installation 500 installed on the road. The collision avoidance device 100 is installed on the road installation 500 which is stationary on the road for road work.

[0109] Referring to Figure 5, for example, the road installation 500 may include at least one of the following: a traffic cone 510 and various forms of median strips 520, 530, 540, etc.

[0110] A collision avoidance device 100 installed on a road structure 500 can generate and transmit a virtual reflection signal VRS to guide the active control of the cruising control system 22 of a moving vehicle 20. In embodiments of this disclosure, generating a virtual reflection signal VRS may be equivalent to generating a virtual follow target.

[0111] The object detection device 21 of the moving vehicle 20 receives a virtual reflection signal VRS and, based on the virtual reflection signal VRS, performs object detection, thereby recognizing the presence of a vehicle moving ahead (a vehicle ahead, a target to follow).

[0112] The vehicle ahead recognized 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 collision avoidance device 100 using a virtual reflection signal VRS.

[0113] The cruising control system 22 of the vehicle 20 can set the vehicle ahead recognized by the object detection device 21 as a virtual follow target VT, and control the behavior of the vehicle 20 so that it follows the virtual follow target VT.

[0114] The road installation 500 is a physical object installed on the road, and its actual speed is 0 (zero). In contrast, the virtual speed of the vehicle traveling ahead, which is a virtual follow target VT generated by the collision avoidance device 100, may be greater than or equal to the threshold speed TH. For example, the threshold speed TH may be 5 km / h.

[0115] The cruising control system 22 of the vehicle 20 can control the vehicle 20 to follow a virtual follow target VT that is recognized as traveling at a threshold speed or higher.

[0116] The collision avoidance device 100, through the control of the transmitted virtual reflection signal VRS, allows the cruising control system 22 of the vehicle 20 to recognize the speed reduction of the virtual following target VT and control the vehicle 20 to reduce its speed.

[0117] Alternatively, the collision avoidance device 100 can control the transmitted virtual reflection signal VRS, allowing the cruising control system 22 of the vehicle 20 to recognize the deceleration and stopping of the virtual follow target VT and control the vehicle 20 to decelerate and stop.

[0118] Figure 6 shows a road having a road work area where a collision prevention device 100 according to an embodiment of the present disclosure is installed.

[0119] Referring to Figure 6, in a road consisting of a first lane, a second lane, and a shoulder, when road work is carried out in a section of the second lane and shoulder, multiple road structures 500, including multiple traffic cones, may be installed around the road work area to guide traffic to the work area. Construction vehicles 400 may be parked within the road work area.

[0120] Referring to Figure 6, the collision avoidance device 100 according to the embodiment of the present disclosure can be installed on a construction vehicle 400. Furthermore, the collision avoidance device 100 according to the embodiment of the present disclosure can be installed on all or part of a plurality of road installations 500.

[0121] Collision prevention devices 100, which are installed on all or part of multiple road structures 500, or on construction vehicles 400, can detect whether a moving vehicle 20 enters a pre-set hazard detection area.

[0122] The pre-set hazard detection area may include an active deceleration guidance section. For example, the active deceleration guidance section may be the section from the location of the collision avoidance device 100 to 200m in front of it.

[0123] A collision avoidance device 100, which is installed on all or part of multiple road structures 500 or on a construction vehicle 400, can output a virtual reflection signal VRS via a transmitting antenna 230 when it detects that a moving vehicle 20 has entered a pre-set danger detection area.

[0124] As a result, the cruising control system 22 of the vehicle 20 can recognize a target vehicle (VT) traveling at a low speed (virtual driving speed) ahead based on the virtual reflection signal VRS received via the object detection device 21, and perform cruising control to follow the target vehicle (VT). Here, the cruising control may include one or more of the following: acceleration control, deceleration control, steering control, braking control, etc. of the vehicle 20.

[0125] Collision prevention devices 100 installed on all or part of multiple road structures 500, or installed on construction vehicles 400, can generate and transmit virtual reflection signals VRS that are modified based on a set virtual driving speed.

[0126] As a result, the cruising control system 22 of the vehicle 20 recognizes that the speed of the following target VT is decreasing, and can reduce the speed of the vehicle 20, and if necessary, can bring the vehicle 20 to a stop. Consequently, the vehicle 20, while cruising control is in operation, can safely reduce its speed or stop without colliding with road fixtures 400 and construction vehicles 500 that are stopped in the road work area, or can pass through the road work area while avoiding it.

[0127] Figure 7 is a flowchart of a collision prevention method according to an embodiment of the present disclosure.

[0128] Referring to Figure 7, the collision prevention method of the collision prevention device 100 according to the embodiment of the present disclosure may include: step S710 receiving a signal output from an object detection device 21 mounted on a vehicle 20 traveling on a road via a receiving antenna 210 included in the collision prevention device 100; step S720 in which a virtual reflection signal generation unit 220 of the collision prevention device 100 generates 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 via the receiving antenna 210 and a preset virtual driving speed; and step S730 in which the virtual reflection signal VRS is transmitted via a transmitting antenna 230 included in the collision prevention device 100.

[0129] The virtual reflection signal VRS may be a signal used to guide active control (speed reduction control) of the vehicle 20 to prevent a collision between the vehicle 20 and the object 10 on which the collision avoidance device 100 is installed.

[0130] The virtual reflection signal VRS may be a signal that causes the object detection device 21 of the moving vehicle 20 to recognize the object 10 on which the collision avoidance device 100 is installed as a vehicle traveling ahead at a low speed.

[0131] The virtual reflection signal VRS may be a signal that guides the cruising control system 22 of the moving vehicle 20 to recognize a follow target (a vehicle following ahead) in order to perform cruising control.

[0132] The moving vehicle 20 may be a vehicle that performs cruise control based on the detection results of the object detection device 21.

[0133] The collision avoidance device 100 can be positioned in a stationary state in front of the vehicle 20 in the direction of travel on the road.

[0134] The collision avoidance device 100 can be installed on an object 10 that is stationary on the road.

[0135] The object 10 on which the collision avoidance device 100 is installed could be a construction vehicle 400 stopped on the road.

[0136] The object 10 on which the collision avoidance device 100 is installed may be a road installation 500 installed on a road.

[0137] The virtual driving speed may be a preset base speed value or a speed value adaptively set according to the input signal. The virtual driving speed may be equal to or greater than a preset threshold speed value.

[0138] Referring to Figure 7, the object detection device 21 of the moving vehicle 20 transmits a signal RS (S700). When the moving vehicle 20 approaches the collision avoidance device 10 within a certain distance, the signal RS transmitted from the object detection device 21 of the moving vehicle 20 is received by the receiving antenna 210 of the collision avoidance device 100 (S710).

[0139] Referring to Figure 7, the steps following step S730, in which the virtual reflection signal VRS is transmitted, may further include step S740, in which the object detection device 21 mounted on the vehicle 20 receives the virtual reflection signal VRS; step S750, in which the cruising control system 22 mounted on the vehicle 20 uses the result of the object detection device 21 detecting the virtual reflection signal VRS to recognize the collision avoidance device 100 as a vehicle traveling ahead on the road and set a follow target; and step S760, in which the cruising control system 22 mounted on the vehicle 20 performs cruising control of the vehicle 20 so that the vehicle 20 follows the follow target.

[0140] The S760 stage allows the speed of the vehicle 20 to decrease or the vehicle 20 to come to a safe stop. This prevents the vehicle 20, which was undergoing cruising control, from colliding with the stationary object 10.

[0141] Referring to Figure 7, at least one of stages S710, S720, and S730 may be executed when the vehicle 20 enters a pre-set hazard detection area.

[0142] Figure 8 is a flowchart of the virtual reflection signal generation step in the collision avoidance method according to the embodiment of the present disclosure.

[0143] Referring to Figure 8, when a virtual reflection signal VRS is generated using the velocity component, the step S720 for generating the virtual reflection signal VRS may include a virtual driving speed application step S820. For example, if the driving vehicle 20 is a low-speed vehicle below a certain speed, the virtual reflection signal VRS can be generated using only the velocity component.

[0144] Referring to Figure 8, in some cases, when a virtual reflection signal VRS is generated using a distance component in addition to the velocity component, the step S720 for generating the virtual reflection signal VRS may include a virtual distance delay processing step S810 and a virtual driving speed application processing step S820. For example, when the driving vehicle 20 is a vehicle traveling at a certain speed or above, or when more precise performance is required, the virtual reflection signal VRS can be generated using a velocity component and a distance component.

[0145] The virtual distance delay processing performed in the virtual distance delay processing execution stage S810 may be a process that enables the object detection device 21 of the moving vehicle 20 to recognize the object 10 as a moving (driving) vehicle (object) rather than a stationary one.

[0146] In the virtual driving speed application processing stage S820, the virtual driving speed application processing performed may be a process that enables the object detection device 21 of the driving vehicle 20 to recognize the speed of the object 10 as a constant value rather than 0 (zero).

[0147] In the virtual distance delay processing execution stage S810, the virtual reflection signal generation unit 220 of the collision avoidance device 100 can perform delay processing on the received signal RS by the virtual distance component value.

[0148] In the virtual driving speed application processing stage S820, the virtual reflection signal generation unit 220 of the collision prevention device 100 can generate a virtual reflection signal VRS by adding a virtual driving speed component value corresponding to the virtual driving speed to the delayed signal.

[0149] The embodiments of this disclosure described above can be briefly described as follows.

[0150] A collision avoidance device (also referred to as a virtual driving target generation device or virtual target generation device) according to an embodiment of the present disclosure may include a receiving antenna that receives a signal output from an object detection device mounted on a vehicle traveling on a road, a virtual reflection signal generation unit that generates a virtual reflection signal different from the actual reflection signal of the received signal based on the received signal received via the receiving antenna and the virtual driving speed, and a transmitting antenna that transmits the virtual reflection signal.

[0151] The virtual reflection signal may be a signal used to guide the active control of a moving vehicle to prevent it from colliding with a stationary vehicle or object equipped with a collision avoidance device.

[0152] A virtual reflection signal may be a signal that guides a moving vehicle to recognize a stationary vehicle or object equipped with a collision avoidance device as a slow-moving vehicle ahead.

[0153] A virtual reflection signal can be a signal that guides a moving vehicle to recognize a target to follow for cruising control.

[0154] The collision avoidance device can be positioned in a stationary state in front of the vehicle's direction of travel on the road.

[0155] Collision avoidance devices can be installed on objects that are stationary on the road.

[0156] For example, an object equipped with a collision avoidance device may be a construction vehicle that is stationary on the road or moving at a speed below which the cruising control system determines it to be stationary.

[0157] For example, an object equipped with a collision avoidance device could be a road installation located on a road.

[0158] The virtual driving speed may be a preset base speed value or a speed value that is adaptively set according to the input signal.

[0159] The input signal is a signal generated from a traffic monitoring radar device located inside or outside the collision avoidance system, and may include at least one of the following: vehicle speed information and distance information.

[0160] The virtual driving speed may be greater than or equal to a predetermined threshold speed value. For example, the threshold speed value may be 5 km / h.

[0161] The virtual reflection signal generation unit may include a speed component addition processing unit that adds a speed component value corresponding to the virtual travel speed to the received signal to generate a virtual reflection signal, a distance component delay processing unit, and a control unit that controls the operation of the speed component addition processing unit.

[0162] Alternatively, the virtual reflection signal generation unit may include a distance component delay processing unit that delays the received signal by a virtual distance component value, a speed component addition processing unit that adds a speed component value corresponding to the virtual travel speed to the delayed signal to generate a virtual reflection signal, and a control unit that controls the operation of the distance component delay processing unit and the speed component addition processing unit.

[0163] The collision avoidance device according to the 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 generation unit to a transmitting antenna.

[0164] According to the collision avoidance device of the embodiments of the present disclosure, a time delay with respect to the virtual reflected signal may occur through at least one first transmission line.

[0165] A collision avoidance device according to an embodiment of the present disclosure may further include a first signal intensity adjustment device for amplifying or attenuating the signal intensity of a virtual reflected signal on at least one first transmission line.

[0166] The collision avoidance device according to the embodiments of the present disclosure may further include at least one second transmission line for transmitting a received signal received via a receiving antenna from the receiving antenna to a virtual reflected signal generation unit.

[0167] According to the collision avoidance device of the embodiment of the present disclosure, a time delay with respect to the received signal may occur through at least one second transmission line.

[0168] The collision avoidance device according to the embodiments of the present disclosure may further include a second signal intensity adjustment device for amplifying or attenuating the signal intensity of a received signal on at least one second transmission line.

[0169] The transmitting antenna can output a virtual reflection signal when a moving vehicle enters a pre-set hazard detection area.

[0170] A moving vehicle may be one that performs cruise control based on the detection results of an object detection device.

[0171] The closer the distance between the moving vehicle and the collision avoidance system, the lower the virtual driving speed can be.

[0172] According to the collision avoidance device of the embodiment of the present disclosure, the virtual reflection signal generation unit can adjust the signal intensity of at least one of the received signal received via the receiving antenna and the virtual reflection signal generated by the virtual reflection signal generation unit.

[0173] According to the collision avoidance device of the embodiment of the present disclosure, if the signal strength of at least one of the received signal received via the receiving antenna and the virtual reflected signal generated by the virtual reflected signal generation unit exceeds a predetermined threshold, the virtual reflected signal generation unit can limit the signal strength of at least one of the received signal received via the receiving antenna and the virtual reflected signal generated by the virtual reflected signal generation unit to below the threshold.

[0174] A collision prevention method for a collision prevention device according to an embodiment of the present disclosure may include: a first step of receiving a signal output from an object detection device mounted on a vehicle traveling on a road via a receiving antenna included in the collision prevention device; a second step of generating a virtual reflected signal that differs from the actual reflected signal of the received signal based on the received signal received via the receiving antenna and a preset virtual driving speed; and a third step of transmitting the virtual reflected signal via a transmitting antenna included in the collision prevention device.

[0175] The virtual reflection signal may be a signal used to guide the active control of a moving vehicle to prevent it from colliding with a stationary vehicle or object equipped with a collision avoidance device.

[0176] A virtual reflection signal may be a signal that guides a moving vehicle to recognize a stationary vehicle or object equipped with a collision avoidance device as a slow-moving vehicle ahead.

[0177] This could be a signal that guides a moving vehicle to recognize a target to follow for cruising control.

[0178] A moving vehicle may be one that performs cruise control based on the detection results of an object detection device.

[0179] The collision avoidance device can be positioned in a stationary state in front of the vehicle's direction of travel on the road.

[0180] Collision avoidance devices can be installed on objects that are stationary on the road.

[0181] Objects equipped with collision avoidance devices may be construction vehicles that are stationary on the road or moving at a speed below which the cruising control system determines them to be stationary.

[0182] An object equipped with a collision avoidance device may be a road installation located on a road.

[0183] The virtual driving speed may be a preset base speed value or a speed value that is adaptively set according to the input signal.

[0184] The virtual driving speed may be greater than or equal to a predetermined threshold speed value.

[0185] The step of generating a virtual reflected signal may include a step of delaying the received signal by a virtual distance component value, and a step of adding a virtual speed component value corresponding to the virtual speed to the delayed signal to generate a virtual reflected signal.

[0186] The collision avoidance method for a collision avoidance device according to the embodiments of the present disclosure may further include, after the step of transmitting a virtual reflection signal, a step in which an object detection device mounted on a moving vehicle recognizes the collision avoidance device as a vehicle traveling ahead on the road and sets a follow target, and a step in which cruising control is performed with respect to the follow target.

[0187] The closer the distance between the moving vehicle and the collision avoidance system, the lower the virtual driving speed can be.

[0188] In the collision prevention method for a collision prevention device according to the embodiments of the present disclosure described above, at least one of the first, second, and third stages can be performed when a moving vehicle enters a predetermined hazard detection area.

[0189] According to embodiments of this disclosure, it is possible to provide a collision prevention device and a collision prevention method for preventing collisions between a vehicle traveling on a road and an object on the road.

[0190] According to embodiments of this disclosure, it is possible to provide a collision prevention device and a collision prevention method that can guide the active control of a vehicle traveling on a road so that the vehicle does not collide with an object on the road.

[0191] According to embodiments of this disclosure, it is possible to provide a collision prevention device and collision prevention method that can guide the active control of a vehicle so that the vehicle, while performing cruising control, does not collide with an object that is stationary on the road.

[0192] According to embodiments of this disclosure, it is possible to provide a collision avoidance device and collision avoidance method that can be installed on an object stationary on a road and can guide the active control of a moving vehicle, enabling the vehicle to autonomously and safely reduce its speed or stop while performing cruising control.

[0193] According to embodiments of this disclosure, when a vehicle traveling at high speed on a road is operating cruising control, it is possible to provide a collision prevention device and collision prevention method that can guide the active control of a vehicle traveling at high speed so that the vehicle does not collide with a construction vehicle or road structure stopped on the road.

[0194] The above description is merely illustrative of the technical concept of this disclosure, and any person with ordinary skill in the art to which this disclosure belongs could make various modifications and variations without departing from the essential characteristics of this disclosure. Furthermore, the embodiments disclosed herein are for illustrative purposes only and not to limit the technical concept of this disclosure, and such embodiments do not limit the scope of the technical concept of this disclosure. [Explanation of Symbols]

[0195] 10: Object 20: Vehicle 21: Object detection device 22: Cruise control system 100: Collision avoidance system 210: Receiving antenna 220: Virtual reflected signal generation unit 230: Transmitting antenna 310: Distance component delay processing unit 320: Velocity component addition processing unit 330: Control Unit 400: Construction Vehicle 500: Road fixtures 510: Traffic cones 520, 530, 540: Divider

[0196] Cross-references to related applications This patent application claims priority under Section 119(a) of the United States Patent Act (35 U.S.SC § 119(a)) to Patent Application No. 10-2023-0068384 filed in Korea on May 26, 2023, and all its contents are merged into this patent application as references. This patent application also claims priority in countries other than the United States for the same reasons, and all its contents are merged into this patent application as references.

Claims

1. A receiving antenna that receives signals output from an object detection device mounted on a vehicle traveling on a road; A virtual reflection signal generation unit that generates a virtual reflection signal different from the actual reflection signal of the received signal based on the received signal and virtual driving speed received via the receiving antenna; and A collision avoidance device including a transmitting antenna that transmits the virtual reflected signal.

2. The collision prevention device according to claim 1, wherein the collision prevention device is positioned in a stationary state in front of the vehicle in the direction of travel on the road.

3. The collision prevention device according to claim 1, wherein the collision prevention device is installed on an object that is stopped on the road.

4. The collision prevention device according to claim 3, wherein the object on which the collision prevention device is installed is a construction vehicle that is stopped on the road or moving at a speed below which the cruising control system determines it to be stopped.

5. The collision prevention device according to claim 3, wherein the object on which the collision prevention device is installed is a road installation installed on the road.

6. The virtual driving speed is a preset base speed value or a speed value that is adaptively set according to the input signal. The input signal is a signal generated by a traffic monitoring device included inside or outside the collision avoidance device, and includes at least one of the speed information and distance information of the moving vehicle. The collision prevention device according to claim 1, wherein the virtual driving speed is equal to or greater than a preset threshold speed value.

7. The virtual reflected signal generation unit, A speed component addition processing unit that adds a speed component value corresponding to the virtual driving speed to the received signal to generate the virtual reflected signal; and The collision prevention device according to claim 1, further comprising a control unit that controls the operation of the speed component addition processing unit.

8. The virtual reflected signal generation unit, A distance component delay processing unit performs a delay process on the received signal by the virtual distance component value: A velocity component addition processing unit that adds a velocity component value corresponding to the virtual travel speed to the signal that has undergone the aforementioned delay processing to generate the virtual reflected signal; and The collision prevention device according to claim 1, further comprising a control unit that controls the operation of the distance component delay processing unit and the speed component addition processing unit.

9. The system further includes at least one first transmission line for transmitting the virtual reflection signal from the virtual reflection signal generation unit to the transmitting antenna, The collision avoidance device according to claim 1, wherein a time delay occurs with respect to the virtual reflected signal through the at least one first transmission line.

10. The collision avoidance device according to claim 9, further comprising a first signal intensity adjustment device for amplifying or attenuating the signal intensity of the virtual reflected signal on the at least one first transmission line.

11. The system further includes at least one second transmission line for transmitting the received signal from the receiving antenna to the virtual reflected signal generation unit, The collision avoidance device according to claim 1, wherein a time delay with respect to the received signal occurs through the at least one second transmission line.

12. The collision prevention device according to claim 11, further comprising a second signal strength adjustment device for amplifying or attenuating the signal strength of the received signal on the at least one second transmission line.

13. The collision prevention device according to claim 1, wherein the transmitting antenna outputs the virtual reflection signal when the moving vehicle enters a predetermined danger detection area.

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

15. The collision prevention device according to claim 1, wherein the virtual driving speed decreases as the distance between the vehicle and the collision prevention device decreases.

16. The virtual reflected signal generation unit, The collision avoidance device according to claim 1, which adjusts the signal intensity of at least one of the received signal and the virtual reflected signal.

17. The virtual reflected signal generation unit, If the signal strength of at least one of the received signal and the virtual reflected signal exceeds a predetermined threshold, The collision prevention device according to claim 16, wherein the signal intensity of at least one of the received signal and the virtual reflected signal is limited to below the threshold.

18. In a collision prevention method for a collision prevention device, The first step involves receiving a signal output from an object detection device mounted on a vehicle traveling on a road via a receiving antenna included in the collision avoidance device; A second step in which the collision prevention device generates a virtual reflected signal that is different from the actual reflected signal of the received signal, based on the received signal received via the receiving antenna and a preset virtual driving speed; and A collision avoidance method comprising a third step of transmitting the virtual reflected signal via a transmitting antenna included in the collision avoidance device.

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

20. The collision prevention method according to claim 18, wherein the object on which the collision prevention device is installed is a construction vehicle that is stopped on the road or moving at a speed below which the cruising control system determines it to be stopped.

21. The collision prevention method according to claim 18, wherein the object on which the collision prevention device is installed is a road installation installed on the road.

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

23. The aforementioned second stage is, The collision prevention method according to claim 18, further comprising the step of generating the virtual reflection signal by adding a virtual driving speed component value corresponding to the virtual driving speed to the received signal.

24. The second stage described above is, A step of delaying the received signal by the virtual distance component value; and The collision prevention method according to claim 18, further comprising the step of adding a virtual driving speed component value corresponding to the virtual driving speed to the signal that has undergone the delay processing, in order to generate the virtual reflection signal.

25. The collision prevention method according to claim 18, wherein the virtual driving speed decreases as the distance between the driving vehicle and the collision prevention device decreases.

26. The collision prevention method according to claim 18, wherein at least one of the first, second, and third stages is performed when the vehicle enters a predetermined hazard detection area.

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