Apparatus and method for contrioliing the vehicle

Abstract

The present disclosure relates to a vehicle control device and method, and in particular, by adjusting the rotation angle of a sensor attached to the front lower part of a vehicle, it is possible to monitor the lower part of a parked vehicle to expand the detection area of ​​the vehicle and predict potential collision risk situations caused by blind spots in advance, thereby providing a vehicle control device and method capable of preventing collision accidents in advance.

Description

Technology Field

[0001] The present embodiments relate to a vehicle control device and method. Background Technology

[0002] Recently, consumers have shown significant interest in vehicle performance and safety. As demands for vehicle performance, driver convenience, and safety increase, research and development on Advanced Driver Assistance Systems (ADAS), which assist drivers by controlling the vehicle, are continuously progressing. Here, Advanced Driver Assistance Systems (ADAS) refer to various systems that minimize or prevent damage caused by vehicle accidents by establishing a safer driving environment. This is achieved by enabling the driver to take appropriate measures or automatically controlling the vehicle based on external environmental information detected by vehicle sensors and cameras. In particular, ADAS sensors are essential components of advanced driver assistance systems that serve as the foundation for realizing autonomous vehicles and achieving the objectives of ensuring driver safety and enhancing convenience; as such, explosive market growth is anticipated in the future.

[0003] Furthermore, the Detection & Prediction technology of ADAS sensors has become increasingly sophisticated over the years, reaching a level of performance where autonomous driving can be discussed. However, this technology can only be applied when a specific object is within the Field of View (FOV). In particular, since ADAS sensors are mounted on the vehicle's bumper or windshield, they cannot detect objects in blind spots in advance. Consequently, it is impossible to prepare in advance for objects suddenly emerging from between vehicles, and if detection occurs too late, a collision becomes inevitable.

[0004] Therefore, there is a need for a vehicle control device and method that monitors areas that existing ADAS sensors could not detect and predicts collision risk situations in advance to prevent accidents. The problem to be solved

[0005] Against this background, the present embodiments can provide a vehicle control device and method. means of solving the problem

[0006] In one aspect, the embodiments may provide a vehicle control device comprising: a position detection unit that detects whether a parked vehicle is located on the left or right side relative to the driving direction of the vehicle using a first sensor of the vehicle; an angle adjustment unit that adjusts the rotation angle of a second sensor attached to the bottom of the vehicle toward the side where the parked vehicle is located; and a control unit that monitors the bottom of the parked vehicle using the second sensor to set a moving object as a target and controls notification or deceleration based on the target.

[0007] In another aspect, the embodiments may provide a vehicle control method comprising: a position detection step of detecting whether a parked vehicle is located on the left or right side relative to the driving direction of the vehicle using a first sensor of the vehicle; an angle adjustment step of adjusting the rotation angle of a second sensor attached to the bottom of the vehicle toward the side where the parked vehicle is located; and a control step of monitoring the bottom of the parked vehicle using the second sensor to set a moving object as a target and controlling notification or deceleration based on the target. Effects of the invention

[0008] According to the embodiments, a vehicle control device and method can be provided that can prevent collision accidents that may occur due to blind spots by expanding the detection area of ​​the vehicle. Brief explanation of the drawing

[0009] FIG. 1 is a drawing illustrating the configuration of a vehicle control device according to one embodiment of the present disclosure. FIG. 2 is a flowchart illustrating the operation of a vehicle control device according to one embodiment of the present disclosure. FIG. 3 is a flowchart exemplarily illustrating an operation for detecting the location of a parked vehicle according to one embodiment of the present disclosure. FIG. 4 is a drawing for explaining the operation of adjusting the rotation angle of a second sensor according to one embodiment of the present disclosure. FIG. 5 is a flowchart illustrating the operation of setting a target and calculating the expected collision time according to one embodiment of the present disclosure. FIG. 6 is a diagram illustrating an operation to control notification and deceleration according to the expected collision time according to one embodiment of the present disclosure. FIG. 7 is a flowchart of a vehicle control method according to one embodiment of the present disclosure. Specific details for implementing the invention

[0010] The present disclosure relates to a vehicle control device and method.

[0011] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the exemplary drawings. In assigning reference numerals to the components of each drawing, the same components may have the same reference numeral as much as possible, even if they are shown in different drawings. Furthermore, in describing the embodiments, if it is determined that a detailed description of related known components or functions may obscure the essence of the technical concept, such detailed description may be omitted. Where terms such as "comprising," "having," or "consisting of" are used in this specification, other parts may be added unless "only" is used. Where a component is expressed in the singular, it may include a plural unless otherwise specified.

[0012] Additionally, terms such as first, second, A, B, (a), (b), etc., may be used to describe the components of the present disclosure. These terms are used merely to distinguish the components from other components, and the nature, order, sequence, or number of the components are not limited by such terms.

[0013] In describing the positional relationship of components, where it is stated that two or more components are "connected," "combined," or "joined," it should be understood that while the two or more components may be directly "connected," "combined," or "joined," they may also be "connected," "combined," or "joined" with other components "intervened." Here, the other components may be included in one or more of the two or more components that are "connected," "combined," or "joined" with one another.

[0014] In describing the temporal flow relationship regarding components, methods of operation, or methods of production, for example, when the temporal or sequential relationship is described using "after," "following," "next," or "before," it may include cases where the relationship is not continuous unless "immediately" or "directly" is used.

[0015] Meanwhile, where numerical values ​​or corresponding information regarding a component (e.g., levels, etc.) are mentioned, even without separate explicit notation, the numerical values ​​or corresponding information may be interpreted as including a range of error that may occur due to various factors (e.g., process factors, internal or external shocks, noise, etc.).

[0017] FIG. 1 is a drawing illustrating the configuration of a vehicle control device according to one embodiment of the present disclosure.

[0018] Referring to FIG. 1, a vehicle control device (100) according to one embodiment of the present disclosure may include a position detection unit (110) that detects whether a parked vehicle is located on the left or right side relative to the driving direction of the vehicle using a first sensor of the vehicle, an angle adjustment unit (120) that adjusts the rotation angle of a second sensor attached to the bottom of the vehicle on the side where the parked vehicle is located, and a control unit (130) that monitors the bottom of the parked vehicle using the second sensor to set a moving object as a target and controls notification or deceleration based on the target.

[0019] According to one example, the position detection unit (110) can detect other vehicles located within a certain distance from the vehicle using a first sensor of the vehicle. Additionally, the position detection unit (110) can determine whether the detected other vehicle corresponds to a parked vehicle based on the relative speed of the other vehicle obtained using the first sensor of the vehicle. For example, the position detection unit (110) can detect objects located in front, front side, and rear side of the vehicle using the first sensor. Additionally, the position detection unit (110) can obtain information regarding the distance, relative speed, and relative acceleration between the vehicle and the detected object using the first sensor. As a specific example, the position detection unit (110) can detect other vehicles using a camera and determine whether the other vehicle is a parked vehicle by checking the relative speed of the other vehicle using a radar.

[0020] Here, the first sensor may be composed of one or more various known sensors, including a camera, an infrared camera, radar, lidar, ultrasound, etc., installed in a location suitable for detecting the front of the vehicle. Additionally, the first sensor may be installed around the rearview mirror, grille, headlights, etc., to detect the front of the vehicle. However, it is not limited thereto.

[0021] According to another example, the position detection unit (110) can use the first sensor to detect whether a parked vehicle is located on the left or right side relative to the vehicle's driving direction. For example, the position detection unit (110) can use the first sensor to determine the parked vehicle closest to the vehicle among the detected parked vehicles. The position detection unit (110) can also detect whether the closest parked vehicle is located on the left or right side relative to the vehicle's driving direction.

[0022] According to one example, the angle adjustment unit (120) can adjust the rotation angle of the second sensor attached to the bottom of the vehicle on the side where the parked vehicle is located. For example, the angle adjustment unit (120) can adjust the rotation angle so that the second sensor rotates based on the vehicle's driving direction and the location of the parked vehicle. Specifically, if the angle adjustment unit (120) detects that the nearest parked vehicle is located on the left side relative to the vehicle's driving direction, it can adjust the rotation angle so that the second sensor rotates to the left. On the other hand, if the angle adjustment unit (120) detects that the nearest parked vehicle is located on the right side relative to the vehicle's driving direction, it can adjust the rotation angle so that the second sensor rotates to the right.

[0023] Here, the second sensor is a separate sensor other than the first sensor and may be various known sensors such as a camera, infrared camera, radar, lidar, or ultrasound attached to the front lower part of the vehicle to be suitable for detecting the front lower part and the front side lower part. However, it is not limited thereto. In addition, the second sensor may be installed to adjust the rotation angle. Specifically, the second sensor may use a motor or the like to adjust the rotation angle, but any device capable of adjusting the rotation angle may be possible.

[0024] According to another example, the angle adjustment unit (120) may set a threshold range for the rotation angle based on the field of view (FOV) of the second sensor and adjust the rotation angle within the threshold range according to the movement of the vehicle relative to the parked vehicle. For example, when the field of view of the second sensor is 100 degrees or more, the angle adjustment unit (120) may set the threshold range for the rotation angle of the second sensor to within 45 degrees. Therefore, the angle adjustment unit (120) may enable monitoring of the underside of the parked vehicle by rotating the second sensor within 45 degrees until the vehicle overtakes the parked vehicle. However, this is an example and is not limited thereto.

[0025] According to one example, the control unit (130) can monitor the underside of a parked vehicle using a second sensor and set a moving object as a target. For example, the control unit (130) can monitor movement within the space under the parked vehicle using a second sensor and set a moving object as a target. Additionally, the control unit (130) can control notification or deceleration based on the set target. For example, the control unit (130) can determine the risk of collision with the target according to various situations by performing a certain algorithm or logic using information from the second sensor. Furthermore, the control unit (130) can diversify the method of providing an alarm to the driver according to the risk of collision with the target, and can control the vehicle to automatically perform deceleration or braking when necessary. Here, the control unit (130) may be an Electric Control Unit (ECU) or a Micro Control Unit (MCU), etc.

[0026] According to another example, the control unit (130) can obtain the lateral speed of a set target, the longitudinal distance between the vehicle and the set target, and the lateral distance using a second sensor. Additionally, the control unit (130) can calculate the time to collision (TTC) with the target based on the obtained lateral speed, longitudinal distance, and lateral distance. For example, the control unit (130) can calculate a time to collision including a first time to collision and a second time to collision using at least one of the obtained lateral speed, longitudinal distance, and lateral distance. Here, the first time to collision may be the ratio of the longitudinal distance to the speed of the vehicle, and the second time to collision may be the ratio of the difference between the lateral distance and the lateral speed to the lateral speed.

[0027] According to another example, the control unit (130) may control notification or deceleration based on the estimated collision time with the calculated target. For example, if the control unit (130) determines that the first estimated collision time and the second estimated collision time are shorter than the first reference time, it may control the vehicle to provide a notification. Specifically, the control unit (130) may control the vehicle to provide an alarm using a visible warning, an audible warning, a haptic warning, etc., depending on the result of the determination. Alternatively, the control unit (130) may control the vehicle to provide an alarm by changing the alarm combination or the amount of the alarm according to the degree to which the driver perceives the risk of collision.

[0028] As another example, if the control unit (130) determines that the first collision prediction time and the second collision prediction time are smaller than the second reference time, it can control the vehicle to perform partial braking. Specifically, the control unit (130) can, depending on the result of the determination, control the vehicle to perform partial braking by transmitting a partial braking command of approximately 0.2g to the brake device, where the total braking force is defined as 1g. This braking force may change depending on the vehicle's design method or the type of vehicle, but is not limited thereto. However, partial braking may refer to a braking force smaller than the emergency braking of the brake device. As another specific example, the control unit (130) can control the vehicle to perform partial braking by changing the braking force based on the difference between the collision prediction time and the second reference time. The control unit (130) may divide the system into multiple sections based on the difference between the expected collision time and the second reference time, and control the system to perform partial braking in multiple stages by applying 0.2g, 0.4g, 0.6g, etc., to each section. That is, the control unit (130) may control the system to perform partial braking by increasing the braking force as the calculated expected collision time decreases.

[0029] As another example, if the control unit (130) determines that the first collision estimated time and the second collision estimated time are shorter than the third reference time, it can control the vehicle to perform emergency braking. Specifically, the control unit (130) can, depending on the result of the determination, control the vehicle to perform emergency braking by transmitting an emergency braking command of approximately 1g to the brake device, where the total braking force is defined as 1g. Here, emergency braking may mean full braking. Meanwhile, the control unit (130) can maintain an alarm while performing partial braking or emergency braking.

[0031] FIG. 2 is a flowchart illustrating the operation of a vehicle control device according to one embodiment of the present disclosure.

[0032] Referring to FIG. 2, a position detection unit (110) according to one embodiment of the present disclosure can detect a parked vehicle (S210). For example, the position detection unit (110) can detect another vehicle located within a certain distance from the vehicle using a first sensor and determine whether the other vehicle corresponds to a parked vehicle based on the relative speed of the detected other vehicle. For example, the position detection unit (110) can detect a front vehicle located within a predetermined certain distance among front vehicles located in front of or on the front side of the vehicle using the first sensor as a other vehicle. In addition, the position detection unit (110) may detect a front vehicle located within a minimum secured distance according to the vehicle speed as a other vehicle even if it is not within a predetermined certain distance. Furthermore, the position detection unit (110) can determine whether the other vehicle corresponds to a parked vehicle by prioritizing other vehicles located within a predetermined certain distance according to the vehicle speed. As another example, the position detection unit (110) can determine whether another vehicle is a parked or stopped vehicle based on the relative speed information of another vehicle and the speed information of the vehicle using the first sensor. In addition, the position detection unit (110) can detect whether the parked or stopped vehicle is located on the left or right side relative to the vehicle's driving direction. Detailed information regarding the operation of detecting the position of the parked or stopped vehicle will be described later with reference to FIG. 3.

[0033] An angle adjustment unit (120) according to one embodiment of the present disclosure can adjust the rotation angle of a second sensor (S220). For example, the angle adjustment unit (120) can adjust the rotation angle of a second sensor attached to the bottom of a vehicle on the side where a parked vehicle is located. For example, the angle adjustment unit (120) can set a threshold range for the rotation angle based on the field of view of the second sensor and adjust the rotation angle within the threshold range set according to the movement of the vehicle relative to the parked vehicle. As a specific example, the angle adjustment unit (120) can set a threshold range for the rotation angle of the second sensor so that it can monitor even a parked vehicle located right next to the vehicle. Here, the threshold range for the rotation angle can be set as a value obtained by subtracting the field of view of the second sensor from 180 degrees and dividing the result by 2. In addition, the angle adjustment unit (120) can maintain the rotation angle of the second sensor at the existing angle when a parked vehicle is located within the field of view of the second sensor. On the other hand, the angle adjustment unit (120) can adjust the rotation angle of the second sensor based on the position of the parked vehicle when the parked vehicle is located outside the field of view of the second sensor. Meanwhile, the angle adjustment unit (120) can also adjust the rotation speed of the second sensor based on the driving speed of the vehicle.

[0034] A control unit (130) according to one embodiment of the present disclosure can monitor the underside of a parked vehicle using a second sensor (S230). For example, the control unit (130) can monitor the underside of a parked vehicle using the second sensor and set a moving object as a target. For example, the control unit (130) can detect a moving object by monitoring the underside of a parked vehicle located in the front side using a second sensor attached to the underside of the vehicle. Specifically, the control unit (130) can determine whether the object is a moving object by detecting the angle, distance, relative speed, relative acceleration, etc., with respect to an object located at the underside of the parked vehicle using the second sensor. And if the control unit (130) determines that an object located at the underside of the parked vehicle is a moving object, it can set it as a target.

[0035] The control unit (130) can control notification or deceleration based on the target (S240). For example, the control unit (130) can calculate the expected collision time based on the lateral speed of the set target, the longitudinal distance between the vehicle and the set target, and the lateral distance. Additionally, the control unit (130) can control notification or deceleration by comparing the expected collision time with a first reference time, a second reference time, or a third reference time. Detailed information regarding the operation of setting the target and calculating the expected collision time will be described later with reference to FIGS. 5 and 6.

[0037] FIG. 3 is a flowchart exemplarily illustrating an operation for detecting the location of a parked vehicle according to one embodiment of the present disclosure.

[0038] Referring to FIG. 3, a position detection unit (110) according to one embodiment of the present disclosure can monitor the front, front side, and rear side of a vehicle (S310). For example, the position detection unit (110) can monitor the vehicle's driving road or an object in front using a first sensor installed at a location suitable for monitoring the front or front side of the vehicle. Alternatively, the position detection unit (110) can monitor an object located at the rear of the vehicle using a first sensor installed at a location suitable for monitoring the rear of the vehicle. For example, the position detection unit (110) can monitor a fixed area for each of the first sensors, which are composed of one or more sensors. Furthermore, the first sensor may refer to all sensors except the second sensor, which are generally attached to the vehicle.

[0039] A position detection unit (110) according to one embodiment of the present disclosure can determine whether there is a parked or stopped vehicle (S320). For example, the position detection unit (110) can detect another vehicle within a certain distance located in front of or to the front side of the vehicle using a first sensor. Then, the position detection unit (110) can determine whether there is a parked or stopped vehicle based on whether the detected other vehicle is a parked or stopped vehicle. For example, the position detection unit (110) can determine whether it corresponds to a parked or stopped vehicle based on the relative speed of the other vehicle and the speed of the vehicle obtained using the first sensor. For another example, the position detection unit (110) can determine whether the other vehicle is a vehicle parked on the side of the road rather than the driving lane based on the position of the left or right lane of the driving road where the vehicle is driving, or the distance to objects such as sidewalk blocks or curbs using the first sensor.

[0040] A position detection unit (110) according to one embodiment of the present disclosure can detect the position of a parked vehicle based on the driving direction of the vehicle (S330). For example, if the position detection unit (110) determines that a parked vehicle exists, it can detect the position of the parked vehicle based on the driving direction of the vehicle. On the other hand, if the position detection unit (110) determines that no parked vehicle exists, it can monitor the front, front side, and rear side of the vehicle again to detect other vehicles in front of or front side of the vehicle. For example, in the case where there are multiple parked vehicles, the position detection unit (110) can determine the parked vehicle closest to the vehicle as the first priority and detect whether the determined parked vehicle is located on the left or right side based on the driving direction of the vehicle.

[0041] An angle adjustment unit (120) according to one embodiment of the present disclosure can adjust the rotation angle of the second sensor (S340). For example, the angle adjustment unit (120) can adjust the rotation angle of the second sensor attached to the bottom of the vehicle on the side where the parked vehicle is located. For example, the angle adjustment unit (120) can set a threshold range for the rotation angle based on the field of view of the second sensor and adjust the rotation angle within the threshold range set according to the movement of the vehicle relative to the parked vehicle.

[0043] FIG. 4 is a drawing for explaining the operation of adjusting the rotation angle of a second sensor according to one embodiment of the present disclosure.

[0044] Referring to FIG. 4, the operation of the angle adjustment unit (120) according to one embodiment of the present disclosure adjusting the rotation angle of the second sensor can be specifically described. For example, the angle adjustment unit (120) can adjust the rotation angle of the second sensor toward the side where the parked vehicle is located. For example, the position detection unit (110) can detect a parked vehicle (420) on the right side of the road immediately adjacent to the driving road where the vehicle (410) is currently driving. Then, the angle adjustment unit (120) can maintain the rotation angle of the second sensor (400) or adjust it to rotate to the right depending on whether the second sensor (400) of the vehicle (410) can monitor the bottom of the parked vehicle (420) on the right side of the road. On the other hand, the position detection unit (110) can detect a parked vehicle (430) on the left side of the road adjacent to the driving road where the vehicle (410) is currently driving. Then, the angle adjustment unit (120) can maintain the rotation angle of the second sensor (400) or adjust it to rotate to the left depending on whether the second sensor (400) of the vehicle (410) can monitor the bottom of the parked vehicle (430) on the right side of the road. For example, if the parked vehicle (420) is located within the field of view from the existing position of the second sensor (400) of the vehicle (410), the angle adjustment unit (120) can maintain the rotation angle of the second sensor (400). Or, if the parked vehicle (420) is located outside the field of view from the existing position of the second sensor (400) of the vehicle (410), the angle adjustment unit (120) can maintain the rotation angle of the second sensor (400) so that the parked vehicle (420) is located within the field of view of the second sensor (400).

[0045] In another example, the angle adjustment unit (120) can adjust the rotation angle of the second sensor (400) until the vehicle (410) moves ahead of the parked vehicle (420, 430). Specifically, the angle adjustment unit (120) can set a threshold range for the rotation angle and adjust the rotation angle within the set threshold range, thereby not detecting when the vehicle (410) is positioned ahead of the parked vehicle (420, 430).

[0046] As another example, the angle adjustment unit (120) can control the rotational speed of the second sensor (400) so that the parked vehicle (420, 430) is positioned within the field of view of the second sensor (400) based on the moving speed of the vehicle (410) when adjusting the rotational angle of the second sensor (400) within a critical range.

[0048] FIG. 5 is a flowchart illustrating the operation of setting a target and calculating the expected collision time according to one embodiment of the present disclosure.

[0049] Referring to FIG. 5, an angle adjustment unit (120) according to one embodiment of the present disclosure can adjust the rotation angle of the second sensor (S340). For example, if the parked vehicle is located on the left, the angle adjustment unit (120) can adjust the rotation angle so that the second sensor attached to the bottom of the vehicle rotates to the left. And, if the parked vehicle is located on the right, the angle adjustment unit (120) can adjust the rotation angle so that the second sensor attached to the bottom of the vehicle rotates to the right.

[0050] A control unit (130) according to one embodiment of the present disclosure can monitor the underside of a parked vehicle using a second sensor (S510). For example, the control unit (130) can adjust the rotation angle so that the parked vehicle enters the field of view of the second sensor, and monitor the underside of the parked vehicle based on information obtained through the second sensor. The second sensor may be attached to the underside of the vehicle and may be suitable for monitoring the underside of the parked vehicle.

[0051] A control unit (130) according to one embodiment of the present disclosure can set a moving object as a target (S520). For example, if the control unit (130) recognizes a moving object at the bottom of a parked vehicle using a second sensor, the recognized moving object can be set as a target. For example, if the control unit (130) recognizes a moving object by detecting the position, movement, etc. of an object from the side where the parked vehicle is located using a second sensor, the recognized moving object can be set as a target and monitored intensively.

[0052] A control unit (130) according to one embodiment of the present disclosure can obtain a longitudinal distance, a lateral distance, and a lateral speed when a target is set (S530). For example, the control unit (130) can obtain a longitudinal distance and a lateral distance from the vehicle based on the set target from information monitored using a second sensor, and obtain a lateral speed of the target. Additionally, the control unit (130) may obtain a longitudinal distance, a lateral distance, and a lateral speed from information measured using a first sensor together as needed.

[0053] A control unit (130) according to one embodiment of the present disclosure can calculate a first collision prediction time and a second collision prediction time (S540). For example, the control unit (130) can determine whether there is a possibility of a collision with the vehicle by calculating the collision prediction time between the vehicle and the set target. In addition, the control unit (130) can calculate a collision prediction time including the first collision prediction time and the second collision prediction time using at least one of the lateral speed, longitudinal distance, and lateral distance of the acquired target. For example, the control unit (130) can calculate the first collision prediction time as the ratio of the longitudinal distance to the speed of the vehicle. In addition, the control unit (130) can calculate the second collision prediction time as the ratio of the difference between the lateral distance and the lateral movement distance to the lateral speed. At this time, the lateral movement distance is the distance the target moves laterally for 1 second, and can be calculated using the lateral speed (630) of the target.

[0055] A control unit (130) according to one embodiment of the present disclosure can perform notification and deceleration control (S550). For example, if the control unit (130) determines that the expected collision time is less than a preset first reference time, it can control the vehicle to provide a notification. Additionally, if the control unit (130) determines that the expected collision time is less than a preset second reference time, it can control the vehicle to perform partial braking, and if it determines that the expected collision time is less than a preset third reference time, it can control the vehicle to perform emergency braking. Meanwhile, the control unit (130) can control the vehicle to provide an alarm while performing braking.

[0057] FIG. 6 is a diagram illustrating an operation to control notification and deceleration according to the expected collision time according to one embodiment of the present disclosure.

[0058] Referring to FIG. 6, a specific operation can be described in which a control unit (130) according to one embodiment of the present disclosure controls notification and deceleration according to the expected collision time. For example, the control unit (130) may calculate the first expected collision time as a ratio of the longitudinal distance (620) to the speed of the vehicle. Here, the longitudinal distance (620) may be the relative lateral distance between the vehicle and the target (600). For another example, the control unit (130) may calculate the second expected collision time as a ratio of the difference between the lateral distance (610) and the lateral movement distance to the lateral speed (630). Specifically, the lateral distance (610) may be the relative longitudinal distance between the vehicle and the target (600), and the lateral speed (630) may be the lateral velocity of the target (600) moving toward the vehicle. Additionally, the lateral movement distance can be calculated using the lateral velocity (630) of the target as the distance the target moves laterally for 1 second.

[0059] Here, the target (600) may be a moving object detected at the bottom of a parked vehicle (420) using the second sensor (400). However, if the moving object moves to the opposite side of the vehicle, it may be excluded from the target (600).

[0060] A control unit (130) according to one embodiment of the present disclosure can determine the possibility of a collision using the calculated Time to collision (TTC) with the target (600) and control the notification or deceleration of the vehicle. For example, if the control unit (130) determines that the calculated first time to collision and the second time to collision are shorter than the first reference time, it can control the vehicle to provide a notification. Here, the first reference time may be set to 2 seconds, but is not limited thereto. As another example, if the control unit (130) determines that the calculated first time to collision and the second time to collision are shorter than the second reference time, it can control the vehicle to perform partial braking. Additionally, the control unit (130) can control the vehicle to perform partial braking by changing the braking force based on the difference between the time to collision and the second reference time. Here, the second reference time may be set to 1.5 seconds, but is not limited thereto. As another example, the control unit (130) can control the vehicle to perform emergency braking if it determines that the calculated first collision estimated time and the second collision estimated time are less than the third reference time. Here, the third reference time may be set to 0.8 seconds, but is not limited thereto.

[0061] A control unit (130) according to one embodiment of the present disclosure may control deceleration through either AEB (Autonomous Emergency Braking) or ACC (Adaptive Cruise Control) when a collision is anticipated based on a judgment result using the estimated collision time. For example, when performing deceleration through partial braking or emergency braking, the control unit (130) may control deceleration by determining the vehicle's deceleration based on the distance between the vehicle and the rear vehicle, the speed of the vehicle and the rear vehicle, and the deceleration of the rear vehicle. However, if a collision with a target is anticipated despite braking, the control unit (130) may control steering to move to another lane. Alternatively, the control unit (130) may control steering to move to another lane if a collision with a rear vehicle is anticipated due to deceleration. As another example, if a collision is anticipated, the control unit (130) may control providing a notification to the vehicle and providing a notification to the target or the rear vehicle.

[0063] Below, a vehicle control method that can be performed by the vehicle control device described with reference to FIGS. 1 to 6 will be described.

[0064] FIG. 7 is a flowchart of a vehicle control method according to one embodiment of the present disclosure.

[0065] Referring to FIG. 7, the vehicle control method of the present disclosure may include a position detection step for detecting whether a parked or stopped vehicle is located (S710). For example, the vehicle control device may detect another vehicle located within a certain distance from the vehicle using a first sensor of the vehicle. Additionally, the vehicle control device may determine whether the detected other vehicle corresponds to a parked or stopped vehicle based on the relative speed of the other vehicle obtained using the first sensor of the vehicle. For example, the vehicle control device may detect objects existing in front, front-side, and rear-side of the vehicle using the first sensor, and may obtain information regarding the distance, relative speed, and relative acceleration between the vehicle and the detected objects. Here, the first sensor may be composed of one or more various known sensors, including a camera, an infrared camera, radar, lidar, ultrasound, etc., installed in a location suitable for detecting the front of the vehicle. Additionally, the first sensor may be installed around the rearview mirror, grille, headlights, etc., to detect the front of the vehicle. However, it is not limited thereto.

[0066] As another example, the vehicle control device can use a first sensor to detect whether a parked vehicle is located on the left or right side relative to the vehicle's driving direction. For example, the vehicle control device can use the first sensor to determine the parked vehicle closest to the vehicle among the detected parked vehicles. The vehicle control device can also detect whether the closest parked vehicle is located on the left or right side relative to the vehicle's driving direction.

[0067] The vehicle control method may include an angle adjustment step for adjusting the rotation angle of the second sensor (S720). For example, the vehicle control device may adjust the rotation angle of the second sensor attached to the bottom of the vehicle toward the side where the parked vehicle is located. For example, the vehicle control device may adjust the rotation angle so that the second sensor rotates based on the driving direction of the vehicle and the location of the parked vehicle. Here, the second sensor is a separate sensor other than the first sensor and may be various known sensors such as a camera, infrared camera, radar, lidar, or ultrasonic sensor attached to the front bottom of the vehicle suitable for detecting the front bottom and the front side bottom. However, it is not limited thereto. Additionally, the second sensor may be configured to adjust the rotation angle. Specifically, the second sensor may use a motor or the like to adjust the rotation angle, but any device capable of adjusting the rotation angle may be possible.

[0068] As another example, the vehicle control unit may set a threshold range for the rotation angle based on the field of view (FOV) of the second sensor and adjust the rotation angle within the threshold range according to the movement of the vehicle relative to the parked vehicle. For example, when the field of view of the second sensor is 100 degrees or more, the vehicle control unit may set the threshold range for the rotation angle of the second sensor to within 45 degrees. Therefore, the vehicle control unit may be able to monitor the underside of the parked vehicle by rotating the second sensor within 45 degrees until the vehicle overtakes the parked vehicle. However, this is merely an example and is not limited thereto.

[0069] The vehicle control method may include a control step for controlling notification or deceleration based on a target (S730). For example, the vehicle control device may use a second sensor to monitor the underside of a parked vehicle and set a moving object as a target. Additionally, the vehicle control device may control notification or deceleration based on the set target.

[0070] As another example, the vehicle control device may control notification or deceleration based on a set target. Additionally, the vehicle control device may calculate a Time to Collision (TTC) with the target based on acquired lateral speed, longitudinal distance, and lateral distance. For example, the vehicle control device may calculate a Time to Collision including a first Time to Collision and a second Time to Collision using at least one of the acquired lateral speed, longitudinal distance, and lateral distance. Here, the first Time to Collision may be the ratio of the longitudinal distance to the vehicle speed, and the second Time to Collision may be the ratio of the difference between the lateral distance and the lateral travel distance to the lateral speed.

[0071] As another example, the vehicle control unit may control notification or deceleration based on the calculated estimated time of collision with the target. For example, if the vehicle control unit determines that the first estimated time of collision and the second estimated time of collision are less than the first reference time, it may control the vehicle to provide a notification. As another example, if the vehicle control unit determines that the first estimated time of collision and the second estimated time of collision are less than the second reference time, it may control the vehicle to perform partial braking. As yet another example, if the vehicle control unit determines that the first estimated time of collision and the second estimated time of collision are less than the third reference time, it may control the vehicle to perform emergency braking. Meanwhile, the vehicle control unit may maintain the provision of an alarm while performing partial braking or emergency braking.

[0073] As described above, the present disclosure provides a vehicle control device and method capable of preventing collision accidents in advance. In particular, by adjusting the rotation angle of a sensor attached to the front lower part of a vehicle, the vehicle control device and method can monitor the underside of a parked vehicle to expand the detection area of ​​the vehicle and predict potential collision risk situations caused by blind spots, thereby preventing collision accidents in advance.

[0075] The foregoing description is merely an illustrative explanation of the technical concept of the present disclosure, and those skilled in the art to which the present disclosure pertains may make various modifications and variations within the scope of the essential characteristics of the technical concept. Furthermore, since these embodiments are intended to explain, not limit, the scope of the technical concept is not limited by these embodiments. The scope of protection of the present disclosure shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present disclosure.

Claims

Claim 1 A position detection unit that detects whether a parked vehicle is located on the left or right side relative to the driving direction of the vehicle using a first sensor of the vehicle; an angle adjustment unit that adjusts the rotation angle of a second sensor attached to the front lower part of the vehicle toward the side where the parked vehicle is located; The system includes a control unit that monitors the space beneath the parked vehicle using the second sensor, sets a moving object beneath the parked vehicle as a target, and controls notification or deceleration based on the target; the control unit obtains the lateral velocity of the target, the longitudinal distance between the vehicle and the target, and the lateral distance using the second sensor, calculates the Time to Collision (TTC) with the target, and compares the Time to Collision with a set reference time; the control unit calculates the Time to Collision, including a first Time to Collision and a second Time to Collision, using at least one of the lateral velocity, the longitudinal distance, and the lateral distance, wherein the first Time to Collision is the ratio of the longitudinal distance to the speed of the vehicle, and the second Time to Collision is the ratio of the difference between the lateral distance and the lateral displacement distance to the lateral velocity; and if the control unit determines that the first Time to Collision and the second Time to Collision are smaller than a second reference time, the vehicle performs partial braking. A vehicle control device characterized by controlling to perform, and controlling the vehicle to perform emergency braking when it is determined that the first collision estimated time and the second collision estimated time are smaller than the third reference time. Claim 2 A vehicle control device according to claim 1, wherein the position detection unit detects another vehicle located within a certain distance from the vehicle using the first sensor, and determines whether the other vehicle corresponds to the parked vehicle based on the relative speed of the detected other vehicle. Claim 3 A vehicle control device according to claim 1, wherein the angle adjustment unit sets a threshold range of the rotation angle based on the field of view (FOV) of the second sensor and adjusts the rotation angle within the threshold range according to the movement of the vehicle based on the parked vehicle. Claim 4 delete Claim 5 delete Claim 6 A vehicle control device according to claim 1, wherein the control unit controls the vehicle to provide a notification when it is determined that the first collision estimated time and the second collision estimated time are smaller than the first reference time. Claim 7 delete Claim 8 A position detection step of detecting whether a parked vehicle is located on the left or right side relative to the driving direction of the vehicle using a first sensor of the vehicle; an angle adjustment step of adjusting the rotation angle of a second sensor attached to the front lower part of the vehicle toward the side where the parked vehicle is located; The method includes a control step for monitoring the space beneath the parked vehicle using the second sensor to set a moving object beneath the parked vehicle as a target, and controlling notification or deceleration based on the target; the control step includes obtaining the lateral velocity of the target, the longitudinal distance and lateral distance between the vehicle and the target using the second sensor, calculating the Time to Collision (TTC) with the target, and comparing the Time to Collision with a set reference time; the control step calculates the Time to Collision including a first Time to Collision and a second Time to Collision using at least one of the lateral velocity, the longitudinal distance, and the lateral distance, wherein the first Time to Collision is the ratio of the longitudinal distance to the speed of the vehicle, and the second Time to Collision is the ratio of the difference between the lateral distance and the lateral displacement distance to the lateral velocity; and if the control step determines that the first Time to Collision and the second Time to Collision are smaller than the second reference time, the vehicle is a part A vehicle control method characterized by controlling the vehicle to perform braking, and controlling the vehicle to perform emergency braking when it is determined that the first collision prediction time and the second collision prediction time are smaller than the third reference time. Claim 9 A vehicle control method according to claim 8, wherein the position detection step detects another vehicle located within a certain distance from the vehicle using the first sensor, and determines whether the other vehicle corresponds to the stopped or parked vehicle based on the relative speed of the detected other vehicle. Claim 10 A vehicle control method according to claim 8, wherein the angle adjustment step is characterized by setting a threshold range of the rotation angle based on the field of view (FOV) of the second sensor, and adjusting the rotation angle within the threshold range according to the movement of the vehicle based on the parked vehicle. Claim 11 delete Claim 12 delete Claim 13 A vehicle control method according to claim 8, wherein the control step controls the vehicle to provide a notification when it is determined that the first collision estimated time and the second collision estimated time are smaller than the first reference time. Claim 14 delete

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