Autonomous emergency breaking system and method

Abstract

The present disclosure relates to an emergency braking system and method. Specifically, the emergency braking system according to the present disclosure includes a sensor unit comprising a gravity sensor that detects gravity applied to a vehicle and a vehicle speed sensor that detects the vehicle speed; a slope calculation unit that calculates the slope of a road surface on which the vehicle is traveling based on the vehicle speed and gravity; and a control unit that adjusts the timing of an AEB alarm based on the calculated slope of the road surface.

Description

Technology Field

[0001] The present embodiments relate to an emergency braking system and method. Background Technology

[0002] With the rapid advancement of electronic control technology, various devices in vehicles that previously operated by mechanical means are now being driven by electrical means for reasons such as driver convenience and driving safety, and automotive systems are becoming increasingly sophisticated and state-of-the-art.

[0003] For example, the AEB (Autonomous Emergency Braking) system is a device that has been shown to be highly effective in avoiding rear-end collisions or pedestrian collisions, or in mitigating damage.

[0004] Conventional AEB systems primarily consider only flat roads, making it difficult to accurately calculate the braking distance of a vehicle on inclines. Additionally, when objects such as a preceding vehicle are present, it is difficult to calculate the distance to the object using only camera sensors, making it difficult to respond to such situations. The problem to be solved

[0005] Against this backdrop, the present disclosure aims to provide an emergency braking system and method that calculates the slope of an incline on which a vehicle is traveling and adjusts the timing of the AEB warning according to the slope. means of solving the problem

[0006] In order to solve the aforementioned problem, in one aspect, the present disclosure provides an emergency braking system comprising a sensor unit including a gravity sensor that detects gravity applied to a vehicle and a vehicle speed sensor that detects the vehicle speed, a slope calculation unit that calculates the slope of the road surface on which the vehicle is traveling based on the vehicle speed and gravity, and a control unit that adjusts the timing of the AEB alarm based on the calculated slope of the road surface.

[0007] In another aspect, the present disclosure provides an emergency braking method comprising a sensor detection step for detecting gravity applied to a vehicle and detecting the vehicle speed, a slope calculation step for calculating the slope of a road surface on which the vehicle is traveling based on the vehicle speed and gravity, and an AEB warning timing adjustment step for adjusting the AEB warning timing based on the calculated slope of the road surface. Effects of the invention

[0008] According to the present disclosure, an emergency braking system and method can secure an efficient braking distance by calculating the slope of an incline on which a vehicle is traveling and adjusting the timing of an AEB warning suitable for the calculated slope. Brief explanation of the drawing

[0009] FIG. 1 is a diagram illustrating how a camera sensor and a radar sensor, according to one embodiment, detect an object on an incline and calculate a distance. FIG. 2 is a block diagram illustrating an emergency braking system according to one embodiment of the present disclosure. FIG. 3 is a diagram illustrating the stopping distance according to the AEB alarm time adjustment in one embodiment. FIG. 4 is a flowchart illustrating an emergency braking method according to one embodiment of the present disclosure. FIG. 5 is a flowchart for more specifically explaining step S430 according to one embodiment. Specific details for implementing the invention

[0010] 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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.).

[0015] A typical Autonomous Emergency Braking (AEB) detects objects through camera sensors and determines the likelihood of a collision between the object and the vehicle; if it is determined that a collision will occur, it outputs an AEB alarm and performs control accordingly.

[0016] Since the distance is calculated by a camera sensor, if the camera sensor incorrectly detects the distance to an object, the AEB may not activate even if the object is close, or it may activate even if the object is far away. If the aforementioned situation is repeated, it can cause not only driving inconvenience but also lead to accidents.

[0017] Figure 1 shows the distance of an object detected by a radar sensor and a camera sensor mounted on a vehicle on an incline. Referring to Figure 1, the camera sensor perceives the distance to the object (Target) as being closer than the radar sensor on the incline. Since the longitudinal distance detected by the radar sensor is highly reliable, if we assume that the distance detected by the radar sensor is the actual distance, the camera sensor perceives the object as being closer than the actual distance.

[0018] In such cases, as mentioned above, driving inconvenience and accidents may occur.

[0019] In order to solve the aforementioned problem, an emergency braking system (10) according to one embodiment of the present disclosure will be described below with reference to the attached drawings.

[0020] FIG. 1 is a block diagram for explaining an emergency braking system (10) according to one embodiment of the present disclosure.

[0021] Referring to FIG. 1, an emergency braking system (10) according to one embodiment of the present disclosure may include a sensor unit (110), a slope calculation unit (120), and a control unit (130), etc.

[0022] An emergency braking system (10) according to one embodiment of the present disclosure may be an ADAS (Advance Driver Assistance Systems) that is mounted on a vehicle (20) and provides information to assist in driving the vehicle (20) or assists in the driver's control of the vehicle (20).

[0023] Here, the vehicle (20) may refer to a vehicle equipped with a motor that rotates the wheels using that power to move on the ground without relying on a railway or a constructed line. Additionally, the vehicle (20) may be an electric vehicle that uses electricity as its power source, and may be an electric vehicle that obtains driving energy by rotating a motor with electricity stored in a battery rather than obtaining driving energy from the combustion of fossil fuels.

[0024] The emergency braking system (10) can be applied to a manned vehicle and an autonomous vehicle in which a driver is on board and controls the vehicle (20).

[0025] Additionally, the emergency braking system (10) of the present disclosure can be applied on winding roads.

[0026] The sensor unit (110) may include a gravity sensor that detects gravity applied to the vehicle (20) and a vehicle speed sensor that detects the vehicle speed of the vehicle (20).

[0027] Specifically, the gravity sensor may be included in the Electronic Stability Control (ESC) which is part of the Autonomous Emergency Brake (AEB). The vehicle speed sensor may be a wheel speed sensor that detects the wheel speed of the vehicle (20).

[0028] Also, the gravity sensor includes a vehicle body gravity sensor and a wheel gravity sensor, and each sensor can detect gravity applied to the vehicle (20). The vehicle speed sensor can detect the vehicle speed of the vehicle (20) by detecting the wheel rotation speed of the vehicle (20).

[0029] The slope calculation unit (120) can calculate the slope of the road surface on which the vehicle (20) is traveling based on the vehicle speed and gravity of the vehicle (20). Here, the slope can be calculated by comparing the gravity value detected by the gravity sensor with the derivative value of the vehicle speed detected by the vehicle speed sensor. For example, the slope of the road surface on which the vehicle (20) is traveling can be calculated by comparing the gravity value detected by the wheel gravity sensor mounted on the front wheel of the vehicle (20) with the gravity value detected by the wheel gravity sensor mounted on the rear wheel of the vehicle (20).

[0030] The control unit (130) can adjust the timing of the AEB alarm based on the calculated slope of the road surface.

[0031] Referring to Table 1 below, the object (30) detected by the camera sensor mounted on the vehicle (20) may have a different detected distance depending on the slope.

[0032] [Table 1]

[0033]

[0034] Referring to Table 1, it can be seen that at an uphill slope of 7 degrees, the TTC error is calculated to be -0.25 seconds, at an uphill slope of 2 degrees, the TTC error is -0.05 seconds, and at a downhill slope of -3 degrees, the TTC error is +0.04 seconds. That is, as shown in Fig. 1, based on the distance to the object (30) detected by the radar, the camera sensor detects the object (30) closer at an uphill slope, and the camera sensor detects the object (30) further away at a downhill slope.

[0035] Accordingly, the control unit (130) can adjust the timing of the AEB alarm to be delayed as the calculated slope of the road surface increases, and can adjust the timing of the AEB alarm to be earlier as the calculated slope of the road surface decreases.

[0036] The control unit (130) can divide the calculated road surface slope into one of the multiple slope sections and adjust the AEB alarm timing corresponding to the divided section.

[0037] Referring to Table 2 below, for example, the control unit (130) can classify the uphill slope section into 5 sections.

[0038] [Table 2]

[0039]

[0040] If the calculated slope is calculated as an upward slope of 4%, the control unit (130) determines that it is a second section and can adjust the AEB alarm timing to -0.1 seconds, which is the AEB alarm timing corresponding to the second section. Accordingly, AEB braking can be delayed by -0.05 seconds.

[0041] The aforementioned multiple sections are merely examples and can be applied to downhill slopes as well; furthermore, the slope range for each section can be set narrower or wider depending on the purpose.

[0042] According to the above description, the emergency braking system (10) can perform appropriate braking to avoid an object (30) expected to collide by calculating the slope and adjusting the timing of the AEB alarm according to the slope.

[0043] FIG. 3 is a diagram illustrating the stopping distance according to the AEB alarm time adjustment in one embodiment.

[0044] Referring to FIG. 3, when the probability of a collision between the vehicle (20) and an object (30) is greater than a threshold, the emergency braking system (10) outputs an AEB alarm and performs AEB braking, and the distance until the vehicle stops after performing AEB braking may be a. And, the stopping distance c may mean the distance between the point where the vehicle (20) stops due to AEB braking and the object (30).

[0045] Here, when the control unit (130) determines that the vehicle (20) is driving on an incline, it can calculate the slope of the road surface and adjust the AEB alarm according to the slope. If the slope of the road surface is calculated to be an uphill slope, the control unit (130) can delay the AEB alarm by b of FIG. 3. Accordingly, the stopping distance c can be shortened.

[0046] Referring to Table 3 below, it can be seen that as a result of adjusting the AEB alarm timing according to the present disclosure and delaying the AEB alarm under upward slope conditions, the stopping distance was improved from 4.16m to 3.36m.

[0047] [Table 3]

[0048]

[0049] The control unit (130) can adjust the timing of the AEB alarm when the possibility of an object (30) colliding with the vehicle (20) is greater than a threshold. To this end, the sensor unit (110) may further include an image sensor that detects an object (30) present around the vehicle (20). Here, the image sensor may be, for example, a camera sensor.

[0050] As described above, in a situation where a collision is anticipated, the slope of the road surface on which the vehicle (20) is traveling is determined, and by adjusting the timing of the AEB warning, a more accurate stopping distance can be maintained.

[0051] This control unit (130) can be implemented as an Electronic Controller Unit (ECU), a microcomputer, etc.

[0052] In one embodiment, the control unit (130) may be implemented as an Electronic Control Unit (ECU). The Electronic Control Unit may include at least one element among one or more processors, memory, storage, user interface inputs, and user interface outputs, and these may communicate with each other via a bus. Additionally, the computer system may also include a network interface for connecting to a network. The processor may be a CPU or a semiconductor device that executes processing instructions stored in memory and / or storage. The memory and storage may include various types of volatile / non-volatile storage media. For example, the memory may include ROM and RAM.

[0053] Hereinafter, an emergency braking method using an emergency braking system (10) capable of performing all of the above-described disclosures will be described.

[0054] FIG. 4 is a flowchart illustrating an emergency braking method according to one embodiment of the present disclosure.

[0055] Referring to FIG. 4, the emergency braking method according to the present disclosure may include a sensor detection step (S410) for detecting gravity applied to a vehicle (20) and detecting the vehicle speed of the vehicle (20), a slope calculation step (S420) for calculating the slope of the road surface on which the vehicle (20) is traveling based on the vehicle speed and gravity of the vehicle (20), and an AEB alarm timing adjustment step (S430) for adjusting the AEB alarm timing based on the calculated slope of the road surface.

[0056] Here, the gradient can be calculated by comparing the gravity value detected by the gravity sensor with the derivative of the vehicle speed detected by the vehicle speed sensor.

[0057] The AEB alarm timing adjustment step (S430) can adjust the AEB alarm timing when the possibility of an object (30) colliding with the vehicle (20) is greater than or equal to a threshold. To this end, the sensor detection step (S410) can further detect objects (30) present around the vehicle (20).

[0058] The adjusting AEB alarm timing adjustment step (S430) can adjust the AEB alarm timing so that it is delayed as the calculated road surface gradient increases.

[0059] The adjusting AEB alarm timing adjustment step (S430) can be adjusted so that the AEB alarm timing becomes earlier as the calculated road surface gradient decreases.

[0060] FIG. 5 is a flowchart for more specifically explaining step S430 according to one embodiment.

[0061] Referring to FIG. 5, the emergency braking system (10) can divide the calculated slope into specific sections (S510). The emergency braking system (10) can set multiple sections so that the AEB alarm timing operates similarly to flat ground depending on the slope. These sections can be divided into, for example, the 5 sections of the aforementioned Table 3, and can be set to more or fewer sections depending on the purpose.

[0062] The emergency braking system (10) can calculate the AEB warning time corresponding to a specific section (S520).

[0063] The emergency braking system (10) can assign an AEB alarm timing to each of the multiple sections. When the calculated slope is classified into any one of the multiple sections, the emergency braking system (10) can specify an AEB alarm timing corresponding to the classified space. Here, the AEB alarm timing corresponding to each section can be set based on, for example, the distance to an object (30) calculated by radar.

[0064] The emergency braking system (10) can adjust the existing AEB warning timing according to a specified AEB warning timing. And, as the AEB warning timing is adjusted, the emergency braking system (10) can control AEB braking to be performed based on the adjusted AEB warning timing.

[0065] As described above, according to the present disclosure, an emergency braking system and method can use a camera sensor to adjust the timing of the AEB warning to effectively perform collision avoidance with objects such as vehicles, pedestrians, bicycles, motorcycles, etc., according to the slope of the road surface.

[0066] Furthermore, the present disclosure can provide a software response to the recognition distance limit according to the inclination of the camera sensor. Accordingly, the present disclosure can overcome the limitations of the camera sensor by minimizing AEB control.

[0067] Additionally, the present disclosure can reduce inaccurate alarms and controls for objects located on the side.

[0068] 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. Explanation of the symbols

[0070] 10: Emergency braking system 110: Sensor unit 120: Slope calculation unit 130: Control unit

Claims

Claim 1 An emergency braking system comprising: a sensor unit including a gravity sensor for detecting gravity applied to a self-vehicle, a vehicle speed sensor for detecting the vehicle speed of said self-vehicle, and an image sensor including a camera sensor for detecting objects around said self-vehicle; a slope calculation unit for calculating the slope of a road surface on which said self-vehicle is traveling based on the vehicle speed and gravity of said self-vehicle; and a control unit for adjusting the timing of an AEB (Autonomous Emergency Braking) alarm based on the calculated slope of the road surface and the stopping distance, wherein the distance between said self-vehicle and said object includes a braking distance which is the distance until said self-vehicle stops after AEB braking and a stopping distance which is the distance between said self-vehicle and said object and said object, and wherein the control unit adjusts the timing of the AEB alarm to be delayed when the distance between said self-vehicle and said object is detected to be closer than the actual distance by the camera sensor on an uphill slope with a high slope, and adjusts the timing of the AEB alarm to be accelerated when the distance is detected to be farther than the actual distance by the camera sensor on an downhill slope with a low slope. Claim 2 In claim 1, the sensor unit further includes an image sensor that detects an object existing around the vehicle, and the control unit is an emergency braking system that adjusts the timing of the AEB alarm when the possibility of the object colliding with the vehicle is greater than or equal to a threshold. Claim 3 In claim 1, the control unit is an emergency braking system that adjusts the AEB alarm timing to be delayed and the stopping distance to be determined to be relatively short as the calculated road surface gradient increases. Claim 4 In claim 1, the control unit is an emergency braking system that adjusts the AEB alarm timing to be earlier as the calculated road surface slope decreases. Claim 5 In claim 1, the control unit divides the calculated road surface slope into one of a plurality of slope sections and adjusts the AEB alarm timing corresponding to the divided section, thereby establishing an emergency braking system. Claim 6 In claim 1, the slope is an emergency braking system calculated by comparing the gravity value detected by the gravity sensor and the derivative value of the vehicle speed detected by the vehicle speed sensor. Claim 7 A sensor detection step for detecting gravity applied to a self-vehicle, detecting the speed of the self-vehicle, and detecting objects around the self-vehicle using an image sensor including a camera sensor; and a slope calculation step for calculating the slope of the road surface on which the self-vehicle is traveling based on the speed and gravity of the self-vehicle. The distance between the self-vehicle and the object includes a braking distance, which is the distance until the self-vehicle stops after AEB braking, and a stopping distance, which is the distance between the stopping point of the self-vehicle due to AEB braking and the object; and includes an AEB (Autonomous Emergency Braking) alarm timing adjustment step for adjusting the AEB alarm timing based on the calculated road surface gradient and the stopping distance, wherein the AEB alarm timing adjustment step includes adjusting the AEB alarm timing to be delayed when the distance between the self-vehicle and the object is detected as being closer than the actual distance by the camera sensor on an uphill slope with a high gradient, and adjusting the AEB alarm timing to be accelerated when the distance is detected as being farther than the actual distance by the camera sensor on a downhill slope with a low gradient. Claim 8 In claim 7, the sensor detection step further detects an object existing around the vehicle, and the AEB alarm timing adjustment step adjusts the AEB alarm timing when the possibility of the object colliding with the vehicle is greater than or equal to a threshold. Claim 9 In claim 7, the above AEB alarm timing adjustment step is an emergency braking method that adjusts the AEB alarm timing to be delayed and the stopping distance to be determined to be relatively short as the slope of the calculated road surface increases. Claim 10 In claim 7, the above AEB alarm timing adjustment step is an emergency braking method that adjusts the AEB alarm timing so that it becomes earlier as the calculated road surface slope decreases. Claim 11 In claim 7, the AEB alarm timing adjustment step is an emergency braking method that divides the calculated road surface slope into one of a plurality of slope sections and adjusts the AEB alarm timing to correspond to the divided section. Claim 12 In claim 7, the above-mentioned slope is an emergency braking method calculated by comparing the gravity value detected by the gravity sensor with the derivative value of the vehicle speed detected by the vehicle speed sensor.

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