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KR102224805B1 - Advanced Emergency Braking System and Method for controlling thereof - Google Patents

Advanced Emergency Braking System and Method for controlling thereof Download PDF

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Publication number
KR102224805B1
KR102224805B1 KR1020150165702A KR20150165702A KR102224805B1 KR 102224805 B1 KR102224805 B1 KR 102224805B1 KR 1020150165702 A KR1020150165702 A KR 1020150165702A KR 20150165702 A KR20150165702 A KR 20150165702A KR 102224805 B1 KR102224805 B1 KR 102224805B1
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driver
vehicle
change
host vehicle
speed
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KR20170060931A (en
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김동혁
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현대자동차주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60K2350/1084—
    • B60K2350/352—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Regulating Braking Force (AREA)

Abstract

본 발명은 운전자 상태 감시 카메라를 이용하여 운전자의 운전 전방을 주시하는 상태를 모니터링하고, 모니터링된 전방 주시 상태에 따른 차량 충돌 상황 발생 시에 긴급자동제어시스템이 운전자에게 경고하고, 긴급자동제동시스템을 제어하는 방법을 제공한다.
본 발명의 일실시예에 따른 긴급자동제어시스템은 운전자의 상태 정보를 모니터링하여 일정 시간 동안 전방 주시를 하지 않거나, 졸음 운전을 하는 경우를 판단하여 운전자에게 경보하는 운전자 상태 모니터링 장치 및 상기 운전자의 상태 정보를 이용하여 전방 차량과 자차량의 충돌 예상시점을 제어하여 자차량을 자동으로 제어하는 긴급자동제어장치를 포함한다.The present invention monitors the driver's driving forward gaze state using a driver condition monitoring camera, the emergency automatic control system warns the driver when a vehicle collision situation occurs according to the monitored forward gaze state, and provides an emergency automatic braking system. Provides a way to control.
An emergency automatic control system according to an embodiment of the present invention monitors the driver's state information to determine when a driver is not looking forward for a certain period of time or is drowsy, and alerts the driver to the driver's state, and the driver's state. It includes an emergency automatic control device that automatically controls the host vehicle by controlling the predicted time point of a collision between the vehicle in front and the host vehicle using the information.

Description

긴급자동제동시스템 및 그 제어 방법{Advanced Emergency Braking System and Method for controlling thereof}TECHNICAL FIELD [Advanced Emergency Braking System and Method for controlling thereof]

본 발명은 긴급자동제동시스템 및 그 제어 방법에 관한 것으로, 보다 상세하게는 운전자 상태 감시 카메라를 이용하여 긴급자동제동을 하는 기술에 관한 것이다.The present invention relates to an emergency automatic braking system and a control method thereof, and more particularly, to a technology for performing emergency automatic braking using a driver condition monitoring camera.

운전보조시스템은 첨단 감지 센서가 위험 사항을 감지하여 시각적, 청각적, 촉각적 요소를 통해 사고의 위험이 있음을 경고함은 물론, 전방 충돌 회피를 위한 속도 감속 또는 제동을 적극적으로 수행하는 차량의 안전장치이다.The driving assistance system detects the danger by a state-of-the-art sensor and warns that there is a risk of an accident through visual, audible, and tactile elements, as well as the vehicle that actively performs speed deceleration or braking to avoid a front collision. It is a safety device.

또한, 운전보조시스템은 차선 이탈 경고, 사각지대 감시, 향상된 후방감시 등을 수행할 수 있다.In addition, the driving assistance system can perform lane departure warning, blind spot monitoring, and improved rear monitoring.

운전보조시스템은 그 기능에 따라 다양한 종류로 구분된다. 그 중에 전방충돌 경고 시스템(Forward Collision Warning System, FCW)은 주행 차선의 전방에서 동일한 방향으로 주행 중인 자동차를 감지하여 전방 자동차와의 충돌 회피를 목적으로 운전자에게 시각적, 청각적, 촉각적 경고를 주기 위한 시스템이다.Driving assistance systems are classified into various types according to their functions. Among them, the Forward Collision Warning System (FCW) detects vehicles running in the same direction in front of the driving lane and gives a visual, audible, and tactile warning to the driver for the purpose of avoiding a collision with the vehicle in front. It is a system for.

다음으로, 긴급자동제동시스템(Advanced Emergency Braking System, AEBS)은 주행 차선의 전방에 위치한 자동차와의 충돌 가능성을 감지하여 운전자에게 경고를 주고 운전자의 반응이 없거나 충돌이 불가피하다고 판단되는 경우, 충돌을 완화 및 회피시킬 목적으로 자동차를 자동적으로 감속시키기 위한 시스템이다.Next, the Advanced Emergency Braking System (AEBS) detects the possibility of a collision with a vehicle located in front of the driving lane and warns the driver. It is a system for automatically slowing down a vehicle for the purpose of mitigation and avoidance.

그러나, 이러한 운전보조시스템은 운전자가 전방 주시 운전을 소홀히 하여 발생하는 차량 간 충돌이나, 전방 차량의 끼어들기 또는 급제동 등의 긴급한 충돌 상황 또는 긴급자동제동시스템의 오작동으로 인한 문제 등을 방지하기 어려운 문제점을 가지고 있다.However, such a driving assistance system is a problem that is difficult to prevent collisions between vehicles that occur due to the driver's neglect of driving forward, an emergency collision situation such as interruption or sudden braking of the vehicle in front, or a problem due to a malfunction of the emergency automatic braking system. Have.

[특허문헌]한국공개특허 제2015-0096924호.[Patent Document] Korean Patent Publication No. 2015-0096924.

본 발명은 운전자 상태 감시 카메라를 이용하여 운전자의 운전 전방을 주시하는 상태를 모니터링하고, 모니터링된 전방 주시 상태에 따른 차량 충돌 상황 발생 시에 긴급자동제어 시스템이 운전자에게 경고하고, 긴급자동제동시스템을 제어하는 방법을 제공한다.The present invention monitors the driver's driving forward gaze state using a driver condition monitoring camera, the emergency automatic control system warns the driver when a vehicle collision situation occurs according to the monitored forward gaze state, and provides an emergency automatic braking system. Provides a way to control.

본 발명의 목적들은 이상에서 언급한 목적으로 제한되지 않으며, 언급되지 않은 본 발명의 다른 목적 및 장점들은 하기의 설명에 의해서 이해될 수 있으며, 본 발명의 실시예에 의해 보다 분명하게 알게 될 것이다. 또한, 본 발명의 목적 및 장점들은 특허 청구 범위에 나타낸 수단 및 그 조합에 의해 실현될 수 있음을 쉽게 알 수 있을 것이다.The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention that are not mentioned can be understood by the following description, and will be more clearly understood by examples of the present invention. In addition, it will be easily understood that the objects and advantages of the present invention can be realized by the means shown in the claims and combinations thereof.

본 발명의 일실시예에 따른 긴급자동제어시스템은 운전자의 상태 정보를 모니터링하여 일정 시간 동안 전방 주시를 하지 않거나, 졸음 운전을 하는 경우를 판단하여 운전자에게 경보하는 운전자 상태 모니터링 장치 및 상기 운전자의 상태 정보를 이용하여 전방 차량과 자차량의 충돌 예상시점을 제어하여 자차량을 자동으로 제어하는 긴급자동제어장치를 포함한다.An emergency automatic control system according to an embodiment of the present invention monitors the driver's state information, determines when a driver is not looking forward for a certain period of time or is drowsy, and alerts the driver, and the driver's state It includes an emergency automatic control device that automatically controls the host vehicle by controlling the predicted time point of a collision between the vehicle in front and the host vehicle using the information.

또한, 상기 운전자 상태 모니터링 장치는 판단된 운전자의 상태 정보를 긴급자동제어장치에 송신할 수 있다.In addition, the driver condition monitoring device may transmit the determined driver's condition information to the automatic emergency control device.

또한, 상기 긴급자동제어장치 및 운전자 상태 모니터링 장치에 의해 경고음 또는 경고 문구를 발생시키는 클러스터를 더 포함할 수 있다.In addition, a cluster for generating a warning sound or a warning phrase by the automatic emergency control device and the driver condition monitoring device may be further included.

본 발명의 일실시예에 따른 긴급자동제어시스템의 제어 방법은 자차량의 전방에 차량이 존재하는 여부에 따라 긴급자동제어장치가 충돌 방지 모드를 실시하는 단계, 운전자 상태 모니터링 장치로부터 수신된 운전자의 상태 정보를 이용하여 운전자의 상태를 파악하는 단계 및 상기 운전자의 상태 정보를 이용하여 운전자의 상태가 비정상인 경우에 충돌 경고 시점(Time To Collision, TTC)을 기준 경고 시점보다 빠르게 제어하는 단계를 포함한다.In the control method of the automatic emergency control system according to an embodiment of the present invention, the automatic emergency control device performs a collision avoidance mode according to whether a vehicle is present in front of the own vehicle. Including the step of identifying the driver's state using the state information and controlling a collision warning time (Time To Collision, TTC) faster than the reference warning time when the driver's state is abnormal using the driver's state information do.

또한, 상기 충돌 방지 모드를 실시하는 단계 이전에, 상기 긴급자동제어장치가 센서 및 카메라의 고장 여부를 판단하는 단계, 상기 자차량의 속도가 설정된 속도의 이상으로 주행하고 있는지 여부를 판단하는 단계 및 상기 자차량이 설정된 속도 이상으로 주행하면, 상기 자차량의 전방에 다른 차량의 존재 여부를 판단하는 단계를 포함할 수 있다.In addition, prior to the step of executing the collision avoidance mode, the automatic emergency control device determines whether a sensor and a camera are broken, determining whether the speed of the host vehicle is traveling at a speed higher than a set speed, and When the host vehicle travels at a set speed or more, determining whether another vehicle is present in front of the host vehicle.

또한, 상기 운전자의 상태를 파악하는 단계는, 상기 운전자가 일정 시간 동안 감은 눈을 유지하거나, 운전자가 일정 시간 동안 측면을 주시하거나, 졸음 운전 상태 조건을 포함하는 운전자 상태의 비정상 여부를 판단하는 단계를 포함할 수 있다.In addition, the determining of the state of the driver may include determining whether the driver maintains eyes closed for a certain period of time, the driver looks at the side for a certain period of time, or whether the driver's state including a drowsy driving state condition is abnormal. It may include.

또한, 상기 운전자의 상태가 비정상인 경우에 차량의 제동 감속도를 감소시키는 단계를 포함할 수 있다.Further, it may include the step of reducing the braking deceleration of the vehicle when the driver's condition is abnormal.

본 기술은 운전자의 주의 태만 또는 졸음 발생 시에 긴급자동제동시스템을 보다 능동적으로 제어하여 차량 간 충돌을 방지하는 기술이다.This technology is a technology that prevents a collision between vehicles by more actively controlling an emergency automatic braking system when a driver's neglect or drowsiness occurs.

아울러, 본 기술은 긴급자동제동시스템의 오동작을 방지하여 오동작에 의한 차량 간 충돌을 방지하는 기술이다.In addition, the present technology is a technology for preventing a collision between vehicles due to malfunction by preventing malfunction of the emergency automatic braking system.

도 1은 본 발명의 일실시예에 따른 긴급자동제어시스템을 설명하는 구성도이다.
도 2 는 본 발명의 일실시예에 따른 긴급자동제어시스템의 제어 방법을 설명하는 순서도이다.1 is a block diagram illustrating an emergency automatic control system according to an embodiment of the present invention.
2 is a flowchart illustrating a control method of an automatic emergency control system according to an embodiment of the present invention.

본 발명의 이점 및 특징, 그리고 그것을 달성하는 방법은 첨부되는 도면과 함께 상세하게 후술되어 있는 실시 예들을 통해 설명될 것이다. 그러나 본 발명은 여기에서 설명되는 실시 예들에 한정되지 않고 다른 형태로 구체화될 수도 있다. 단지, 본 실시 예들은 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 본 발명의 기술적 사상을 용이하게 실시할 수 있을 정도로 상세히 설명하기 위하여 제공되는 것이다.Advantages and features of the present invention, and a method of achieving the same will be described through embodiments to be described later in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. However, the present embodiments are provided to explain in detail enough to be able to easily implement the technical idea of the present invention to those of ordinary skill in the art to which the present invention pertains.

도면들에 있어서, 본 발명의 실시 예들은 도시된 특정 형태로 제한되는 것이 아니며 명확성을 기하기 위하여 과장된 것이다. 본 명세서에서 특정한 용어들이 사용되었으나. 이는 본 발명을 설명하기 위한 목적에서 사용된 것이며, 의미 한정이나 특허 청구 범위에 기재된 본 발명의 권리 범위를 제한하기 위하여 사용된 것은 아니다.In the drawings, embodiments of the present invention are not limited to the specific form shown, but are exaggerated for clarity. Although certain terms have been used in this specification. This is used for the purpose of describing the present invention, and is not used to limit the meaning or the scope of the present invention described in the claims.

본 명세서에서 '및/또는'이란 표현은 전후에 나열된 구성요소들 중 적어도 하나를 포함하는 의미로 사용된다. 또한, '연결되는/결합되는'이란 표현은 다른 구성요소와 직접적으로 연결되거나 다른 구성요소를 통해 간접적으로 연결되는 것을 포함하는 의미로 사용된다. 본 명세서에서 단수형은 문구에서 특별히 언급하지 않는 한 복수형도 포함한다. 또한, 명세서에서 사용되는 '포함한다' 또는 '포함하는'으로 언급된 구성요소, 단계, 동작 및 소자는 하나 이상의 다른 구성요소, 단계, 동작 및 소자의 존재 또는 추가를 의미한다.In the present specification, the expression'and/or' is used as a meaning including at least one of the elements listed before and after. In addition, the expression'connected/combined' is used as a meaning including direct connection with other components or indirect connection through other components. In the present specification, the singular form also includes the plural form unless otherwise specified in the phrase. In addition, elements, steps, operations and elements referred to as'comprising' or'including' as used in the specification mean the presence or addition of one or more other elements, steps, operations and elements.

이하, 도면들을 참조하여 본 발명의 실시 예에 대해 상세히 설명하기로 한다.Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

도 1은 본 발명의 일실시예에 따른 긴급자동제어시스템을 설명하는 구성도이다.1 is a block diagram illustrating an automatic emergency control system according to an embodiment of the present invention.

도 1을 참조하면, 긴급자동제어시스템(1)은 운전자 상태를 모니터링하여 운전자의 상태에 따라 긴급 자동 제어 시점을 가변하는 시스템이다. 이러한 긴급자동제어시스템(1)은 운전자 상태 모니터링(Driver State Monitoring, DSM) 장치(100), 긴급자동제어(Advanced Emergency Braking, AEB) 장치(110) 및 클러스터(120, Cluster)를 포함한다.Referring to FIG. 1, the automatic emergency control system 1 is a system that monitors a driver's condition and changes the time of automatic emergency control according to the driver's condition. The emergency automatic control system 1 includes a driver state monitoring (DSM) device 100, an advanced emergency braking (AEB) device 110, and a cluster 120.

운전자 상태 모니터링 장치(100)는 카메라를 이용하여 운전자의 상태를 나타내는 영상을 촬영 및 인식한다.The driver condition monitoring apparatus 100 captures and recognizes an image representing the driver's condition using a camera.

또한, 운전자 상태 모니터링 장치(100)는 인식된 영상에서 운전자가 전방 주시를 태만하거나, 졸음 운전을 하는 경우 등을 판단하여 운전자에게 경보하거나, 차량이 적절하게 제동 제어가 될 수 있도록 운전자를 모니터링 하는 장치이다. In addition, the driver condition monitoring apparatus 100 determines a case in which the driver neglects to look forward or is drowsy from the recognized image to alert the driver or monitor the driver so that the vehicle can be properly braked. It is a device.

이러한 운전자 상태 모니터링 장치(100)는 판단된 운전자의 상태 정보를 캔(Can) 통신을 이용하여 긴급자동제어장치(110)에 송신할 수 있다.The driver condition monitoring apparatus 100 may transmit the determined driver's condition information to the automatic emergency control apparatus 110 using CAN communication.

긴급자동제어장치(110)는 레이더(Radar)와 같은 센서 및 전방 카메라를 이용하여 전방 차량과 자차량의 충돌 예상시점을 예측하고, 제어하여 자차량을 자동으로 제어하는 장치이다.The automatic emergency control device 110 is a device that automatically controls the host vehicle by predicting and controlling the predicted time of collision between the front vehicle and the host vehicle using a sensor such as a radar and a front camera.

클러스터(120)는 긴급자동제어장치(110) 및 운전자 상태 모니터링 장치(100)에 의해 경고 문구 또는 경고음을 발생시키는 장치이다.The cluster 120 is a device that generates a warning phrase or a warning sound by the automatic emergency control device 110 and the driver condition monitoring device 100.

도 2 는 본 발명의 일실시예에 따른 긴급자동제어시스템의 제어 방법을 설명하는 순서도이다.2 is a flowchart illustrating a control method of an automatic emergency control system according to an embodiment of the present invention.

도 2를 참조하면, 긴급자동제어시스템이 동작하면, 긴급자동제어장치가 자체적으로 자가 진단을 실시한다(S11~S15). Referring to FIG. 2, when the automatic emergency control system operates, the automatic emergency control device performs self-diagnosis by itself (S11 to S15).

즉, 긴급자동제어장치는 레이더와 같은 센서 및 카메라의 동작 여부(고장 여부)를 판단할 수 있다.That is, the automatic emergency control device may determine whether a sensor such as a radar and a camera are operating (failure).

다음에는, 긴급자동제어장치가 자가 진단을 실시하여 고장이라고 판단되면, 긴급자동제어시스템이 동작되지 않도록 동작 금지 모드를 실시한다(S17).Next, when the automatic emergency control device performs self-diagnosis and determines that there is a failure, it performs an operation prohibition mode so that the automatic emergency control system is not operated (S17).

즉, 긴급자동제어장치는 고장 여부(동작 금지 모드)를 판단하여 다시 자가 진단 단계를 실시할 수 있고, 긴급자동제어장치의 고장 여부가 해결된 후에 정상적인 동작이 실시 가능하다.That is, the automatic emergency control device may determine whether there is a failure (operation prohibition mode) and perform a self-diagnosis step again, and normal operation may be performed after the failure of the automatic emergency control device is resolved.

다음으로, 긴급자동제어장치가 자가 진단을 실시하여 고장이라고 판단되지 않으면, 긴급자동제어장치는 차량의 속도와 설정된 속도(예를 들어, 30KPH)를 비교하여 차량의 주행 여부를 판단한다(S19).Next, if the automatic emergency control device performs self-diagnosis and it is not determined that there is a failure, the automatic emergency control device compares the speed of the vehicle with a set speed (eg, 30 KPH) to determine whether the vehicle is running (S19). .

다음에는, 긴급자동제어장치는 차량이 설정된 속도 이상의 속도로 주행하고 있으면, 차량의 전방에 다른 차량이 존재하는지 여부를 판단한다(S21).Next, when the vehicle is traveling at a speed equal to or higher than the set speed, the automatic emergency control device determines whether another vehicle is present in front of the vehicle (S21).

즉, 차량의 전방에 다른 차량이 존재하지 않으면, 긴급자동제어장치는 제어를 가변하지 않고, 일반적인 제어를 실시한다(S23).That is, if there is no other vehicle in front of the vehicle, the automatic emergency control device does not change the control and performs general control (S23).

그러나, 차량의 전방에 다른 차량이 존재하고 있으면, 긴급자동제어장치는 충돌 방지 모드를 실시한다(S25).However, if another vehicle exists in front of the vehicle, the automatic emergency control device performs a collision avoidance mode (S25).

다음에는, 긴급자동제어장치가 충돌 방지 모드를 실시하면, 운전자 상태 모니터링 장치로부터 수신된 운전자의 상태 정보를 이용하여 운전자의 정상 상태 또는 비정상 상태를 파악한다(S27).Next, when the automatic emergency control device performs the collision avoidance mode, the driver's normal state or abnormal state is determined by using the driver's state information received from the driver state monitoring device (S27).

즉, 긴급자동제어장치는 수신된 운전자의 상태 정보를 이용하여 운전자가 일정 시간 동안 감은 눈을 유지하거나, 운전자가 일정 시간 동안 측면을 주시하거나, 졸음 운전 상태(일정 시간 동안 하품 횟수 또는 운전자의 움직임 없음 등의 조건 설정)를 포함하는 운전자 상태의 비정상 여부를 판단한다. In other words, the automatic emergency control device uses the received driver's state information to keep eyes closed for a certain period of time, the driver looks at the side for a certain period of time, or a drowsy driving state (the number of yawns or the driver's movement for a certain period of time). It is determined whether or not the driver's condition is abnormal, including setting conditions such as none.

이러한 운전자의 졸음 운전 상태를 판단하는 기준은 긴급자동제어장치 내에 설정되어 있거나, 운전자에 의해 졸음 운전 상태를 판단하는 기준이 조절될 수도 있다. The criterion for determining the drowsy driving state of the driver may be set in the automatic emergency control device, or the criterion for determining the drowsy driving state may be adjusted by the driver.

다음으로, 긴급자동제어장치가 운전자의 상태 정보를 이용하여 운전자의 상태가 비정상인 경우라고 판단한 경우, 충돌 경고 시점(Time To Collision, TTC)을 기준 경고 시점보다 더 빠르게 제어하고, 제동 감속도는 감소시킨다(S29).Next, when the automatic emergency control device determines that the driver's condition is abnormal using the driver's condition information, the collision warning point (Time To Collision, TTC) is controlled faster than the reference warning point, and the braking deceleration is Decrease (S29).

구체적으로, 긴급자동제어장치는 충돌 경고 시점(Time To Collision, TTC)을 기준 경고 시점보다 10% 이상 빠르게 제어할 수 있고, 제동 감속도는 예를 들어, 4㎨에서 3㎨로 감소시킬 수 있다.Specifically, the automatic emergency control device can control the collision warning time (Time To Collision, TTC) more than 10% faster than the reference warning time, and the braking deceleration can be reduced from 4 ㎨ to 3 ㎨, for example. .

그러나, 긴급자동제어장치가 운전자의 상태 정보를 이용하여 운전자의 상태가 정상인 경우라고 판단한 경우, 차량의 액셀 페달 변화(액셀 속도 변화)와 전방 차량의 속도 변화를 판단한다(S31).However, when the automatic emergency control device determines that the driver's state is normal using the driver's state information, it determines the change in the accelerator pedal of the vehicle (change in the accelerator speed) and the change in the speed of the vehicle in front (S31).

다음으로, 긴급자동제어장치는 차량의 액셀 페달 변화(액셀 속도 변화)와 전방 차량의 속도 변화를 판단하여 차량의 액셀 페달 또는 전방 차량의 속도의 변화가 있으면, 긴급자동제어장치가 운전자의 상태 정보를 이용하여 운전자의 상태가 정상이라고 판단되었으나, 차량의 액셀 페달 또는 전방 차량의 속도의 변화가 있는 경우이므로, 긴급자동제어장치가 오동작 또는 오감지할 가능성이 있기 때문에 실제 제동은 실시하지 않고, 차량의 클러스터에 충돌 경고음 또는 경고 문구만을 발생시킨다(S33). Next, the automatic emergency control device determines the change in the accelerator pedal of the vehicle (change in the accelerator speed) and the change in the speed of the vehicle in front, and if there is a change in the accelerator pedal of the vehicle or the speed of the vehicle in front, the automatic emergency control device provides information on the driver's state. It is determined that the driver's state is normal, but there is a possibility that the emergency automatic control device malfunctions or erroneously detects the vehicle's accelerator pedal or the speed of the vehicle ahead. Generates only a collision warning sound or a warning phrase in the cluster of (S33).

그러나, 긴급자동제어장치는 차량의 액셀 페달 변화(액셀 속도 변화)와 전방 차량의 속도 변화를 판단하여 차량의 액셀 페달 또는 전방 차량의 속도의 변화가 없으면, 일반적인 차량의 긴급자동제어 동작을 실시한다(S35). However, the automatic emergency control device determines the change in the accelerator pedal of the vehicle (change in the accelerator speed) and the change in the speed of the vehicle in front, and if there is no change in the accelerator pedal of the vehicle or the speed of the vehicle in front, it performs an emergency automatic control operation of the general vehicle. (S35).

여기서, 일반적인 차량의 긴급자동제어 동작은 충돌 경고 시점(TTC)을 기준 경고 시점과 동일하게 제어하는 것을 의미한다.Here, the emergency automatic control operation of a general vehicle means controlling the collision warning time TTC in the same manner as the reference warning time.

전술한 바와 같이, 본 기술은 운전자의 주의 태만 또는 졸음 발생 시에 긴급자동제동시스템을 보다 능동적으로 제어하여 차량 간 충돌을 방지하는 기술이다.As described above, the present technology is a technology that prevents a collision between vehicles by more actively controlling an emergency automatic braking system when a driver's negligence or drowsiness occurs.

아울러, 본 기술은 긴급자동제동시스템의 오동작을 방지하여 오동작에 의한 차량 간 충돌을 방지하는 기술이다.In addition, the present technology is a technology for preventing a collision between vehicles due to malfunction by preventing malfunction of the emergency automatic braking system.

이상, 본 발명은 비록 한정된 구성과 도면에 의해 설명되었으나, 본 발명의 기술적 사상은 이러한 것에 한정되지 않으며, 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에 의해, 본 발명의 기술적 사상과 하기 기재될 특허청구범위의 균등범위 내에서 다양한 수정 및 변형 실시가 가능할 것이다.Above, although the present invention has been described by a limited configuration and drawings, the technical idea of the present invention is not limited to these, and by those of ordinary skill in the technical field to which the present invention pertains, the technical idea of the present invention and the following It will be possible to implement various modifications and variations within the equivalent range of the claims to be described.

Claims (7)

운전자의 상태 정보를 모니터링하여 일정 시간 동안 전방 주시를 하지 않거나, 졸음 운전을 하는 비정상의 경우를 판단하여 운전자에게 경보하는 운전자 상태 모니터링 장치; 및
상기 운전자의 상태 정보를 이용하여 전방 차량과 자차량의 충돌 예상시점을 제어하여 자차량을 자동으로 제어하는 긴급자동제어장치
를 포함하고,
상기 긴급자동제어장치는,
상기 운전자의 상태가 비정상이 아닌 정상인 경우에 상기 자차량의 엑셀 페달 변화와 상기 전방 차량의 속도 변화를 판단하여,
상기 자차량의 엑셀 페달 변화 또는 상기 전방 차량의 속도 변화가 있으면, 상기 자차량의 클러스터에 충돌 경고음 또는 경고 문구를 발생시키고,
상기 자차량의 엑셀 페달 변화 또는 상기 전방 차량의 속도 변화가 없으면, 긴급자동제어 동작을 실시하는 것을 특징으로 하는 긴급자동제어시스템.A driver condition monitoring device that monitors the driver's condition information, determines an abnormal case of not looking forward for a certain period of time or a drowsy driving, and alerts the driver; And
An emergency automatic control device that automatically controls the host vehicle by controlling the predicted time of collision between the vehicle in front and the host vehicle using the driver's status information
Including,
The automatic emergency control device,
When the driver's state is normal rather than abnormal, it is determined that the change of the accelerator pedal of the host vehicle and the change of the speed of the front vehicle are determined,
When there is a change in the accelerator pedal of the host vehicle or a change in the speed of the vehicle in front, a collision warning sound or a warning phrase is generated in the cluster of the host vehicle,
When there is no change in the accelerator pedal of the host vehicle or a change in speed of the vehicle ahead, an emergency automatic control operation is performed. 청구항 1에 있어서,
상기 운전자 상태 모니터링 장치는 판단된 운전자의 상태 정보를 긴급자동제어장치에 송신하는 것을 특징으로 하는 긴급자동제어시스템.The method according to claim 1,
The driver condition monitoring device transmits the determined driver's condition information to the automatic emergency control device. 삭제delete 자차량의 전방에 차량이 존재하는 여부에 따라 긴급자동제어장치가 충돌 방지 모드를 실시하는 단계;
운전자 상태 모니터링 장치로부터 수신된 운전자의 상태 정보를 이용하여 운전자의 상태를 파악하는 단계;
상기 운전자의 상태 정보를 이용하여 운전자의 상태가 비정상인 경우에 충돌 경고 시점(Time To Collision, TTC)을 기준 경고 시점보다 빠르게 제어하는 단계; 및
상기 운전자의 상태가 정상인 경우에 상기 자차량의 엑셀 페달 변화와 전방 차량의 속도 변화를 판단하여,
상기 자차량의 엑셀 페달 변화 또는 상기 전방 차량의 속도 변화가 있으면, 상기 자차량의 클러스터에 충돌 경고음 또는 경고 문구를 발생시키고,
상기 자차량의 엑셀 페달 변화 또는 상기 전방 차량의 속도 변화가 없으면, 긴급자동제어 동작을 실시하는 단계를 포함하는 것을 특징으로 하는 긴급자동제어시스템의 제어 방법.Performing, by the automatic emergency control device, a collision avoidance mode according to whether a vehicle is present in front of the host vehicle;
Grasping a driver's condition using the driver's condition information received from the driver condition monitoring device;
Controlling a collision warning time (TTC) faster than a reference warning time when the driver's condition is abnormal using the driver's condition information; And
When the driver's state is normal, the change in the accelerator pedal of the own vehicle and the change in the speed of the vehicle in front are determined,
When there is a change in the accelerator pedal of the host vehicle or a change in the speed of the vehicle in front, a collision warning sound or a warning phrase is generated in the cluster of the host vehicle,
And performing an emergency automatic control operation when there is no change in the accelerator pedal of the host vehicle or a change in the speed of the vehicle ahead. 청구항 4에 있어서,
상기 충돌 방지 모드를 실시하는 단계 이전에,
상기 긴급자동제어장치가 센서 및 카메라의 고장 여부를 판단하는 단계;
상기 자차량의 속도가 설정된 속도의 이상으로 주행하고 있는지 여부를 판단하는 단계; 및
상기 자차량이 설정된 속도 이상으로 주행하면, 상기 자차량의 전방에 다른 차량의 존재 여부를 판단하는 단계를 포함하는 것을 특징으로 하는 긴급자동제어시스템의 제어 방법.The method of claim 4,
Prior to the step of performing the collision avoidance mode,
Determining, by the automatic emergency control device, whether a sensor and a camera are broken;
Determining whether the speed of the host vehicle is traveling at a speed greater than or equal to a set speed; And
And determining whether another vehicle is present in front of the host vehicle when the host vehicle travels at a set speed or more. 청구항 4에 있어서,
상기 운전자의 상태를 파악하는 단계는,
상기 운전자가 일정 시간 동안 감은 눈을 유지하거나, 운전자가 일정 시간 동안 측면을 주시하거나, 졸음 운전 상태 조건을 포함하는 운전자 상태의 비정상 여부를 판단하는 단계를 포함하는 것을 특징으로 하는 긴급자동제어시스템의 제어 방법. The method of claim 4,
The step of determining the state of the driver,
And determining whether the driver maintains eyes closed for a predetermined period of time, the driver looks at the side for a predetermined period of time, or determines whether a driver's condition including a drowsy driving condition condition is abnormal. Control method. 청구항 4에 있어서,
상기 운전자의 상태가 비정상인 경우에 차량의 제동 감속도를 감소시키는 단계를 포함하는 것을 특징으로 하는 긴급자동제어시스템의 제어 방법.
The method of claim 4,
And reducing the braking deceleration of the vehicle when the driver's condition is abnormal.
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