KR102681733B1 - Blind spot warning device, vehicle having the same and method for controlling the same - Google Patents

Abstract

The present invention relates to a blind spot warning device that outputs warning information when an obstacle appears in the blind spot, a vehicle having the same, and a method for controlling the same.
The vehicle of the present invention includes a body to which a trailer is detachably connected; a position detection unit that detects the positions of other vehicles on the road; Based on the detected location of the other vehicle, determine whether the other vehicle is the overtaking vehicle. If the other vehicle is the overtaking vehicle, check the distance to the overtaking vehicle based on the location of the overtaking vehicle. Based on the confirmed distance of the overtaking vehicle, determine the distance to the overtaking vehicle. a control unit that estimates the length of the trailer connected to and adjusts the warning area of the vehicle based on the estimated length of the trailer; and a warning unit that outputs warning information when an obstacle is located in the warning area.

Description

Blind spot warning device, vehicle having the same and method for controlling the same {Blind spot warning device, vehicle having the same and method for controlling the same}

The present invention relates to a blind spot warning device that outputs warning information when an obstacle is detected in the blind spot, a vehicle having the same, and a control method thereof.

A vehicle is a machine that drives the wheels and moves on the road, and is equipped with various devices to protect occupants, assist driving, and improve riding comfort.

One of various devices, it determines that there is a risk of collision when an obstacle exists in the blind area on the left and right sides of the rear of the vehicle while the vehicle is driving, or that there is a risk of collision due to an obstacle in the blind area or a vehicle approaching at high speed from the left and right sides of the rear when changing lanes. There is a blind spot warning device that alerts the driver and improves driver convenience.

This blind spot warning device has a blind spot detection function (BSD: Blind Spot Detection) that detects obstacles on the left and right sides of the rear and notifies the presence of obstacles on the left and right sides of the rear, and also detects obstacles approaching at high speed from the left and right sides of the rear when changing lanes. It includes a Lane Change Assist (LCA) function that determines the risk of collision with a vehicle and warns.

When a vehicle equipped with a trailer is equipped with a blind spot detection function and a lane change assist function, it cannot detect obstacles located in the rear area of the vehicle and the left and right areas of the rear when the trailer is extended, so it does not output obstacle detection information or collision warning information. There was a problem that I couldn't do.

One aspect provides a blind spot warning device for estimating the length of a trailer based on the position of an overtaking vehicle and adjusting the warning area based on the estimated length of the trailer, a vehicle having the same, and a method for controlling the same.

Another aspect is a blind spot warning device that estimates the length of the trailer based on the speed information of the own vehicle, the speed information of the overtaking vehicle, road information, and time information, and adjusts the warning area based on the estimated length of the trailer, a vehicle having it. and a control method thereof.

A blind spot warning device according to one aspect includes a location detection unit that detects the location of other vehicles on the road; And based on the detected position of the other vehicle, determine whether the other vehicle is an overtaking vehicle, and if the other vehicle is an overtaking vehicle, check the distance of the overtaking vehicle based on the location of the overtaking vehicle, and determine the distance of the overtaking vehicle based on the confirmed distance of the overtaking vehicle. a control unit that estimates the length of a trailer connected to the vehicle and adjusts the warning area of the vehicle based on the estimated length of the trailer; and a warning unit that outputs warning information when an obstacle is located in the warning area.

The blind spot warning device further includes a communication unit that receives the speed of the own vehicle from the speed detection unit of the own vehicle, and the control unit includes a device that determines whether the detected other vehicle is an overtaking vehicle if the speed of the own vehicle is within a reference speed range.

The blind spot warning device further includes a communication unit that receives information about the road from the terminal, and the control unit determines whether the road is a road that can be driven at a speed higher than the standard speed based on the information on the road, and determines that the road is a road that can be driven at a speed higher than the standard speed. Once determined, this includes determining whether the other detected vehicle is an overtaking vehicle.

The control unit of the blind spot warning device includes estimating the length of the trailer based on the distance to a plurality of overtaking vehicles detected for a certain period of time from the start of driving of the own vehicle.

A vehicle according to another aspect includes a body to which a trailer is detachably connected; a position detection unit that detects the positions of other vehicles on the road; Based on the detected location of the other vehicle, determine whether the other vehicle is the overtaking vehicle. If the other vehicle is the overtaking vehicle, check the distance to the overtaking vehicle based on the location of the overtaking vehicle. Based on the confirmed distance of the overtaking vehicle, determine the vehicle's distance. a control unit that estimates the length of the trailer connected to and adjusts the warning area of the vehicle based on the estimated length of the trailer; and a warning unit that outputs warning information when an obstacle is located in the warning area.

The vehicle further includes a speed detection unit that detects the speed of the own vehicle, and the control unit includes a device that determines whether the detected other vehicle is an overtaking vehicle if the speed of the own vehicle is within a reference speed range.

The vehicle further includes a terminal that performs a navigation function and checks information on the road when performing the navigation function, and the control unit determines whether the road is a road that can be driven at a reference speed or higher based on the information on the confirmed road, and determines whether the road is a road capable of driving at a reference speed or higher. If the road is judged to be drivable above, it includes determining whether the other detected vehicle is an overtaking vehicle.

The vehicle further includes a speed detection unit that detects the speed of the vehicle, and the control unit determines whether the road is a road that can be driven at a speed higher than the standard speed based on the detected speed, and detects whether the road is a road that can be driven at a speed higher than the standard speed. This includes determining whether another vehicle is an overtaking vehicle.

The vehicle control unit confirms the change in the position of the other vehicle detected by the position detection unit, recognizes the speed of the other vehicle based on the confirmed position change, and based on the recognized speed of the other vehicle, the road can be driven at a speed higher than the standard speed. This includes determining whether it is a road, and if it is determined that the road can be driven at a speed higher than the standard speed, determining whether the other detected vehicle is an overtaking vehicle.

The control unit of the vehicle includes estimating the length of the trailer based on the distance to a plurality of overtaking vehicles detected for a certain period of time from the start of driving of the own vehicle.

The vehicle further includes a speed detection unit that detects the speed of the own vehicle, and the control unit includes an estimate of the length of the trailer based on the distance to a plurality of overtaking vehicles detected when the speed of the own vehicle is within the reference speed range.

The vehicle further includes a terminal that performs a navigation function and checks information on the road when performing the navigation function, and the control unit determines whether the road is a road that can be driven at a reference speed or higher based on the information on the confirmed road, and determines whether the road is a road capable of driving at a reference speed or higher. The above includes estimating the length of the trailer based on the distance to a plurality of overtaking vehicles detected when the road is drivable.

The control unit of the vehicle includes estimating the length of the trailer based on the distance to a plurality of overtaking vehicles detected for a certain period of time from the start of driving of the own vehicle.

A method of controlling a vehicle according to another aspect includes determining whether the other vehicle is an overtaking vehicle based on the position of the other vehicle detected by the position detection unit while driving, and determining whether the other vehicle is an overtaking vehicle. If the vehicle is an overtaking vehicle, the distance to the overtaking vehicle is checked based on the location of the overtaking vehicle, the length of the trailer connected to the vehicle is estimated based on the confirmed distance of the overtaking vehicle, and the vehicle is estimated based on the estimated length of the trailer. The warning area is adjusted, and warning information is output when an obstacle is located in the adjusted warning area.

Determining whether another vehicle is an overtaking vehicle includes detecting the speed of the vehicle body and, if the speed of the vehicle body is within a reference speed range, determining whether the detected other vehicle is an overtaking vehicle.

Determining whether another vehicle is an overtaking vehicle involves performing the navigation function, checking road information when performing the navigation function, judging whether the road is a road that can be driven at a speed higher than the standard speed based on the confirmed road information, and determining whether the road is a road that can be driven at a speed higher than the standard speed. If it is determined that the road can be driven at a speed higher than the standard speed, it includes determining whether the other detected vehicle is an overtaking vehicle.

Determining whether another vehicle is an overtaking vehicle involves detecting the speed of the vehicle body, determining whether the road is a road that can be driven at a speed higher than the standard speed based on the detected speed, and if it is determined that the road is a road that can be driven at a speed higher than the standard speed. This includes determining whether another vehicle is an overtaking vehicle.

Estimating the length of the trailer connected to the own vehicle based on the distance of the confirmed overtaking vehicle determines whether the confirmed overtaking vehicle is a preset number of vehicles, and if the confirmed overtaking vehicle is a plurality of vehicles, the number of detected multiple vehicles is determined. It involves estimating the length of the trailer based on the distance from the overtaking vehicle.

Estimating the length of the trailer includes obtaining an average distance from distances to a plurality of overtaking vehicles and estimating the length of the trailer based on the obtained average distance.

Estimating the length of the trailer involves obtaining a distance distribution of the distance to a plurality of overtaking vehicles, obtaining an equation of a straight line based on the obtained distance distribution, and estimating the length of the trailer based on the equation of the obtained straight line. It includes

Estimating the length of the trailer includes obtaining the density of distances with a plurality of overtaking vehicles and estimating the length of the trailer based on the distance with the highest density among the obtained distance densities.

Estimating the length of the trailer connected to the vehicle based on the confirmed distance of the overtaking vehicle is performed by detecting the overtaking vehicle for a certain period of time from the start of driving of the own vehicle and based on the distance to the overtaking vehicle detected for a certain period of time. Includes estimating the length of the trailer.

Determining whether another vehicle is an overtaking vehicle involves checking the distance to the other vehicle based on the location of the other vehicle detected by the position detection unit while driving, and judging the other vehicle as an overtaking vehicle if the confirmed distance is less than the standard distance. Includes.

The present invention estimates the length of the trailer based on the position of the vehicle overtaking from behind and automatically adjusts the warning area based on the estimated length of the trailer, allowing the user to directly measure the length of the trailer and then directly adjust the warning area. Since there is no need to do so, adjustment of the warning area is very convenient and easy.

Additionally, since the present invention estimates the length of the trailer based on the location recognition results of a plurality of overtaking vehicles, the accuracy of estimating the length of the trailer can be improved.

Accordingly, the present invention can improve detection accuracy of obstacles in blind spots and reduce the risk of collision with obstacles.

In this way, the present invention can improve the quality and marketability of vehicles with blind spot warning devices and autonomous driving functions, further increase user satisfaction, and secure the competitiveness of the product.

1 is an exemplary exterior view of a passenger car among vehicles according to an embodiment.
Figure 2 is an illustration of the interior of a passenger car among vehicles according to an embodiment.
FIG. 3 is an example diagram of the detection area of the passenger car shown in FIG. 1.
FIG. 4 is an example diagram of a warning area of a passenger car shown in FIG. 3.
Figure 5 is an exemplary diagram of a truck among vehicles according to an embodiment.
FIG. 6 is an example diagram of the detection area of the truck shown in FIG. 5.
FIG. 7 is an exemplary diagram of the warning area of the truck shown in FIG. 6.
8 is a control configuration diagram of a vehicle according to an embodiment.
Figure 9 is a vehicle control flowchart according to an embodiment, which is a flowchart of adjusting a warning area based on the distance of one overtaking vehicle.
FIGS. 10A and 10B and FIGS. 11A and 11B are diagrams illustrating an example of adjusting a warning area of a vehicle according to an embodiment.
Figure 12 is a vehicle control flowchart according to an embodiment, which is a flowchart of adjusting a warning area based on the distance of a plurality of overtaking vehicles.
13 is an example diagram of estimating the length of a vehicle trailer according to an embodiment.

A vehicle is a machine that drives wheels and moves on the road for the purpose of transporting people or cargo.

Depending on their purpose, these vehicles can be divided into passenger cars used for transportation and commercial vehicles used for commerce, and depending on size and engine displacement, they can be divided into compact cars, compact cars, mid-sized cars, semi-medium cars, and large cars.

Here, commercial vehicles may include trucks, dump trucks, vans, forklifts, and special work vehicles that transport goods, and buses and taxis that transport people.

These vehicles may be connected to a trailer that is towed by the vehicle and travels on the road without power at the rear of the vehicle.

This trailer may be designed for the purpose of transporting people or goods and may be detachably connected to a vehicle.

Types of trailers that can be connected to passenger cars include caravans and mini cargo trailers, and types of trailers that can be connected to trucks include full trailers, tolly, bus trailers, and semi-trailers. etc.

Hereinafter, the present invention will be described in detail with reference to the attached drawings.

As an example of a vehicle, a passenger car will be described as an example.

FIG. 1 is an exemplary exterior view of a passenger car among vehicles according to an embodiment, and FIG. 2 is an exemplary interior diagram of a passenger car among vehicles according to an embodiment.

The vehicle 1 includes a body having an exterior 110 and an interior 120, and a chassis on which mechanical devices necessary for driving are installed in the remaining parts excluding the body.

As shown in FIG. 1, the exterior of the vehicle body 110 includes a front panel 111, a bonnet 112, a roof panel 113, a rear panel 114, a trunk 115, front and rear doors 116, and front and rear doors 116. It includes window glass 117 provided on the left and right doors 116 to be openable and closed.

In addition, the exterior of the car body includes a pillar 118 provided at the border between the front panel, bonnet, roof panel, rear panel, trunk, and window glass of the front, rear, left, and right doors, and a side mirror (118) that provides the driver with a view of the rear of the vehicle (1). 119) is further included.

As shown in FIG. 2, the interior 120 of the vehicle body includes a seat 121 on which the occupants sit, a dashboard 122, and are disposed on the dashboard and include a tachometer, a speedometer, a coolant temperature gauge, a fuel gauge, and a turn signal. , an instrument panel (i.e. cluster 123) on which high beam indicator lights, warning lights, seat belt warning lights, odometer, odometer, automatic shift selection lever indicator light, door open warning light, engine oil warning light, and low fuel warning light are arranged, and the direction of the vehicle. It includes a steering wheel 124 to operate, a center fascia 125 on which the air conditioner's vent and control panel are placed and an audio device is placed.

A head unit 126, a multi-terminal 127, an input unit 128, a display unit 129, and a terminal 130 for controlling audio devices, air conditioners, and heaters may be installed in the center fascia 125. .

The multi-terminal 127 may be placed adjacent to the head unit 126, and may include a USB port, an AUX terminal, and may further include an SD slot.

The input unit 128 receives operation commands for various functions.

This input unit 128 may be provided on the head unit 126 and the center fascia 125 and may include at least one physical button, such as an on/off button for operating various functions and a button for changing the setting values of various functions. Includes.

The input unit 128 may further include a jog dial (not shown) or a touch pad for inputting movement commands and selection commands for the cursor displayed on the vehicle terminal 130.

The display unit 129 is provided in at least one of the cluster and the head unit 126 and displays information about functions being performed in the vehicle and information input by the user.

The terminal 130 may include a display panel, and may also include a touch screen with a touch panel integrated into the display panel.

The terminal 130 performs audio functions, video functions, navigation functions, DMB functions, and radio functions, and can also display map information and route information during the navigation function.

When the terminal 130 is provided with only a display panel, a button displayed on the terminal 130 can be selected using the input unit 128.

In addition, the terminal 130 can display information about the function being performed and information input by the user, and can also receive or display information about blind spots.

A trailer may be detachably connected to the body of the vehicle.

The chassis of the vehicle further includes drive devices for applying driving force and braking force to the front, left, right, and left wheels, such as a power generation device, a power transmission device, a steering device, a braking device, a suspension device, and a transmission device.

Here, the power generation device may include an engine, a fuel device, a cooling and refueling device, and an electric device.

The vehicle may further include a communication module for communicating with at least one of another vehicle, an external server, an external infrastructure, and an external terminal.

The vehicle's communication module also performs communication between devices inside the vehicle.

These communication modules can perform CAN communication, USB communication, Wi-Fi communication, and Bluetooth communication, and can further perform broadcasting communication such as TPEG, SXM, and RDS such as DMB, and 2G, 3G, 4G, and 5G communication.

Additionally, the vehicle 1 may further include a GPS receiver 131 installed for the driver's convenience.

Additionally, vehicles may be equipped with various safety devices to ensure the safety of drivers and passengers.

The vehicle 1 may include a blind spot warning device 3, which is one of several safety devices, that detects an obstacle and outputs warning information when it is determined that the detected obstacle exists in the blind spot.

The blind spot warning device 3 includes a position detection unit 310 that detects the positions of other vehicles located in the rear center direction and rear left and right directions of the vehicle 1.

The position detection unit 310 may be located on the left and right sides of the rear of the vehicle 1 (i.e., the surface of the rear panel).

That is, the position detection unit 310 includes a first position detection unit 311 provided on the left side of the rear of the vehicle 1 to detect the left area of the vehicle, and a second position detection unit 311 provided on the right side of the rear of the vehicle to detect the right area of the vehicle. It may include a detection unit 312.

The blind spot warning device 3 of the vehicle 1 adjusts the warning area in which warning information should be output depending on the length of the trailer connected to the vehicle.

This will be explained with reference to FIGS. 3 and 4.

Figure 3 is an exemplary diagram of a detection area of a passenger car, and Figure 4 is an exemplary diagram of a warning area of a passenger car.

As shown in FIG. 3, the first position detection unit 311 of the blind spot warning device 3 provided in the vehicle 1, which is a passenger car, detects other vehicles located within the first detection area L1, which is the left area of the own vehicle. , and the second position detection unit 312 detects another vehicle located in the second detection area R1, which is an area to the right of the own vehicle.

The first detection area (L1) may be a fan-shaped or semicircular area that has a radius longer than the length of the longest trailer among various trailers and forms an arc to the left of the vehicle.

The second detection area R1 may be a fan-shaped or semicircular area with a radius longer than the length of the longest trailer among various trailers and an arc formed to the right of the vehicle.

Here, the areas of the first detection area (L1) and the second detection area (R1) include the entire side area and the entire rear area of the vehicle, so that both obstacles on the side and rear of the vehicle can be detected.

Since the first position detection unit 311 and the second position detection unit 312 transmit signals of the same ability (e.g., intensity) in multiple directions from a fixed position, the shape of the detection area capable of detecting other vehicles is fan-shaped. Or, it appears in a semicircle shape.

That is, the first position detection unit 311 and the second position detection unit 312 provided in the blind spot warning device 3 have the ability to correspond to the sum of the length of the vehicle and the length of the longest trailer, and this capability It may have a detection area corresponding to .

As shown in FIG. 4, the blind spot warning device 3 adjusts the warning area W1 on the left and right sides of the vehicle based on whether a trailer is connected and the length of the connected trailer.

More specifically, when the trailer is not connected to the vehicle, the blind spot warning device 3 sets the reference warning area on the left and right sides of the vehicle as a warning area, outputs warning information based on the set warning area, and outputs warning information to the vehicle. When the trailer is connected, the length of the trailer is estimated, the warning areas on the left and right sides of the vehicle are adjusted based on the estimated trailer length, and warning information is output based on the adjusted warning areas.

The reference warning area is preset based on the length of the vehicle and has a first length (X1) rearward from the position (A1) of the B-pillar of the vehicle. It may be a square-shaped area with a second length (Y1) corresponding to the width of the road to the left from the position (A1).

That is, the reference warning area includes a first position (A1), which is the position of the non-pillar (B-pillar) of the vehicle, a second position (B1) extending rearward from the non-pillar position (A1) by a first length, A third position (C1) extended by a second length corresponding to the width of the lane at the first position (A1), and a fourth position (C1) extended by a second length corresponding to the width of the lane at the second position (B1) It may be an area connecting D1).

Here, the B-pillar is the pillar between the driver's door and the rear seat door.

Additionally, the first position may be the position of the driver's seat or the position of the driver's eyes set based on the position of the driver's seat.

The warning area W1 may extend further rearwards (i.e., in one direction) from the second position B1 depending on the length of the trailer.

Additionally, the length of the fourth position D1 in the warning area may be adjusted in the second direction depending on the type of road. That is, the length in the second direction may become longer or shorter in the lateral direction of the vehicle.

This is because the lane width varies depending on the type of road.

Additionally, the length of the second direction of the warning area may be a preset value based on the type of road.

That is, the warning areas on the left and right sides of the vehicle have the same shape and size, and can be adjusted in size to be the same according to the estimated length of the trailer.

The specific configuration for adjusting the warning area according to the estimated trailer length will be explained later.

As another example of a vehicle, a truck among commercial vehicles will be described as an example.

Figure 5 is an external view of a truck 2 among vehicles according to an embodiment.

The vehicle 2 in FIG. 3 is a machine that drives the wheels and travels on the road for the purpose of transporting cargo.

This vehicle 2 includes a tractor 210 with motive power and a trailer 220 that is detachably connected to the tractor 210 and carries cargo.

The tractor 210 tows a trailer and may include a body having an interior and exterior, and a chassis on which mechanical devices necessary for driving are installed in the remaining parts excluding the body.

The exterior of the vehicle body includes a hood 211, front left and right doors 212, window glass 213, and a west coast mirror 214 that provides the driver with a view of the rear of the vehicle 2.

The interior of the vehicle 2 may include a seat on which the occupants sit, a dashboard, an instrument panel (i.e. cluster), a steering wheel, a center fascia, an input unit, a display unit, etc., as in the interior of the passenger car shown in Figure 1. there is.

The chassis of the vehicle 2 further includes drive devices for applying driving force and braking force to the front, left, right, and left wheels, such as a power generation device, a power transmission device, a steering device, a braking device, a suspension device, and a transmission device.

The vehicle 2 may further include a communication module for communicating with at least one of another vehicle, an external server, an external infrastructure, and an external terminal.

The vehicle's communication module also performs communication between devices inside the vehicle.

It is also possible that the vehicle 2 further includes a GPS receiver installed for the convenience of the driver.

Additionally, vehicles may be equipped with various safety devices to ensure the safety of drivers and passengers.

The vehicle 2, as one of several safety devices, may include a blind spot warning device 3 that detects obstacles (e.g., other vehicles) and outputs warning information when it is determined that the detected obstacle exists in the blind spot. there is.

This blind spot warning device 3 includes a position detection unit 310 that detects the distance to other vehicles located in the left and right directions of the tractor of the vehicle 2.

The position detection unit 310 may be located on the left and right sides of the tractor of the vehicle 2, respectively.

That is, the position detection unit 310 is provided on the left side of the tractor 210 of the vehicle 2, and the first position detection unit 311, which detects the left area of the vehicle 2, is located on the right side of the tractor 210 of the vehicle 2. It may include a second position detection unit 312 that is provided and detects the right side area of the vehicle.

This position detection unit 310 may be a distance detection unit that detects the distance to other vehicles.

This distance detection unit may include a radar sensor or a light detection and ranging (Lidar) sensor.

The distance detection unit may include at least one sensor among an ultrasonic sensor, an image sensor, a laser sensor, and a lidar sensor that can replace a person's field of vision.

The blind spot warning device (3) adjusts the warning area in which warning information should be output depending on the length of the trailer connected to the vehicle.

This will be explained with reference to FIGS. 6 and 7.

Figure 6 is an example of a detection area of a truck, and Figure 7 is an example of a warning area of a truck.

As shown in FIG. 6, the first position detection unit 311 of the blind spot warning device 3 provided in the vehicle 2, which is a truck, is located in the first detection area L2, which is the left area of the vehicle 2. Other vehicles are detected, and the second position detection unit 312 detects other vehicles located in the second detection area R2, which is the area to the right of the own vehicle 2.

The first detection area L2 may be a fan-shaped or semi-circular area that has a radius longer than the length of the longest trailer among various trailers and forms an arc to the left of the vehicle.

The second detection area R2 may be a fan-shaped or semicircular area with a radius longer than the length of the longest trailer among various trailers and an arc formed to the right of the vehicle.

The areas of the first detection area (L2) and the second detection area (R2) may have an angle of 180 degrees or less.

Since the first position detection unit 311 and the second position detection unit 312 transmit signals of the same ability (e.g., intensity) in multiple directions from a fixed position, the shape of the detection area capable of detecting other vehicles is fan-shaped. Or, it appears in a semicircle shape.

That is, the first position detection unit 311 and the second position detection unit 312 provided in the blind spot warning device 3 have the ability to correspond to the sum of the length of the tractor and the length of the longest trailer, and this capability It may have a detection area corresponding to .

As shown in FIG. 7, the blind spot warning device 3 adjusts the warning area W2 on the left and right sides of the vehicle based on the length of the trailer connected to the vehicle 2.

That is, since the length of the tractor 210 is fixed and only the length of the trailer is variable, the blind spot warning device 3 can adjust the warning area by estimating only the length of the trailer.

More specifically, when a trailer is connected to the vehicle 2, the blind spot warning device 3 estimates the length of the trailer, adjusts the warning areas on the left and right sides of the vehicle based on the estimated length of the trailer, and provides an adjusted warning. Warning information is output based on the area.

The warning area W2 has a first length It may be a square-shaped area with a second length (Y2) corresponding to the width of .

Here, the certain length may vary depending on the length of the trailer.

The warning area includes a first position (A2), which is the position of the non-pillar (B-pillar) of the vehicle, a second position (B2) extending from the non-pillar position (A2) by a length corresponding to the length of the trailer, and A third position (C2) extended by a second length corresponding to the width of the lane in the first position (A2), and a fourth position (C2) extended by a second length corresponding to the width of the lane in the second position (B2) It may be an area connecting D2).

Here, the B-pillar is the pillar between the driver's door and the rear seat door.

Additionally, the first position may be the position of the driver's seat or the position of the driver's eyes set based on the position of the driver's seat.

The warning area W2 may extend further rearwards (i.e., in one direction) from the second position B2 depending on the length of the trailer.

Additionally, the length of the fourth position D2 in the warning area may be adjusted in the second direction depending on the type of road. That is, the length in the second direction may become longer or shorter in the lateral direction of the vehicle.

This is because the lane width varies depending on the type of road.

Additionally, the length of the second direction of the warning area may be a preset value based on the type of road.

Here, the first direction is a direction corresponding to the straight driving direction of the vehicle, and the second direction is a direction perpendicular to the first direction.

The warning areas W2 on the left and right sides of the vehicle 2 have the same shape and size, and can be adjusted in size to be the same according to the estimated length of the trailer.

Let us explain the specific configuration of adjusting the warning area according to the estimated trailer length.

In addition, when the vehicle is a passenger car or a truck, the configuration of estimating the length of the trailer and adjusting the warning area based on the estimated trailer length is the same. Among passenger cars and trucks, the truck with the greater number of trailer connections is exampled. Explain with examples.

Figure 8 is a control configuration diagram of a vehicle 2 having a blind spot warning device according to an embodiment.

The vehicle 2 includes a terminal 130, a GPS receiver 131, a speed detector 140, and a blind spot warning device 3.

The terminal 130 performs a navigation function based on current location information received from the GPS receiver 131, map information stored in a database, and destination information input by the user.

That is, the terminal 130 displays the route from the current location to the destination on the map image and provides route guidance information in the form of video and sound to the user.

The terminal 130 checks the road information of the currently located road based on the map information and the current location information and transmits the confirmed road information to the blind spot warning device 3.

Here, the road information may include the type of road and may further include information on the lane width of the road.

Types of roads may include high-speed national roads, general national roads, special city roads, metropolitan cities, local roads, city and provincial roads, county roads, and district roads.

In addition, the vehicle can obtain lane width information by acquiring images of the road through cameras, etc.

The GPS receiver 131 receives signals sent from artificial satellites, recognizes the current location of the vehicle, and transmits information on the recognized current location to the terminal 130.

The speed detection unit 140 detects the speed of the own vehicle 2 and transmits the detected speed information to the blind spot warning device 3.

Here, the speed of the vehicle may be the speed of the tractor and the speed of the trailer.

The speed detection unit 140 may be a wheel speed sensor provided on each of the front, left, and right wheels, or an acceleration sensor that detects the acceleration of the vehicle.

Here, the speed detection unit 140 can be used to estimate the length of the trailer, and in this case, it can also be provided in the blind spot warning device 3.

The blind spot warning device 3 warns the user of the risk of changing lanes and the risk of collision with other vehicles when another vehicle is present in a location adjacent to the own vehicle but difficult for the driver to recognize.

The blind spot warning device 3 can set a warning area with a high possibility of collision with other vehicles in order to determine the risk of collision with other vehicles.

At this time, the warning area can be adjusted according to the total length of the vehicle.

To this end, the blind spot warning device estimates the length of the trailer, which determines the total length of the vehicle, and adjusts the warning area based on the estimated trailer length.

This blind spot warning device includes a position detection unit 310, an input unit 320, a communication unit 330, a control unit 340, a storage unit 350, and a warning unit 360.

The position detection unit 310 includes a first position detection unit and a second position detection unit that detects other vehicles located on the left and right lanes of the own vehicle.

Based on the signal detected by the position detection unit 310, not only the location of the other vehicle but also the distance to the other vehicle can be detected.

The position detection unit 310 is a sensor that can replace a person's field of vision and may include a Light Detection and Ranging (Lidar) sensor, a radar sensor, or an ultrasonic sensor capable of detecting the distance of another vehicle.

Here, LiDAR (Light Detection And Ranging) sensor is a non-contact distance detection sensor using the principle of laser radar.

The LiDAR sensor may include a transmitter that transmits a laser and a receiver that receives the laser that is reflected and returned from the surface of an object within the sensor range.

Here, the laser may be a single laser pulse.

For reference, LiDAR sensors have higher detection accuracy in the lateral direction compared to RaDAR (Radio Detecting And Ranging) sensors, so they can increase the accuracy of the process of determining whether a passage exists ahead.

A radar sensor is a device that detects the location of an object using reflected waves generated by radio wave radiation when transmission and reception are performed in the same place.

These radar sensors use the Doppler effect to prevent transmitted and received radio waves from overlapping and making it difficult to distinguish them, change the frequency of the transmitted radio waves over time, or output pulse waves as transmitted radio waves.

An ultrasonic sensor generates ultrasonic waves for a certain period of time and then detects a signal that is reflected back from an object.

Ultrasonic sensors can be used to determine the presence or absence of obstacles such as pedestrians within a short range.

The position detection unit 310 may also include an image sensor or an infrared sensor.

In addition, the position detection unit 310 of the blind spot warning device may be a position detection unit provided in the vehicle for another purpose (eg, autonomous driving).

The input unit 320 can receive an on/off command for the blind spot warning device, and can also receive a command for adjusting the warning area.

The input unit 320 can receive an adjustment command as a reference warning area.

If the vehicle is a passenger car, the standard warning area is the warning area when the trailer is not connected.

If the vehicle is a truck, the reference warning area may be a warning area when the length of the trailer is less than or equal to the reference length.

This input unit 320 may be the input unit 128 provided inside the vehicle.

In addition, if the position detection unit and the input unit are separately provided in the vehicle, the communication unit 330 is also capable of communicating with the position detection unit and the input unit.

The communication unit 330 communicates with the terminal 130 and the speed detection unit 140.

The communication unit 330 may receive road information from the terminal 130 and receive vehicle speed information from the speed detection unit 140.

The control unit 340 determines whether another vehicle has been detected based on the signal detected by the position detection unit 310, and if it is determined that the other vehicle has been detected, the control unit 340 determines the distance to the other vehicle based on the detected signal at the time the other vehicle was detected. is checked, and if the confirmed distance to the other vehicle is less than the standard distance, the other vehicle is judged to be an overtaking vehicle, and the length of the trailer is estimated based on the confirmed distance to the other vehicle.

If the distance to the other vehicle at the time the other vehicle is detected is the reference distance, the control unit 340 determines that the vehicle is continuously traveling in the lane next to its own lane.

Here, the reference distance is the farthest distance from the own vehicle among the distances of the detection area where obstacles can be detected using the position detection unit 310. This reference distance may be equal to the radius of the detection area.

The control unit 340 checks warning area information corresponding to the estimated trailer length and adjusts the left and right warning areas of the vehicle based on the confirmed warning area information.

Here, the warning area information may include length information of the warning area extending rearward from the position of the rain pillar.

In addition, the control unit 340 can adjust the warning area based on the distance to the overtaking vehicle and estimate the length of the trailer based on the adjusted warning area.

Here, estimating the length of the trailer based on the adjusted warning area includes estimating the length of the trailer by subtracting a certain length from the length of the adjusted warning area.

This takes into account the fact that the overtaking vehicle overtakes while maintaining a safe distance from the overtaking vehicle.

In other words, the certain length may be a length corresponding to a safe distance when overtaking.

If the distance to the other vehicle at the time the other vehicle is detected is less than the standard distance, the control unit 340 compares the speed of the own vehicle and the speed of the other vehicle, and if the two speeds are different, based on the distance to the other vehicle, the control unit 340 Estimate the length of .

Here, if the speed of the own vehicle and the speed of the other vehicle are the same, the object detected by the position detection unit may be a trailer connected to the own vehicle rather than the other vehicle.

The control unit 340 checks the steering angle detected through a steering angle detector (not shown), and when it is determined that the driver is driving on a curved road based on the confirmed steering angle, the control unit 340 compares the speed of the own vehicle and the speed of the detected target. Check if this is a trailer.

Here, the speed of the detected object can be obtained based on the change in the distance of the object over a certain period of time.

The control unit 340 may check the speed of the own vehicle and estimate the length of the trailer based on the distance to the detected overtaking vehicle when the confirmed speed is within the reference speed range.

The control unit 340 may accumulate the distance to a plurality of overtaking vehicles detected when the vehicle's speed is within the reference speed range and estimate the length of the trailer based on the accumulated distances to the multiple overtaking vehicles.

This takes into account the fact that the faster the vehicle's speed, the farther away the vehicle is overtaking. When the vehicle's speed is within the standard speed range, it is easy to detect other vehicles passing, and the overtaking vehicle detected at this time is easy to detect. By estimating the length of the trailer using the distance, the accuracy of estimating the length of the trailer can be improved.

Here, the reference speed range may include speeds from approximately 40 kph to 60 kph.

And the plurality of overtaking vehicles is a preset number of vehicles, which may be approximately ten to fifteen overtaking vehicles.

The control unit 340 can also estimate the length of the trailer based on the distance to the overtaking vehicle that is first detected after the start of driving.

The control unit 340 may accumulate the distance to a plurality of overtaking vehicles detected for a certain period of time from the start of driving and estimate the length of the trailer based on the distance to the overtaking vehicle accumulated over a certain period of time.

The control unit 340 checks road information, checks the type of road based on the confirmed road information, and, when the confirmed road type is a road that can drive at a speed higher than the standard speed, based on the distance to the detected overtaking vehicle. It is also possible to estimate the length of the trailer.

For example, roads on which vehicles can travel at a speed higher than the standard speed (e.g., 80 kph) may include high-speed national highways or high-speed national highways.

The road information may be road type information provided by the terminal, or may be road lane width information provided by the terminal.

The control unit 340 can also estimate road information based on the speed of the vehicle.

The control unit 340 can also estimate road information based on the speed of other vehicles.

That is, the control unit 340 can check the change in the position of another vehicle detected by the position detection unit for a preset time and recognize the speed of the other vehicle based on the moving distance corresponding to the confirmed change in position.

The control unit 340 can also adjust the width of the warning area (i.e., the length extending from the non-pillar position to the side of the vehicle) of the warning area based on road information.

The control unit 340 can also estimate the length of the trailer based on the distance to a plurality of overtaking vehicles detected when the type of road is a high-speed national highway or a high-speed national highway.

When estimating the length of a trailer based on the distance to a plurality of overtaking vehicles, the control unit 340 may estimate the length of the trailer using any one of average, distribution, and density.

More specifically, the control unit 340 may include obtaining an average distance from the distance to a plurality of overtaking vehicles and estimating the length of the trailer corresponding to the obtained average distance.

The control unit 340 obtains the distribution of the distance to a plurality of overtaking vehicles, performs linear curve fitting on the distribution of the obtained distance, obtains the slope or intercept of the equation of the linearly curve-fitted straight line, and obtains the obtained It may include estimating the length of the trailer corresponding to the slope or intercept.

The control unit 340 may include obtaining the density by distance with a plurality of overtaking vehicles, obtaining the distance with the highest density among the obtained densities by distance, and estimating the length of the trailer corresponding to the obtained distance.

The control unit 340 checks the information of the warning area corresponding to the estimated trailer length and compares the information of the confirmed warning area with the information of the current warning area, and the information of the confirmed warning area and the information of the current warning area are different. Then, the current warning area is adjusted based on the information of the confirmed warning area.

After adjusting the warning area, the control unit 340 continuously obtains the distance to the overtaking vehicle until the warning area adjustment command is input through the input unit 320, and based on the obtained distance from the overtaking vehicle, the length of the trailer and It is also possible to update the warning area.

When a warning area adjustment command is input through the input unit 320, the control unit 340 may estimate the length of the trailer and adjust the warning area based on the distance to at least one or a plurality of preset overtaking vehicles.

When the engine is turned on again, the controller 340 can estimate the length of the trailer and adjust the warning area based on the distance to at least one or a plurality of preset overtaking vehicles.

The control unit 340 can also set a warning area corresponding to the selected trailer model based on the pre-stored length for each trailer model and the warning area for each trailer model.

The control unit 340 checks whether the location of the overtaking vehicle is inside the detection area, and if it is determined that the location of the overtaking vehicle is inside the detection area, the control unit 340 estimates the length of the trailer based on the location of the overtaking vehicle and based on the estimated length of the trailer. It is also possible to adjust the warning area.

That is, the control unit 340 can estimate the length of the trailer based on location information rather than distance information from other vehicles.

The control unit 340 controls the output of warning information when the detected location of another vehicle is inside the warning area.

Here, the warning area may have X and Y coordinate values based on the position of the rain pillar.

Accordingly, the control unit 340 can check the coordinate value corresponding to the detected location of the other vehicle and determine whether the location of the other vehicle is inside the warning area based on the confirmed coordinate value.

The control unit 340 can also adjust the length of the trailer based on the distance to a plurality of overtaking vehicles detected when at least two of the standard speed range, road type, and detection conditions for a certain time are satisfied.

The storage unit 350 stores the reference distance and the length information of the warning area for each length of the trailer.

Here, the length of the warning area according to the length of the trailer may be longer as the length of the trailer increases.

The storage unit 350 stores information on the width of the warning area corresponding to the type of road.

Here, the width of the warning area is the length extending from the position of the rain pillar to the side of the vehicle.

The storage unit 350 can also store trailer length information for each length of the warning area.

The warning unit 360 outputs warning information when another vehicle exists within the warning area based on the control command of the control unit 340.

The warning unit 360 may include a lamp provided on the West Coast Mirror 214 or a lamp provided on the inner surface of the door, and may further include a sound output unit that outputs a warning sound.

The warning unit 360 may be a cluster display unit, a head unit display unit, or a terminal display unit.

In the case of a passenger car, the warning unit 360 may include a lamp provided in the side mirror 119.

Figure 9 is a flowchart of vehicle control according to an embodiment, which is a flowchart of detecting one overtaking vehicle and adjusting a warning area based on the distance to the detected overtaking vehicle.

The vehicle determines whether another vehicle has been detected (401) based on the signal detected by the position detection unit 310, and when it is determined that the other vehicle has been detected, the vehicle determines the location of the other vehicle based on the detected signal at the time the other vehicle was detected. is checked (402), and if the confirmed location of the other vehicle is behind and to the side (403) of the own vehicle, the distance between the own vehicle and the other vehicle is checked (404) based on the detected signal.

Here, determining whether another vehicle has been detected includes determining whether the other vehicle has been detected by at least one of the first position detection unit and the second position detection unit provided in the vehicle.

This is to determine whether other vehicles exist in the first and second detection areas.

Checking the location of another vehicle includes checking whether another vehicle exists in the left or right lane of the own vehicle and behind the driver's seat of the own vehicle based on the driver's seat of the own vehicle.

Checking the distance to another vehicle includes checking the distance to the other vehicle detected based on the detection signal of the first position detection unit 311 when it is determined that the other vehicle is located behind the own vehicle and in the left lane. And, if it is determined that the other vehicle is located behind the own vehicle and in the right lane, it includes checking the distance to the other vehicle detected based on the detection signal of the second position detection unit 312.

The next vehicle compares the distance to the confirmed other vehicle and the standard distance (405), and if the distance to the confirmed other vehicle is less than the standard distance, the detected other vehicle moves from the same lane as the own lane to the lane next to the own lane. It is determined to be an overtaking vehicle (406), and the length of the trailer is estimated (407) based on the confirmed distance from other vehicles.

That is, when another vehicle is detected in the first position detector, the vehicle determines (406) that the other detected vehicle is an overtaking vehicle that has moved from the same lane as the own lane to the left lane, and the other vehicle is detected in the second position detector. In the detected situation, the other detected vehicle is judged to be an overtaking vehicle that has moved from the same lane as the own lane to the right lane.

Here, the reference distance is the farthest distance from the own vehicle among the distances of the detection area where obstacles can be detected using the position detection unit 310. This reference distance may be equal to the radius of the detection area.

The next vehicle checks the information in the warning area corresponding to the estimated trailer length, compares the information in the confirmed warning area with the information in the current warning area, and if the information in the confirmed warning area is different from the information in the current warning area. The current warning area is adjusted (408) based on information on the confirmed warning area.

Here, the warning area information includes length information of the warning area extending rearward from the position of the rain pillar.

And the length information of the warning area extending rearward from the position of the rain pillar varies depending on the length of the trailer.

The length of the warning area corresponding to the length of the trailer is the length of the trailer plus a certain length.

The reason for adding a certain length is to consider the fact that other vehicles overtake at a certain distance from the end of the trailer to reduce the risk of collision with the vehicle, and the risk of collision is high at a certain distance from the end of the trailer.

Therefore, the vehicle sets the warning area to the length of the trailer plus a certain length.

Here, the constant length is the length value for a certain distance.

In addition, the certain length is a length obtained through experiment and may be stored in advance.

On the other hand, the vehicle maintains the current warning area if the information in the confirmed warning area is the same as the information in the current warning area.

10A and 10B will be described as an example.

As shown in FIG. 10A, the vehicle 2 drives on the second lane S2 between the first lane S1 and the third lane S3, and activates the position detection units 311 and 312 to detect the first It detects whether other vehicles exist within the detection area (L2) and the second detection area (R2).

When another vehicle 4 is detected within the second detection area R2, the vehicle 2 confirms the location of the other vehicle 4, and the location of the other vehicle 4 is at the rear and side of the own vehicle 2. If it is determined that this is the case, the distance to the other vehicle (4) at the time the other vehicle (4) was detected is checked.

When the vehicle (2) determines that the distance (dd1) to the other vehicle (4) is less than the reference distance (dr2), the other vehicle (4) is an overtaking vehicle that has moved from the second lane (S2) to the third lane (S3). It is judged that

And the vehicle 2 estimates the length of the trailer 220 connected to the tractor 210 based on the distance dd1 from the other vehicle.

The vehicle adjusts the length (X2a) of the warning area (W2) by adding a certain length (ds) to the estimated trailer length (T1).

As shown in Figure 10b, when the vehicle 2 determines that the distance dd2 from the other vehicle 4 is less than the reference distance dr, the other vehicle 4 moves from the second lane S2 to the third lane. It is judged to be an overtaking vehicle moving to (S3).

And the vehicle 2 estimates the length of the trailer 220 connected to the tractor 210 based on the distance f (dd2) from other vehicles, and the vehicle adds a certain length (ds) to the estimated length (T2) of the trailer. Additionally, adjust the length (X2b) of the warning area.

As shown in FIGS. 10A and 10B, the vehicle 2 adjusts the length of the warning area based on the length of the trailer 220, and the longer the trailer, the longer the warning area W2 can be adjusted. .

This is an example of adjusting the warning area in the case of a passenger car in FIGS. 11A and 11B.

As shown in FIG. 11A, the vehicle 1 adjusts the warning area W1 to the standard warning area when the trailer is not connected. Here, the reference warning area has a reference length (X1a).

As shown in FIG. 11b, when the trailer 1a is connected, the vehicle 1 activates the position detection units 311 and 312 to detect other vehicles within the first detection area L1 and the second detection area R1. Detect if it exists.

When another vehicle (4) is detected within the second detection area (R1), the vehicle (1) confirms the location of the other vehicle (4), and the location of the other vehicle (4) is at the rear and side of the own vehicle (1). If it is determined that this is the case, the distance to the other vehicle (4) at the time the other vehicle (4) was detected is checked.

If the vehicle (1) determines that the distance (dd3) to the other vehicle (4) is less than the reference distance (dr1), the other vehicle (4) is an overtaking vehicle that has moved from the second lane (S2) to the third lane (S3). It is judged that

And the vehicle 2 estimates the length of the trailer 1a based on the distance dd3 from the other vehicle.

The vehicle 1 adjusts the length (X1b) of the warning area (W1) by adding a certain length (ds) to the estimated trailer length (T3).

As shown in FIGS. 11A and 10B, the vehicle 1 adjusts the length of the warning area based on the presence or absence of the trailer 1a and the length of the trailer 1a. The longer the trailer, the longer the warning area W1. can be adjusted to be longer.

In addition, when it is a truck and a passenger car, the certain length added to the estimated length of the trailer may be the same or different, and may be a value obtained through experiment.

Figure 12 is a vehicle control flowchart according to an embodiment, which is a flowchart for detecting a plurality of overtaking vehicles and adjusting a warning area based on the distance to the detected multiple overtaking vehicles.

When the vehicle is started, it performs actions to adjust the warning area.

In addition, the vehicle can also perform an operation to adjust the warning area when a warning area adjustment command is input through the input unit.

While driving (411), the vehicle determines (412) whether the vehicle's driving information satisfies the detection conditions for the overtaking vehicle, and if it is determined that the detection conditions are satisfied, it detects another vehicle (413).

Here, the detection condition includes at least one of the vehicle speed, vehicle travel time, and information on the road on which the vehicle is traveling.

This is explained with an example.

When the detection condition is the vehicle's speed, the vehicle checks its own speed, and if the confirmed speed is within the reference speed range, it detects other vehicles within the first and second detection areas.

Here, the reference speed range may include speeds from approximately 40 kph to 60 kph.

When the detection condition is a certain time, the vehicle detects other vehicles within the first and second detection areas for a certain time from the start of driving.

When the detection condition is road information, the vehicle checks the road information provided by the terminal, and if the road information is a high-speed national highway or a high-speed national highway, it detects other vehicles within the first and second detection areas.

When the detection condition is road information, the vehicle checks the vehicle's speed, and if the vehicle's speed is higher than the standard speed, it determines that the road information is a high-speed national highway or a high-speed national highway and detects other vehicles within the first and second detection areas. It is also possible to do so.

When the detection conditions are satisfied and another vehicle is detected (413), the vehicle checks the location and distance of the other detected vehicle (414) and determines whether the detected other vehicle is an overtaking vehicle (415).

In addition, when detecting another vehicle in the first and second detection areas, the vehicle determines whether it is driving on a curved road based on the steering angle, and if it is determined that it is driving on a curved road, compares the speed of the own vehicle with the speed of the detected object, If the speed of the host vehicle and the speed of the detected object are the same, the detected object is recognized as the trailer of the host vehicle rather than another vehicle, and the detected object is excluded from the other vehicle.

Here, the speed of the object may be obtained based on a change in the distance of the object during a preset time.

When the vehicle determines that the detected other vehicle is an overtaking vehicle, the vehicle stores the distance to the other vehicle (416).

Here, the configuration for determining an overtaking vehicle is explained in detail.

The vehicle determines whether another vehicle has been detected based on the signal detected by the position detection unit (310: 311, 312), and when it is determined that the other vehicle has been detected, the vehicle determines whether the other vehicle is detected based on the signal detected at the time the other vehicle was detected. Check the location, and if the confirmed location of the other vehicle is behind and to the side of your vehicle, check the distance between your vehicle and the other vehicle based on the detected signal.

Checking the location of another vehicle includes checking whether another vehicle exists in the left or right lane of the own vehicle and behind the driver's seat of the own vehicle based on the driver's seat of the own vehicle.

Checking the distance to another vehicle includes checking the distance to the other vehicle detected based on the detection signal of the first position detection unit 311 when it is determined that the other vehicle is located behind the own vehicle and in the left lane. And, if it is determined that the other vehicle is located behind the own vehicle and in the right lane, it includes checking the distance to the other vehicle detected based on the detection signal of the second position detection unit 312.

The next vehicle compares the distance to the confirmed other vehicle with the standard distance, and if the distance to the confirmed other vehicle is less than the standard distance, the other detected vehicle is treated as an overtaking vehicle that moved from the same lane as the own lane to the lane next to the own lane. judge.

That is, when another vehicle is detected in the first position detection unit, the vehicle determines that the other detected vehicle is an overtaking vehicle that has moved from the same lane as the own lane to the left lane, and the other vehicle is detected in the second position detection unit. When , the detected other vehicle is judged to be an overtaking vehicle that has moved from the same lane as the own lane to the right lane.

The vehicle determines (417) whether the number of overtaking vehicles is the preset number of vehicles, and if the number of overtaking vehicles is less than the preset number of vehicles, it detects overtaking vehicles that satisfy the detection conditions until the number of overtaking vehicles reaches the preset number.

If the number of overtaking vehicles is a preset number, the vehicle estimates the length of the trailer (418) based on the stored distance of overtaking vehicles.

Here, the preset number of vehicles is the number of multiple vehicles.

A configuration for estimating the length of a trailer based on the distance of a plurality of overtaking vehicles will be described in more detail.

As an example, the vehicle obtains the average distance of the overtaking vehicles from the distance to a plurality of overtaking vehicles and estimates the length of the trailer corresponding to the obtained average distance of the overtaking vehicles.

As another example, the vehicle acquires the density by distance with a plurality of overtaking vehicles, obtains the distance with the highest density among the obtained densities by distance, and estimates the length of the trailer corresponding to the obtained distance.

As another example, the vehicle obtains the distribution of the distance to a plurality of overtaking vehicles, performs linear curve fitting on the distribution of the obtained distance, and obtains and obtains the slope or intercept of the equation of the linearly curve-fitted straight line. Estimate the length of the trailer corresponding to the slope or intercept.

That is, the vehicle can estimate the length of the trailer using any one statistical technique among the average distance to the overtaking vehicle, the distance distribution of the overtaking vehicle, and the distance density of the overtaking vehicle.

We briefly explain the detection conditions for overtaking vehicles and examples of trailer length estimation.

The vehicle can estimate the length of the trailer by storing the distance to a plurality of overtaking vehicles detected when the vehicle's speed is within the reference speed range and obtaining an average distance of the distance to the multiple overtaking vehicles.

The vehicle stores the distance to a plurality of overtaking vehicles detected when the vehicle's speed is within the reference speed range, and obtains a distribution of the distances to the multiple overtaking vehicles to estimate the length of the trailer. This is explained with reference to FIG. 13.

As shown in FIG. 13, when the vehicle's speed is within the reference speed range, the vehicle obtains the distance to the overtaking vehicle detected as a graph for each vehicle's speed, and the distribution of the distance to the overtaking vehicle by the obtained speed is linearly plotted. You can perform curve fitting, obtain the slope of the equation of the linearly curve-fitted straight line, and estimate the length of the trailer based on the obtained slope.

The slope g1 in FIG. 13 is the slope when the trailer is short, and the slope g2 is the slope when the trailer is long.

In this way, the length of the trailer can be estimated by checking the distribution of the distance to the overtaking vehicle at each speed and obtaining the slope based on the distribution.

Additionally, it can be seen that as the speed of the vehicle increases, other vehicles overtake it at a greater distance.

The vehicle stores the distance to multiple overtaking vehicles detected when the vehicle's speed is within the standard speed range, obtains density for the distance to multiple overtaking vehicles, checks the distance with the highest density, and then moves to the confirmed distance. Based on this, the length of the trailer can be estimated.

The vehicle stores the distance to multiple overtaking vehicles detected for a certain period of time, stores the average distance for the distance to multiple overtaking vehicles, and obtains the average distance for the distance to multiple overtaking vehicles to determine the length of the trailer. can be estimated.

The vehicle can estimate the length of the trailer by storing the distance to a plurality of overtaking vehicles detected for a certain period of time and obtaining a distribution of the distances to the multiple overtaking vehicles.

The vehicle stores the distance to multiple overtaking vehicles detected for a certain period of time, obtains the density of the distance to multiple overtaking vehicles, checks the distance with the highest density, and then estimates the length of the trailer based on the confirmed distance. You can.

The vehicle stores the distance to a plurality of overtaking vehicles detected while driving on a high-speed national highway or a high-speed national highway, stores the average distance to the multiple overtaking vehicles, and stores the average distance to the multiple overtaking vehicles. By obtaining the distance, you can estimate the length of the trailer.

The vehicle stores the distance to a plurality of overtaking vehicles detected while driving on a high-speed national highway or a high-speed national highway, and obtains a distribution of the distances to the multiple overtaking vehicles to estimate the length of the trailer.

The vehicle stores the distance to multiple overtaking vehicles detected while driving on a high-speed national highway or a high-speed national highway, obtains the density of the distance to multiple overtaking vehicles, checks the distance with the highest density, and then moves to the confirmed distance. Based on this, the length of the trailer can be estimated.

In addition, the vehicle stores the distance to multiple overtaking vehicles detected for a certain period of time when the vehicle's speed is within the standard speed range, and obtains the average distance to multiple overtaking vehicles to estimate the length of the trailer. there is.

When the vehicle's speed is within the reference speed range, the vehicle stores the distance to a plurality of overtaking vehicles detected for a certain period of time and obtains a distribution of the distances to the multiple overtaking vehicles to estimate the length of the trailer.

When the vehicle's speed is within the standard speed range, the vehicle stores the distance to multiple overtaking vehicles detected for a certain period of time, obtains the density of the distance to multiple overtaking vehicles, and checks the distance with the highest density. Based on the distance, you can estimate the length of the trailer.

By estimating the length of the trailer using these various detection conditions and statistical techniques, the accuracy of estimating the length of the trailer can be increased, and the risk of accidents can be reduced by optimally adjusting the size of the warning area.

The next vehicle checks the information in the warning area corresponding to the estimated trailer length, compares the information in the confirmed warning area with the information in the current warning area, and if the information in the confirmed warning area is different from the information in the current warning area. The current warning area is adjusted (419) based on information on the confirmed warning area.

Here, the warning area information includes length information of the warning area extending rearward from the position of the rain pillar.

And the length information of the warning area extending rearward from the position of the rain pillar varies depending on the length of the trailer.

The length of the warning area corresponding to the length of the trailer is the length of the trailer plus a certain length.

The reason for adding a certain length is to consider the fact that other vehicles overtake at a certain distance from the end of the trailer to reduce the risk of collision with the vehicle, and the risk of collision is high at a certain distance from the end of the trailer.

Therefore, the vehicle sets the warning area to the length of the trailer plus a certain length.

Here, the constant length is the length value for a certain distance.

In addition, the certain length is a length obtained through experiment and may be stored in advance.

On the other hand, the vehicle maintains the current warning area if the information in the confirmed warning area is the same as the information in the current warning area.

After adjusting the warning area, the vehicle controls the output of warning information when another vehicle is located within the warning area.

Here, outputting warning information includes turning on a lamp or outputting a warning sound.

In this embodiment, an example of estimating the length of the trailer based on the location and distance of the overtaking vehicle and adjusting the warning area based on the estimated length of the trailer has been described, but the warning area is adjusted based on the location and distance of the overtaking vehicle. It is also possible to adjust it right away. In this case, the length of the trailer may be a certain length shorter than the length of the warning area.

1: Vehicle (passenger car) 2: Vehicle (truck)
3: Blind spot warning device 4: Other vehicles
310: position detection unit 320: input unit
330: Communication unit 340: Control unit
350: storage unit 360: warning unit

Claims (23)

a position detection unit that detects the positions of other vehicles on the road;
Based on the detected location of the other vehicle, it is determined whether the other vehicle is an overtaking vehicle. If the other vehicle is an overtaking vehicle, the distance to the overtaking vehicle is confirmed based on the location of the overtaking vehicle. a control unit that estimates the length of a trailer connected to the host vehicle based on the distance and adjusts a warning area of the host vehicle based on the estimated length of the trailer; and
A warning unit that outputs warning information when an obstacle is located in the warning area,
The control unit, if there are a plurality of overtaking vehicles, obtains an average distance from the distance to the plurality of overtaking vehicles, and estimates the length of the trailer based on the obtained average distance. Blind spot warning device. According to clause 1,
It further includes a communication unit that receives the speed of the subject vehicle from the speed detection unit of the subject vehicle,
The control unit is a blind spot warning device that includes determining whether the detected other vehicle is an overtaking vehicle if the speed of the own vehicle is within a reference speed range. According to clause 2,
Further comprising a communication unit that receives information about the road from a terminal,
The control unit determines whether the road is a road that can be driven at a speed higher than the standard speed based on information about the road, and if it is determined that the road is a road that can drive at a speed higher than the standard speed, it includes determining whether the detected other vehicle is an overtaking vehicle. Blind spot warning device. The method of claim 1, wherein the control unit:
A blind spot warning device comprising estimating the length of the trailer based on the distance to a plurality of overtaking vehicles detected for a certain period of time from the start of driving of the own vehicle. a body to which a trailer is detachably connected;
a position detection unit that detects the positions of other vehicles on the road;
Based on the detected location of the other vehicle, it is determined whether the other vehicle is an overtaking vehicle. If the other vehicle is an overtaking vehicle, the distance to the overtaking vehicle is confirmed based on the location of the overtaking vehicle. a control unit that estimates the length of a trailer connected to the host vehicle based on the distance and adjusts a warning area of the host vehicle based on the estimated length of the trailer; and
A warning unit that outputs warning information when an obstacle is located in the warning area,
The control unit, if there are a plurality of overtaking vehicles, obtains an average distance from the distance to the plurality of overtaking vehicles, and estimates the length of the trailer based on the obtained average distance. According to claim 5,
Further comprising a speed detection unit that detects the speed of the subject vehicle,
The control unit determines whether the detected other vehicle is an overtaking vehicle if the speed of the own vehicle is within a reference speed range. According to claim 5,
Further comprising a terminal that performs a navigation function and checks road information when performing the navigation function,
The control unit determines whether the road is a road that can be driven at a speed higher than the standard speed based on the information on the confirmed road, and when it is determined that the road is a road that can drive at a speed higher than the standard speed, it determines whether the detected other vehicle is an overtaking vehicle. Vehicles that include According to claim 5,
Further comprising a speed detection unit that detects the speed of the subject vehicle,
The control unit determines whether the road is a road that can be driven at a speed higher than the standard speed based on the detected speed, and if it is determined that the road is a road that can drive at a speed higher than the standard speed, it includes determining whether the detected other vehicle is an overtaking vehicle. A vehicle that does. The method of claim 5, wherein the control unit:
The location change of the other vehicle detected by the location detection unit is confirmed, the speed of the other vehicle is recognized based on the confirmed location change, and the road is driven at a reference speed or higher based on the recognized speed of the other vehicle. A vehicle that includes determining whether the road is possible and, if it is determined that the road is a road that can be driven at a speed higher than the standard speed, determining whether the detected other vehicle is an overtaking vehicle. The method of claim 5, wherein the control unit:
A vehicle that includes estimating the length of the trailer based on the distance to a plurality of overtaking vehicles detected for a certain period of time from the start of driving of the own vehicle. According to claim 5,
Further comprising a speed detection unit that detects the speed of the subject vehicle,
The control unit includes estimating the length of the trailer based on a distance to a plurality of overtaking vehicles detected when the speed of the own vehicle is within a reference speed range. According to claim 5,
Further comprising a terminal that performs a navigation function and checks road information when performing the navigation function,
The control unit determines whether the road is a road that can be driven at a speed higher than the standard speed based on the information on the confirmed road, and determines whether the road is a road that can drive at a speed higher than the standard speed based on the distance to a plurality of overtaking vehicles detected. A vehicle comprising estimating the length of the trailer. a body to which a trailer is detachably connected;
a position detection unit that detects the positions of other vehicles on the road;
Based on the detected location of the other vehicle, it is determined whether the other vehicle is an overtaking vehicle. If the other vehicle is an overtaking vehicle, the distance to the overtaking vehicle is confirmed based on the location of the overtaking vehicle. a control unit that estimates the length of a trailer connected to the host vehicle based on the distance and adjusts a warning area of the host vehicle based on the estimated length of the trailer; and
A warning unit that outputs warning information when an obstacle is located in the warning area,
The control unit, if there are a plurality of overtaking vehicles, obtains a distance distribution or density of the distance to the plurality of overtaking vehicles, and estimates the length of the trailer based on the obtained distance distribution or density. In the control method of a vehicle to which a trailer is detachably connected,
Determine whether the other vehicle is an overtaking vehicle based on the location of the other vehicle detected by the position detection unit while driving,
If the other vehicle is an overtaking vehicle, check the distance to the overtaking vehicle based on the location of the overtaking vehicle,
Estimate the length of the trailer connected to the vehicle based on the confirmed distance of the overtaking vehicle,
Adjusting the warning area of the self-vehicle based on the estimated length of the trailer,
If an obstacle is located in the adjusted warning area, warning information is output,
Estimating the length of the trailer includes, if there are a plurality of confirmed overtaking vehicles, obtaining an average distance from the distance to the plurality of overtaking vehicles and estimating the length of the trailer based on the obtained average distance. A control method for a vehicle, including: The method of claim 14, wherein determining whether the other vehicle is an overtaking vehicle includes:
Detect the speed of the vehicle body,
A vehicle control method comprising determining whether the detected other vehicle is an overtaking vehicle when the speed of the vehicle body is within a reference speed range. The method of claim 14, wherein determining whether the other vehicle is an overtaking vehicle includes:
Performs navigation functions,
When performing the above navigation function, check road information,
Based on the information on the confirmed road, determine whether the road is a road that can be driven at a speed higher than the standard speed,
A vehicle control method comprising determining whether the detected other vehicle is an overtaking vehicle when it is determined that the road is a road capable of driving at a speed higher than a standard speed. The method of claim 14, wherein determining whether the other vehicle is an overtaking vehicle includes:
Detect the speed of the vehicle body,
Based on the detected speed, determine whether the road can be driven at a speed higher than the standard speed,
A vehicle control method comprising determining whether the detected other vehicle is an overtaking vehicle when it is determined that the road is a road capable of driving at a speed higher than a standard speed. delete delete The method of claim 14, wherein estimating the length of the trailer includes:
Obtaining a distance distribution of distances to the plurality of overtaking vehicles,
Obtaining the equation of a straight line based on the obtained distance distribution,
A method of controlling a vehicle comprising estimating the length of the trailer based on the equation of the obtained straight line. The method of claim 14, wherein estimating the length of the trailer includes:
Obtaining the density of the distance between the plurality of overtaking vehicles,
A vehicle control method comprising estimating the length of the trailer based on the distance with the highest density among the obtained distance densities. The method of claim 14, wherein estimating the length of the trailer connected to the vehicle based on the confirmed distance of the overtaking vehicle includes:
Detecting an overtaking vehicle for a certain period of time from the start of driving of the vehicle,
A vehicle control method comprising estimating the length of the trailer based on the distance to the overtaking vehicle detected during the predetermined time. The method of claim 14, wherein determining whether the other vehicle is an overtaking vehicle includes:
Check the distance to the other vehicle based on the location of the other vehicle detected by the position detection unit while driving.
A vehicle control method comprising determining the other vehicle as an overtaking vehicle if the confirmed distance is less than a reference distance.

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