KR20120114994A - Method for controlling detection peripheral obstacle of vehicle with trailer - Google Patents

Abstract

PURPOSE: A controlling method of obstacle detection around a trailer is provided to improve the detection efficiency of obstacles by enlarging detecting and warning ranges of the obstacles. CONSTITUTION: A controlling method of obstacle detection around a trailer includes the following steps: a trailer at the lateral rear side of a vehicle is verified under a surrounding vehicle detecting mode; if there is no trailers at the lateral rear side of the vehicle, a normal detection and warning range is set(S107); and if there is a trailer at the lateral rear side of the vehicle, a trailer detection and warning range which is enlarged from the normal detection and warning range is set(S108). [Reference numerals] (AA) Start; (S101) Entering into a surrounding obstacle detecting mode; (S102) Self analysis; (S103) Failure?; (S104) Entering into a failure mode; (S105) Driving speed of a vehicle is more than or equal to 30KPH?; (S106) Trailer is detected?; (S107) Entering into an ordinary mode; (S108) Entering into a trailer mode; (S109) Detecting an obstacle within a pre-set range; (S110) Obstacle is detected within a pre-set range?; (S111) Lane turning signal operates to an obstacle position?; (S112) Generating a warning about the obstacle to a driver

Description

Method for controlling detection peripheral obstacle of vehicle with Trailer}

The present invention relates to a method for detecting a surrounding obstacle of a trailer vehicle, and more particularly, to a method for accurately detecting a surrounding obstacle by expanding a surrounding vehicle detection and warning range when a trailer is installed at the rear of the vehicle.

Recently, as the vehicle is highly intelligent, various intelligent functions are performed using various sensors mounted on the vehicle. Among them, a blind spot detection (BSD) system that monitors the blind spots on the side and rear of the vehicle and warns in case of a collision risk, changes lanes. There is a lane change assistance system (LCA) to prevent collision with vehicles behind the city.

The BSD system and the LCA system detect obstacles on the rear side of the vehicle (proximity vehicles) and warn the driver to recognize them or assist them in safely changing lanes.

However, the system that detects obstacles around the vehicle such as BSD system and LCA system does not have obstacle detection function for the rear side area that is extended by the trailer length in the case of vehicles equipped with a trailer such as a carrier on the rear side. There was a high risk of collision between the adjacent vehicle and the trailer.

An object of the present invention is to detect whether the trailer is mounted on the rear side of the vehicle and to improve the surrounding obstacle detection efficiency by expanding the surrounding obstacle detection and warning range for the vehicle equipped with the trailer.

In order to achieve the above object, the method for controlling the surrounding obstacle detection of the trailer vehicle according to the present invention includes determining whether the trailer is mounted on the side and rear surfaces of the vehicle when entering the surrounding vehicle detection mode, and when the trailer is not mounted. And setting a general mode detection and warning range, and setting a trailer mode detection and warning range extended to the general mode detection and warning range when the trailer is mounted.

In addition, the process of determining whether the trailer is mounted on the vehicle side and rear surface, if there is an obstacle within a predetermined distance of the side rear surface of the vehicle and the obstacle is continuously detected for a predetermined time to determine the obstacle as a trailer It is characterized by.

In addition, the process of setting the trailer mode detection and warning range, characterized in that for setting the trailer mode to a range extended by the length of the trailer than the normal mode.

In addition, the process of determining whether the trailer is mounted on the vehicle side and rear surface, characterized in that performed when the vehicle is traveling at a predetermined speed or more.

The method may further include detecting and warning whether an obstacle exists within the set range.

In addition, the process of detecting and warning whether an obstacle exists within the set range includes, when an obstacle exists within the set range, checking whether a lane change signal is input in a direction in which the obstacle exists, wherein the obstacle exists. Alerting when the lane change signal is input in the direction.

As described above, the present invention has an effect of detecting whether the trailer is mounted on the rear side of the vehicle and expanding the obstacle detection and warning range for the vehicle equipped with the trailer to assist in changing the lane.

1 is a block diagram of a peripheral obstacle detection control system of a trailer vehicle according to an embodiment of the present invention.
2 is a flow chart illustrating a method for detecting a surrounding obstacle of a trailer vehicle according to an exemplary embodiment of the present invention.
3 is a view showing the obstacle detection and warning range in the normal mode of FIG.
4 is a diagram illustrating obstacle detection and warning ranges in the trailer mode of FIG.

Hereinafter, a method of controlling a surrounding obstacle detection of a trailer vehicle according to the present invention will be described in detail with reference to FIGS. 1 to 4.

The present invention discloses an example that is applied to a blind spot detection (BSD) system, a lane change assistance system (LCA) for a vehicle equipped with a trailer, and the like, but the present invention is applicable to all techniques for detecting surrounding vehicles. Can be.

1 is a block diagram of a peripheral obstacle detection control system of a trailer vehicle according to an embodiment of the present invention.

The peripheral obstacle detection control system of the trailer vehicle according to the embodiment of the present invention includes a switch 110, a peripheral obstacle detection unit 120, a controller 130, and a warning unit 140.

The switch 110 outputs an on-off signal to the controller 130 when it is turned on / off by the user.

The peripheral obstacle detecting unit 120 is controlled by the controller 130 to detect an obstacle (close vehicle, person, etc.) on the rear side of the vehicle.

The controller 130 enters the vehicle into the surrounding vehicle sensing mode when the signal from the switch 110 is applied, and releases the surrounding vehicle sensing mode when the off signal is applied. When entering the surrounding vehicle detection mode, the control unit 130 detects the trailer on the rear side of the vehicle through the surrounding obstacle detecting unit 120 and expands the surrounding obstacle detection and warning range and warning range when the trailer exists.

The warning unit 140 warns the driver that there is a collision possibility within the warning range under the control of the controller 130. To this end, the warning unit 140 may include an indicator, a display unit (warning phrase display), a speaker (warning sound output).

Hereinafter, a method of detecting a surrounding obstacle of a trailer vehicle according to an exemplary embodiment of the present invention will be described in detail with reference to FIG. 2.

First, when the switch 110 is turned on and enters the surrounding vehicle detection mode (S101), the controller 130 performs self-diagnosis (S102) to determine whether there is a failure (S103), and when the failure occurs, the surrounding vehicle detection mode. Stop the process and enter the failure mode (FAILURE MODE) (S104).

If a failure does not occur, the surrounding vehicle detection mode is continued, and the controller 130 determines whether the current vehicle speed is 30 KPH or more (S105), and when the vehicle speed is 30 KPH or more, detects the rear side of the vehicle and displays a trailer (carrier). And the like) (S106). In this case, the controller 130 determines that the vehicle is equipped with a trailer when the obstacle on the rear side of the vehicle is continuously detected for one minute and the obstacle exists within 3m of the rear side.

Then, when the trailer is not mounted, the controller 130 enters the normal mode and sets the detection and warning range (vehicle side 3.5m to 4m, rear side of the vehicle 5 to 5.5m) of the general mode as shown in FIG. S107), when the trailer is mounted, the control unit 130 enters the trailer mode and sets the detection and warning range (vehicle side 3.5m to 4m, vehicle rear 15 to 15.5m) of the trailer mode as shown in FIG. 4 (S108). ). Here, an example of extending the detection and warning range of the rear of the vehicle when the trailer is installed at the rear of the vehicle is disclosed, but extending the detection and warning range of the vehicle side when the trailer (bicycle carrier, etc.) is installed at the side of the vehicle. desirable.

Thereafter, the controller 130 detects obstacles within the range according to the set mode range by controlling the peripheral obstacle detecting unit 120 (S109).

Subsequently, depending on whether the obstacle is detected within the set range (S110), when the obstacle is detected, the controller 130 determines whether the lane change signal TURN SIGNAL in the direction in which the obstacle exists (obstacle position) is applied ( S111). That is, when the lane change switch (flashing) is turned on and the lane change signal (right / left) is input, the controller 130 determines whether there is an obstacle in the direction in which the driver wants to change the lane.

Thereafter, the controller 130 warns the driver that the obstacle exists through the warning unit 140 only when the lane change signal in the direction in which the obstacle exists is applied (S112). On the other hand, when the lane change signal is not applied in the direction in which the obstacle exists, the driver is not warned so as not to disturb the driver's driving. At this time, the warning unit 140 performs a warning when an obstacle exists within the warning range in which the obstacle is set.

For example, when an obstacle that is likely to collide exists behind the right lane, the right lane change signal is input to warn the presence of the obstacle, and the left lane change signal is not warn of the presence of the obstacle.

As such, the present invention detects whether a vehicle, such as a carrier, is mounted on the vehicle when entering the surrounding vehicle detection mode, and detects an obstacle around the vehicle in the normal mode when the trailer is not mounted, and when the trailer is mounted, the trailer mode. It is a technology that detects and alerts to nearby obstacles with (detection and warning range wider than normal mode).

110: switch
120: peripheral obstacle detection unit
130: control unit
140: warning unit

Claims (6)

Determining whether or not the trailer is mounted on the side and rear surfaces of the vehicle when entering the surrounding vehicle detection mode;
Setting a normal mode detection and warning range when the trailer is not mounted; And
Setting a trailer mode detection and warning range extended from the normal mode detection and warning range when the trailer is mounted;
Peripheral obstacle detection control method of a trailer vehicle comprising a. The method according to claim 1,
The process of determining whether or not the trailer is mounted on the side and rear surfaces of the vehicle,
And detecting the obstacle as a trailer when an obstacle exists within a predetermined distance of the side and rear surfaces of the vehicle and the obstacle is continuously detected for a predetermined time. The method according to claim 1 or 2,
The process of setting the trailer mode detection and warning range,
And setting the trailer mode to a range extended by the length of the trailer than the normal mode. The method according to claim 1 or 2,
The process of determining whether or not the trailer is mounted on the side and rear surfaces of the vehicle,
And a method of controlling a surrounding obstacle of a trailer vehicle, wherein the vehicle is driven when the vehicle travels over a predetermined speed. The method according to claim 1,
And detecting a warning that an obstacle exists within the set range, and warning the surrounding obstacle of the trailer vehicle. The method according to claim 5,
Detecting and warning whether there is an obstacle in the set range,
When an obstacle exists within the set range, the vehicle determines whether the lane change signal is input in the direction in which the obstacle exists, and warns when the lane change signal is input in the direction in which the obstacle exists. Obstacle detection control method.

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