KR20130013997A - Apparatus for preventing car collision and method thereof - Google Patents

Abstract

PURPOSE: An anti-crash apparatus and method for a vehicle are provided to prevent or relieve a car crash by controlling a steering wheel. CONSTITUTION: An anti-crash apparatus comprises a driving state detection unit(10), a control unit(20), and a steering wheel driving unit(30). The driving state detection unit detects manipulation information and car surrounding information while driving. The control unit analyzes the manipulation information and car surrounding information. The control unit controls a steering wheel and minimizes accident. [Reference numerals] (11) Vehicle-to-vehicle distance detection unit; (12) Steering angle detection unit; (13) Vehicle speed detection unit; (14) Brake detection unit; (15) Image detection unit; (20) Control unit; (30) Steering wheel driving unit

Description

Vehicle collision prevention device and method {APPARATUS FOR PREVENTING CAR COLLISION AND METHOD THEREOF}

The present invention relates to a collision avoidance device of a vehicle, and more particularly, to prevent a collision of a vehicle to prevent or mitigate a vehicle collision through steering wheel control by grasping a driving state of a vehicle and a distance between vehicles of two lanes. An apparatus and method are provided.

With the increase in vehicle supply, the accident rate is steadily increasing. Vehicle accidents may be caused by the car's own faults or road conditions, but most of them are due to the driver's fault.

Accordingly, the vehicle is provided with passive safety devices such as seat belts and air bags to protect the occupants from shocks in the event of an accident.

In addition, when it is determined that an accident may occur from the driving situation of the vehicle, an active safety device that warns the driver or operates a braking device to prevent the occurrence of an accident in advance is provided. Is being provided.

However, the time to judge and warn of danger while the vehicle is running and the occurrence of an accident occur in a very short time, so that it is short enough for the driver to rationally grasp the situation and respond, providing stable collision avoidance function. There is a problem that can not be.

Therefore, the development of an active safety device capable of anticipating an accident and executing a collision avoidance function is required.

An embodiment of the present invention is to determine the driving state of the vehicle from the inter-vehicle distance, the vehicle speed, steering angle, the pressure of the brake pedal during driving of the vehicle, if it is determined that the dangerous driving state of the frontal collision with the vehicle running in both side lanes By determining the distance and controlling the steering wheel to avoid frontal collisions to prevent large accidents in advance.

In another embodiment of the present invention, when the steering wheel control is impossible in the left and right lanes of the vehicle in a dangerous driving state, the brake system and the airbag system are first operated to protect the driver and the occupant, and the steering wheel may be fixed. The inability to control the steering wheel is intended to minimize the occurrence of secondary damage.

Features according to an embodiment of the present invention is a driving state detection unit for detecting the driver's operation information and vehicle surrounding information while driving; A control unit which analyzes the driver's operation information and the vehicle surrounding information provided by the driving state detection unit and controls the steering wheel to avoid a collision or minimize the occurrence of an accident when it is determined that the driving state is a risk of forward collision; There is provided a collision avoidance apparatus for a vehicle including a steering wheel driver configured to change a traveling direction of the vehicle by operating a steering wheel according to a control signal of the controller.

The driving state detection unit includes an inter-vehicle distance detecting unit detecting a distance from the vehicle traveling in the front, rear, left, and right directions of the own vehicle; A steering angle detector for detecting a steering angle operated by the steering wheel; A vehicle speed detection unit detecting a driving speed of the vehicle; A brake detector for detecting a pedal force of the brake pedal; The image detection unit may recognize an image of left and right lanes.

The inter-vehicle distance detecting unit may be mounted in a plurality of one or more plural positions at the front and rear bumper predetermined positions of the vehicle, and may include an ultrasonic sensor or a radar sensor.

The control unit determines the driving state of the vehicle based on the distance between the steering wheel, the steering angle, and the pedaling force of the brake pedal. If the controller determines that the vehicle is in a dangerous driving state, the controller determines the distance between the vehicle and the steering wheel to the left or the right and collides with the vehicle. Occurrence can be avoided.

The control unit is based on the right side driving, when a dangerous driving state occurs, the priority of controlling the steering wheel to the right by grasping the distance between the right rear and left front, and if the steering wheel control to the right is impossible You can control to the left.

When the steering wheel control is impossible in the left and right lanes in a dangerous driving state of the front collision, the control unit fixes the steering wheel to induce a front collision so that secondary damage does not occur, and pre-activates the brake and airbag to protect the occupant. can do.

The control unit is based on driving on the left side, and when a dangerous driving state occurs, the priority is given to controlling the steering wheel to the left by grasping the distance between the right rear and the left front, and when the steering wheel control to the left is impossible. You can control to the right.

In addition, a feature according to another embodiment of the present invention comprises the steps of detecting the vehicle speed and steering angle and the pedal effort of the brake pedal to determine the driving state of the vehicle; If the driving state of the vehicle is determined to be a dangerous driving state of a frontal collision, detecting the color of both lanes and the distance between the vehicle traveling in both lanes; A collision avoidance method of a vehicle is provided, which includes driving a steering wheel by determining a control direction of a steering wheel according to a color and a distance between two lanes.

When secondary steering is expected to occur when the steering wheel is controlled in the left / right lane in the dangerous driving state of the frontal collision, the front wheel may be induced by fixing the steering wheel.

When the front wheel is induced by fixing the steering wheel, the brake and the airbag may be pre-operated to minimize the damage of the occupant.

The dangerous driving state of the frontal collision is determined as a dangerous driving state when the relationship between the vehicle speed and the steering angle, the vehicle speed and the distance between the vehicle in front, and the vehicle speed and the brake pedal effort are all dangerous driving, otherwise the general driving Judging by

In the relationship between the vehicle speed and the steering angle, when the vehicle speed is low and the steering angle is large, when the vehicle speed is low and the steering angle is small, when the vehicle speed is high and the steering angle is small, the driving is determined as normal driving, and the vehicle speed is high and the steering angle is high. It can be judged as dangerous driving condition.

When the slope is smaller than the set reference in the relationship between the vehicle speed and the front vehicle, it may be determined as normal driving, and when the slope is larger than the set reference, it may be determined as a dangerous driving state.

In the relationship between the vehicle speed and the pedal effort of the brake pedal, when the vehicle speed is low and the pedal effort of the brake pedal is large, when the vehicle speed is low and the pedal effort of the brake pedal is small, when the vehicle speed is high and the pedal effort of the brake pedal is small, general driving If the vehicle speed is high and the pedal pedal is large, it may be determined as a dangerous driving state.

When the dangerous driving state of the frontal collision is detected, the distance between the two lanes may be determined, and steering wheel control to the right may be prioritized, and control may be performed to the left if steering wheel control to the right is impossible.

When the dangerous driving state of the frontal collision is detected, the distance between the two lanes may be determined, and steering wheel control to the left may be prioritized, and control may be performed to the right when steering wheel control to the left is impossible.

If the right lane (right traffic standard) is a yellow lane in the dangerous driving state of the frontal collision, the vehicle is determined to be a frontal collision with a vehicle facing in front of the center line, and the distance between the rear right vehicle is detected and there is no risk of collision. The steering angle can be controlled to the right to return to the driving lane.

If the right lane (right traffic standard) is not a yellow lane in the dangerous driving state of the frontal collision, the steering angle may be controlled to the right when there is no danger of collision by detecting a distance between the rear right vehicle.

In the dangerous driving state of the frontal collision, the color of the left lane is recognized as the center lane, and the distance between the front left vehicle and the front left vehicle may be moved beyond the center line by controlling the steering angle to the left.

If the color of the left lane is not the center line in the dangerous driving state of the frontal collision, and the distance between the front left vehicle is not a risk of rear collision, the vehicle may be moved to the left lane by controlling the steering angle to the left.

As described above, according to an exemplary embodiment of the present invention, the steering wheel is controlled in a direction capable of minimizing frontal collision by grasping the driving state of the vehicle and the distance between the vehicle traveling in the lanes adjacent to each other, thereby preventing the vehicle in the opposite lane due to reverse driving. Large accidents can be prevented in advance by preventing collisions with vehicles and collisions with vehicles ahead.

In addition, according to an embodiment of the present invention, when steering wheel control is impossible in the left / right lanes of the vehicle, the brake and the airbag system are operated first to protect the driver and the occupant, and the steering wheel is fixed by the driver to arbitrarily control the steering wheel. By making it impossible, the secondary damage can be prevented in advance.

1 is a view schematically showing an apparatus for preventing a collision of a vehicle according to an embodiment of the present invention.
2 is a flowchart schematically illustrating an anti-collision control procedure of a vehicle according to an embodiment of the present invention.
3 is a diagram illustrating driving state determination in collision avoidance control of a vehicle according to an exemplary embodiment of the present invention.
4 is a flowchart illustrating a steering angle control procedure in the collision avoidance control of the vehicle according to an embodiment of the present invention.
5 is a state diagram illustrating steering angle control in collision avoidance control of a vehicle according to an exemplary embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention.

The present invention can be embodied in various different forms, and thus the present invention is not limited to the embodiments described herein.

1 is a view schematically showing an apparatus for preventing a collision of a vehicle according to an embodiment of the present invention.

Referring to FIG. 1, an apparatus for preventing collision of a vehicle according to an exemplary embodiment of the present invention includes a driving state detector 10, a controller 20, and a steering wheel driver 30.

The driving state detector 10 detects operation information by the driver and information around the vehicle while the vehicle is driving and provides the information to the controller 20.

The driving state detector 10 includes an inter-vehicle distance detector 11, a steering angle detector 12, a vehicle speed detector 13, a brake detector 14, and an image detector 15.

The inter-vehicle distance detecting unit 11 detects the distance between the vehicle running in the front, rear, left, and right directions, and provides the controller 20 with information about the distance.

The inter-vehicle distance detecting unit 11 may be mounted in a plurality of one or more at predetermined positions of bumpers at the front and rear of the vehicle.

The inter-vehicle distance detecting unit 11 may include an ultrasonic sensor, a radar sensor, and the like, and detect a distance between the own vehicle and the surrounding vehicle by analyzing a signal emitted from the own vehicle collide with the surrounding vehicle and then incident to the antenna. To help.

The steering angle detector 12 detects a steering angle that the driver operates with the steering wheel and provides the steering angle to the controller 20 to determine the driving direction of the vehicle.

The steering angle detector 12 may be mounted at a predetermined position of the steering column.

The vehicle speed detection unit 13 detects the traveling speed of the vehicle and provides information about the vehicle speed to the controller 20.

The vehicle speed detection unit 13 may detect the traveling speed from the output shaft rotation speed of the transmission or may be mounted on the wheel to detect the traveling speed.

The brake detection unit 14 detects the pedaling force of the brake pedal operated by the driver and provides information about the brake pedal to the controller 20.

The image detector 15 recognizes an image and a color of the left and right lanes of the vehicle and provides the image to the controller 20.

The controller 20 analyzes the driver's operation information and the information around the vehicle provided by the driving state detection unit 10 and controls the steering wheel to prevent a collision or prevent an accident Ensure that damage is minimized.

The controller 20 determines the driving state of the vehicle based on the distance between the vehicle, the steering angle, and the pedal force of the brake pedal provided by the driving state detection unit 10, and determines that the driving state of the front collision is a dangerous driving state. Determine the distance between the car and control the steering wheel to prevent the occurrence of a crash or to minimize the damage from the accident.

The control unit 20 is based on the driving of the right side of the vehicle (the center line is located on the left side of the driver), and when a dangerous driving state occurs, the distance between the right rear side and the left front side is determined to the right side (the opposite direction of the center line). Priority is given to controlling the steering wheel, and to the left if steering wheel control is not possible to the right.

This is because the first lane is prevented from colliding with the vehicle in the opposite lane due to the reverse driving, the collision with the front vehicle, etc., to prevent a larger accident caused by the driver's neglect.

The above is based on a vehicle running in the right-hand country, but the left-hand country is based on the left drive (the center line is located on the right side of the driver), and when the dangerous driving condition occurs, the distance between the right rear and the left front is measured. The priority is to control the steering wheel to the left side (opposite to the center line), and to the right if control of the steering wheel to the left is impossible.

The controller 20 induces forward collision by fixing the steering wheel so that the driver cannot control the steering wheel arbitrarily when the steering wheel cannot be controlled in the left or right lane in a dangerous driving state, so that secondary damage does not occur. do.

At this time, the control unit 20 operates the brake and the airbag system in advance to protect the driver and the occupant.

The steering wheel driver 30 converts the traveling direction of the vehicle by operating the steering wheel according to the control signal applied from the control unit 20.

The steering wheel driving unit 30 may be applied to a motor driven power steering (MDPS).

The operation of executing the collision avoidance in the vehicle according to the embodiment of the present invention including the above function is as follows.

2 is a flowchart schematically illustrating an anti-collision control procedure of a vehicle according to an embodiment of the present invention.

When the vehicle to which the present invention is applied travels, the driving state detection unit 10 detects the vehicle speed, the pedaling force of the brake pedal, the steering angle, and the distance between the host vehicle and the front vehicle and provides the control unit 20 (S100).

At this time, the control unit 20 determines the driving state of the vehicle from the information provided by the driving state detection unit 10 (S200), and determines whether the normal driving or dangerous driving state (S300).

The control unit 20 performs the determination of the driving state as follows.

As can be seen in Figure 2, the vehicle speed and the steering angle (S210), the vehicle speed and the distance between the vehicle in front (S220), vehicle speed and brake pedal effort 230 to determine whether the dangerous driving, three conditions If all are judged to be dangerous driving, it is regarded as dangerous driving state, otherwise it is judged to be normal driving.

The determination of the driving state in the relationship between the vehicle speed and the steering angle is as follows.

If the vehicle speed is low and the steering angle is large, it is judged to be normal driving of parking or U-turn, and if the vehicle speed is low and the steering angle is small, or if the vehicle speed is high and the steering angle is small, the driving is judged to be normal driving.

However, when the vehicle speed is high and the steering angle is large, it is determined that the vehicle is in a dangerous driving state due to a sudden lane change.

In addition, the determination of the driving state in the relationship between the vehicle speed and the front vehicle is as follows.

If the slope is smaller than the set reference, it is judged as normal driving without the possibility of collision with the front car even if the vehicle is stopped suddenly. If the slope is larger than the set reference value, the vehicle is judged as a dangerous driving state with a high possibility of collision with the front vehicle.

In addition, the determination of the driving state in the relationship between the vehicle speed and the pedal effort of the brake pedal is as follows.

If the vehicle speed is low and the pedal pedal effort is large, it is judged as the normal driving of stop and deceleration.If the vehicle speed is low and the pedal pedal force is small, it is determined as the normal driving of deceleration.The vehicle speed is high and the brake pedal is If the effort is small, it is judged as normal driving of deceleration.

However, if the vehicle speed is high and the pedal pedal effort is large, it is determined as a dangerous driving state in which rapid deceleration is performed.

The high speed and low speed may be set based on, for example, 60 KPH to 80 KPH, and may be set at various speeds according to the design of the program.

If it is determined in the determination of S300 that the vehicle is general driving, the steering wheel control is performed at the driver's will, such as lane change or curved driving.

However, when the control unit 20 determines that the vehicle is in a dangerous driving state in the determination of S300, the distance between the vehicle and the vehicle traveling in both lanes is analyzed (S500), and the image of both lanes is input and analyzed to control the steering wheel. Determine (S700).

Thereafter, the controller 20 controls the steering wheel through the steering wheel driving unit 30 to provide emergency driving to avoid or mitigate a collision in a dangerous driving state (S800).

The operation of providing emergency driving according to the determination of the dangerous driving state in S300 will be described in detail with reference to FIG. 4 as follows.

When the vehicle speed and steering angle provided by the driving state detection unit 10, the distance between the front vehicle, and the pedal pedal effort are determined to be a dangerous driving state in which the collision of the front vehicle occurs, the front left and rear right sides are detected through the inter-vehicle distance detection unit 11. Determining the distance between the car and the vehicle driving in.

In this case, it is determined whether the inter-vehicle distance with the vehicle traveling in the rear right side is included in the collision distance when the direction is changed to the right (S701).

The distance between the vehicle and the vehicle traveling in the rear right side may be calculated through a braking distance formula, but the friction coefficient cannot be ignored since the influence of road surface friction cannot be ignored in a driving situation.

In addition, the gain may be applied as a slope value of the vehicle speed and the distance between the vehicles.

Therefore, if the distance between the vehicle running on the rear right side is divided by the reference distance (C) value, and it is greater than 1, it is determined that there is no risk of rear collision even if the vehicle is moved to the right side. In this case, it can be determined that a rear collision will occur.

If it is determined in S701 that there is no danger of rear collision even when the vehicle is moved to the right side, the color of the right lane input through the image input unit 15 is analyzed to determine whether the color of the lane is yellow (S702).

If the color of the rear right lane is yellow in the judgment of S702, the vehicle is driving by violating the center line and controlling the steering wheel to the right through the steering wheel driver 30 by determining that it is for the frontal collision with the oncoming vehicle. By allowing the vehicle to return to the traveling lane, it is possible to prevent the frontal collision with the oncoming vehicle from occurring (S703).

In addition, if the color of the right lane is not yellow in the determination of S702, the control unit 20 controls the steering wheel to the right direction through the steering wheel driving unit 30 to move to the right lane or the shoulder, so that it is slowed down or This prevents a frontal collision with a vehicle that is stopped due to a vehicle failure or the like (S704).

In addition, if the distance between the vehicle and the vehicle traveling in the rear right side is less than 1 divided by the reference distance (C) value in the judgment of S701, and it is determined that rear collision occurs when moving to the right side, the vehicle traveling on the front left side. When the distance between the vehicle and the vehicle is moved to the left, it is determined whether there is a risk of collision (S705).

Dividing the distance between vehicles running from the front left by the reference distance (C) value, if it is greater than 1, it is determined that there is no risk of forward collision even if the vehicle is moved to the left. We believe a collision will occur.

If it is determined in step S705 that there is no risk of forward collision even when the vehicle is moved to the left side, the color of the left lane input through the image input unit 15 is analyzed to determine whether the color of the lane is yellow (S706).

If the color of the left lane is yellow in the judgment of S706, the steering wheel is controlled in the left direction through the steering wheel driving unit 30 so that the vehicle collides with the vehicle running slowly in front of the vehicle over the center line or stopped due to an accident or vehicle breakdown. It avoids (S707).

In addition, if the color of the left lane is not yellow in the determination of S706, the control unit 20 controls the steering wheel to the left through the steering wheel driving unit 30 to move to the left lane, so that the vehicle is slow to go forward or an accident or a vehicle breakdown occurs. This prevents the frontal collision with the vehicle stopped by the back (S708).

In addition, if it is determined that a collision occurs when the distance between the vehicle traveling in the front left and the own vehicle moves to the left lane in the determination of S705, the steering wheel is fixed to prevent the driver from arbitrarily controlling the steering wheel, and The brake and the airbag are operated to maximally protect the driver and the occupant (S709).

The control operation as described above will be described with reference to FIG. 5 as follows.

For example, in a normal driving condition such as (a), the steering wheel can be controlled by the driver's will for lane change or curved driving.

However, in a situation determined as a dangerous driving state, the control may be divided into a center line intrusion, a front collision avoidance, and a front collision driving.

As shown in (b), when the right lane is yellow lane invasion driving, the radar sensor detects the distance between the vehicle traveling from the rear right side and controls the steering angle to the right side when it is determined that there is no danger of collision in the rear right lane. Return to the driving lane.

Thus, the frontal collision with the oncoming vehicle is avoided in advance.

Frontal collision avoidance driving can be divided into three situations.

As shown in (c), when the right lane is not a yellow lane and there is a danger of a frontal collision even when the vehicle is suddenly stopped, when the lane is moved to the rear right by detecting the distance between the vehicle traveling from the rear right and the radar sensor signal, If it is determined that there is no risk of collision, control the steering angle to the right and move to the right lane or shoulder.

As shown in (d), when the own vehicle moves to the right lane, there is a risk of rear collision. The color of the left lane detected by the image input unit is recognized as the center lane, and the distance between the vehicle traveling on the front left side is measured by the radar sensor signal. If it is determined that there is no risk of collision from the front, the steering angle is controlled to the left and moved beyond the center line.

As shown in (e), when the own vehicle moves to the right lane, there is a danger of rear collision. From the color of the lane detected by the front image input unit, it is determined that the left lane is not the center line, and the distance between the vehicles traveling on the front left side. Is detected by the radar sensor signal and the vehicle is moved to the left lane by controlling the steering angle to the left if it is recognized that there is no danger of collision from the rear even when moving to the left lane.

In addition, when the vehicle is moved to the left lane and the right as in (f), if the collision or collision has a high probability of causing a big accident, the steering wheel is fixed to the front to prevent the driver from arbitrarily controlling the steering wheel. The brakes are activated to prevent this, and the airbag is activated before the collision to minimize the damage to the driver and the occupant.

Although the above description is based on the right side traffic of the vehicle, the vehicle side traffic may also be considered in the opposite direction on the basis of the above, and this is also included in the scope of the present invention.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It will be understood that various modifications and changes may be made without departing from the scope of the appended claims.

10: driving state detection unit 20: control unit
30: steering wheel drive unit

Claims (20)

A driving state detection unit detecting driver's operation information and vehicle surrounding information while driving;
A control unit which analyzes the driver's operation information and the vehicle surrounding information provided by the driving state detection unit and controls the steering wheel to avoid a collision or minimize the occurrence of an accident when it is determined that the driving state is a risk of forward collision;
A steering wheel driver for operating a steering wheel according to a control signal of the controller to switch a traveling direction of the vehicle;
Anti-collision device of a vehicle comprising a. The method of claim 1,
The driving state detection unit
Inter-vehicle distance detection unit for detecting the distance to the vehicle traveling in the front, rear, left, right direction of the own vehicle;
A steering angle detector for detecting a steering angle operated by the steering wheel;
A vehicle speed detection unit detecting a driving speed of the vehicle;
A brake detector for detecting a pedal force of the brake pedal;
An image detector recognizing images of left and right lanes;
Anti-collision device of a vehicle comprising a. The method of claim 2,
The inter-vehicle distance detecting unit is mounted in a plurality of one or more bumper predetermined position of the front and rear of the vehicle, the collision preventing device of the vehicle, characterized in that consisting of an ultrasonic sensor or a radar sensor. The method of claim 1,
The control unit determines the driving state of the vehicle based on the distance between the steering wheel, the steering angle, and the pedaling force of the brake pedal. If the controller determines that the vehicle is in a dangerous driving state, the controller determines the distance between the vehicle and the steering wheel to the left or the right and collides with the vehicle. An anti-collision device for a vehicle, characterized by avoiding occurrence. The method of claim 1,
The control unit is based on the right side driving, when a dangerous driving state occurs, the priority of controlling the steering wheel to the right by grasping the distance between the right rear and left front, and if the steering wheel control to the right is impossible Anti-collision device of the vehicle, characterized in that the control to the left. The method of claim 1,
If the steering wheel cannot be controlled in the left / right lane under the dangerous driving condition of the front collision, the control unit fixes the steering wheel to induce a front collision so that secondary damage does not occur, and pre-activates the brake and airbag to protect the occupant. Anti-collision device of the vehicle, characterized in that. The method of claim 1,
The control unit is based on driving on the left side, and when a dangerous driving state occurs, the priority is given to controlling the steering wheel to the left by grasping the distance between the right rear and the left front, and when the steering wheel control to the left is impossible. Anti-collision device of the vehicle, characterized in that the control to the right. Determining a driving state of the vehicle by detecting a vehicle speed, a steering angle, and a foot pedal of a brake pedal;
If the driving state of the vehicle is determined to be a dangerous driving state of a frontal collision, detecting the color of both lanes and the distance between the vehicle traveling in both lanes;
Driving a steering wheel by determining a control direction of the steering wheel according to the colors of the lanes and the distance between the two lanes;
Collision prevention method of a vehicle comprising a. 9. The method of claim 8,
When controlling the steering wheel in the left / right lane in the dangerous driving state of the frontal collision, if a secondary damage is expected to occur, the collision wheel preventing method of the vehicle, characterized in that to induce forward collision by fixing the steering wheel. 10. The method of claim 9,
When the front collision is induced by fixing the steering wheel, the collision prevention method of the vehicle, characterized in that to minimize the damage of the occupants by pre-operating the brake and airbag. 9. The method of claim 8,
The dangerous driving state of the frontal collision is determined as a dangerous driving state when the relationship between the vehicle speed and the steering angle, the vehicle speed and the distance between the vehicle in front, and the vehicle speed and the brake pedal effort are all dangerous driving, otherwise the general driving The collision avoidance method of the vehicle, characterized in that determined by. The method of claim 11,
In the relationship between the vehicle speed and the steering angle, when the vehicle speed is low and the steering angle is large, when the vehicle speed is low and the steering angle is small, when the vehicle speed is high and the steering angle is small, the driving is determined as general driving.
A method of preventing a collision of a vehicle, wherein the vehicle speed is high and the steering angle is determined as a dangerous driving state. The method of claim 11,
And determining that the slope is smaller than the set reference in the relationship between the vehicle speed and the distance between the vehicle in front of the vehicle, and determining that the vehicle is in dangerous driving state when the slope is larger than the set reference. The method of claim 11,
In the relationship between the vehicle speed and the pedal effort of the brake pedal, when the vehicle speed is low and the pedal effort of the brake pedal is large, when the vehicle speed is low and the pedal effort of the brake pedal is small, when the vehicle speed is high and the pedal effort of the brake pedal is small, general driving Judging by
The collision avoidance method of the vehicle, characterized in that it is determined that the dangerous driving state when the vehicle speed is high speed and the pedal effort of the brake pedal is large. 9. The method of claim 8,
When the dangerous driving state of the frontal collision is detected, the distance between the two lanes is determined and the steering wheel control to the right is a priority, and if the steering wheel control to the right is impossible, the vehicle is controlled to the left. How to avoid collisions. 9. The method of claim 8,
When the dangerous driving state of the frontal collision is detected, the distance between the two lanes is determined and the steering wheel control to the left is a priority, and if the steering wheel control to the left is impossible, the vehicle is controlled to the right. How to avoid collisions. 9. The method of claim 8,
If the right lane (right traffic standard) is a yellow lane in the dangerous driving state of the frontal collision, the vehicle is determined to be a frontal collision with a vehicle facing in front of the center line, and the distance between the rear right vehicle is detected and there is no risk of collision. A collision avoidance method for a vehicle, wherein the steering angle is controlled to the right to return to the driving lane. 9. The method of claim 8,
When the right lane (right traffic standard) is not a yellow lane in the dangerous driving state of the frontal collision, detecting the distance between the rear right vehicle and the steering angle to the right if there is no risk of collision. 9. The method of claim 8,
In the dangerous driving state of the frontal collision, the color of the left lane is recognized as the center lane, and if there is no danger of collision between the front left vehicle, the vehicle is prevented from colliding by controlling the steering angle to the left to move beyond the centerline. Way. 9. The method of claim 8,
If the left lane color is not the center line in the dangerous driving state of the frontal collision, and the distance between the front left vehicle is not a danger of rear collision, the vehicle is moved to the left lane by controlling the steering angle to the left. Prevention method.

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