KR102274802B1 - Method for controling vehicle in abnornal situation of acc - Google Patents

Abstract

Disclosed is a method capable of controlling a vehicle to reduce driver discomfort and prevent an accident from occurring in a situation in which an adaptive cruise control is abnormal. The disclosed method for controlling a vehicle in an ACC abnormal situation includes calculating a maximum cruising time for which the host vehicle can cruise at the current speed of the own vehicle at the time the abnormality is detected from a time when an abnormality with respect to the adaptive cruise control function is detected. step; maintaining the current speed during the maximum cruise time; and decelerating the speed of the host vehicle to a first acceleration after the maximum cruise time.

Description

A method of controlling a vehicle in an ACC abnormal situation {METHOD FOR CONTROLING VEHICLE IN ABNORNAL SITUATION OF ACC}

The present invention relates to a method for controlling a vehicle in a situation in which an adaptive cruise control (ACC) abnormality occurs.

As automobiles become more intelligent, advanced driver assistance systems (ADAS) are being developed that can increase driver comfort. Typical examples are Adaptive Cruise Control (ACC), Lane Keeping Assist System (LKAS), and Autonomous Emergency Braking (AEB).

As such, these systems provide convenience to the driver by reducing the driver's driving intervention, but to the extent that the driver's driving intervention is reduced, in an emergency situation when the relevant sensor fails or malfunctions, it can actually harm the driver.

Therefore, along with the development of advanced driver assistance systems, there is a need to develop a technology for diagnosing a failure of such a system and controlling a vehicle after a failure.

As related prior documents, there are Korean Patent Registration No. 10-1848312 and Japanese Patent Registration No. 3473371.

An object of the present invention is to provide a method of controlling a vehicle to reduce driver's discomfort and prevent an accident from occurring in a situation where an abnormality occurs in adaptive cruise control.

According to one embodiment of the present invention for achieving the above object, from the time when an abnormality with respect to the adaptive cruise control function is detected, the own vehicle can cruise at the current speed of the own vehicle at the time when the abnormality is detected. calculating a maximum cruise time; maintaining the current speed during the maximum cruise time; and decelerating the speed of the host vehicle to a first acceleration after the maximum cruising time.

In addition, according to another embodiment of the present invention for achieving the above object, when an abnormality is detected with respect to the adaptive cruise control function, the method comprising: entering a first mode for maintaining the current speed of the own vehicle for a maximum cruise time; and entering a second mode of decelerating the speed of the own vehicle to a preset acceleration after the maximum cruising time, wherein the maximum cruising time includes the current speed of the own vehicle at the time when the abnormality is detected, and the vehicle in front. A method of controlling a vehicle in an ACC abnormal situation is provided, which is determined according to a current speed of , and a relative distance between the host vehicle and the vehicle ahead.

According to an embodiment of the present invention, by decelerating the speed of the vehicle after maintaining the current speed of the vehicle for a certain period of time within a range in which a collision with the vehicle in front does not occur, the driver's discomfort due to the sudden deceleration and the rear vehicle reduce the likelihood of collision accidents.

1 is a diagram for explaining the concept of a vehicle control method according to an embodiment of the present invention.
2 is a view for explaining a vehicle control method in an ACC abnormal situation according to an embodiment of the present invention.
3 is a view for explaining a vehicle control method in an ACC abnormal situation according to another embodiment of the present invention.
4 is a diagram illustrating the relative distance between the speed of the host vehicle and the vehicle in front according to the mode.

Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention. In describing each figure, like reference numerals have been used for like elements.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram for explaining the concept of a vehicle control method according to an embodiment of the present invention.

The adaptive cruise control function is a function that supports the cruise by adjusting the speed of the own vehicle without driver intervention according to the distance between the vehicle and the vehicle in front obtained from a sensor such as a camera, radar, or lidar. The vehicle with the control function activated measures the relative distance to the vehicle in front, and cruises by adjusting the speed according to the measured relative distance.

As the vehicle travels without the driver's intervention, if an error occurs in the adaptive cruise control algorithm or an error occurs in the adaptive cruise control function, such as a related sensor malfunction, a major accident may occur, so the present invention controls the vehicle so that an accident does not occur in a situation where the vehicle's adaptive cruise control function is abnormal.

In particular, when the vehicle decelerates rapidly for fear of a collision with a vehicle in front in a situation in which an abnormality occurs in the adaptive cruise control function, not only inconvenience to the driver but also collision with the vehicle behind may occur, according to the present invention In one embodiment, the speed of the vehicle is reduced after maintaining the current speed of the vehicle for a predetermined time within a range in which a collision with the vehicle in front does not occur.

In one embodiment of the present invention, as shown in FIG. 1 , the vehicle is controlled using three modes classified according to the state of the adaptive cruise control function. The level 0 mode 100 indicates a mode in which the adaptive cruise control function operates without any problem, and the level 1 and 2 modes 110 and 120 indicate a mode in which the vehicle is controlled due to an abnormality in the adaptive cruise control function.

If the adaptive cruise control function works without problems, the vehicle cruises in level 0 mode 110 , adjusting its speed according to the relative distance to the vehicle in front. Thereafter, when an abnormality occurs in the adaptive cruise control function, it is sequentially changed from the level 0 mode 100 to the level 1 mode 110 and the level 2 mode 120 .

When an abnormality with the adaptive cruise control function is detected, the level 0 mode 100 is changed to the level 1 mode 110, and the vehicle maintains the current speed in the level 1 mode 110 for the pre-calculated maximum cruising time. do. And after the maximum cruise time, the level 1 mode 110 is changed to the level 2 mode 120 , and the vehicle decelerates at a preset acceleration in the level 2 mode 120 .

According to an embodiment of the present invention, by decelerating the speed of the vehicle after maintaining the current speed of the vehicle for a certain period of time within a range in which a collision with the vehicle in front does not occur, the driver's discomfort due to the sudden deceleration and the rear vehicle reduce the likelihood of collision accidents.

2 is a view for explaining a vehicle control method in an ACC abnormal situation according to an embodiment of the present invention.

The vehicle according to an embodiment of the present invention calculates a maximum cruising time, which is a maximum time during which the own vehicle can cruise at the current speed of the own vehicle, from the point in time when an abnormality with respect to the adaptive cruise control function is detected ( S210 ). Here, the current speed of the host vehicle represents the speed at the time when an abnormality of the adaptive cruise control function is detected.

A situation in which an abnormality occurs in the adaptive cruise control function may be, for example, a situation in which a sensor for adaptive cruise control fails or an error occurs in an algorithm, and this abnormal state is detected by monitoring the function or processing of the sensor. can be detected.

The vehicle according to an embodiment of the present invention maintains the current speed during the maximum cruising time calculated in step S210 (S220), and after the maximum cruising time, decelerates the speed of the own vehicle to the first acceleration (S230).

), 최대 항속 시간 이후, 정지 시점까지의 자차의 제1이동 거리(

), 이상이 감지된 시점에서 전방 차량의 정지 시점까지의 제2이동 거리(

) 및 이상이 감지된 시점에서의 자차와 전방 차량 사이의 상대 거리(

)를 이용할 수 있다. 여기서, 제2이동 거리는 이상이 감지된 시점에서의 전방 차량의 현재 속도에서 제2가속도로 감속하는 경우의 이동 거리를 나타낸다. 적응형 순항 제어 기능에 대한 이상이 발생한 경우, 자차는 전방 차량에 대한 정보를 획득할 수 없으므로, 미리 설정된 제2가속도로 전방 차량이 감속하는 것으로 가정하여 최대 항속 시간을 산출한다.In step S210, in order to calculate the maximum cruising distance at which the vehicle does not collide with the vehicle in front, as an embodiment, the vehicle's maximum cruising distance (

), the first travel distance of the own vehicle from the maximum cruising time to the stop point (

), the second movement distance (

) and the relative distance (

) can be used. Here, the second movement distance represents a movement distance when the vehicle decelerates from the current speed of the vehicle ahead at the time when the abnormality is detected to the second acceleration. When an abnormality occurs in the adaptive cruise control function, since the host vehicle cannot obtain information on the vehicle ahead, it is assumed that the vehicle ahead decelerates with a preset second acceleration to calculate the maximum cruise time.

)를 추가로 이용하여, 최대 항속 시간을 산출할 수 있다.In addition, according to the embodiment, the vehicle is a preset safety distance (

) can be additionally used to calculate the maximum cruise time.

If this method of calculating the maximum cruise time is expressed as an equation, it is as shown in [Equation 1].

And, the maximum cruising distance of the host vehicle, the first movement distance, and the second movement distance may be calculated as in [Equation 2] to [Equation 4].

은 최대 항속 시간,

는 자차의 현재 속도,

는 전방 차량의 현재 속도를 나타낸다. 그리고 [수학식 3]에서는 제1가속도가 -6m/s², [수학식 4]에서는 제2가속도가 -3m/s²인 실시예가 표현되어 있다.here,

is the maximum cruising time,

is the current speed of the vehicle,

represents the current speed of the vehicle ahead. And in [Equation 3], an embodiment in which the first acceleration is -6 m/s ² , and in [Equation 4], the second acceleration is -3 m/s ² is expressed.

Using [Equation 2] to [Equation 4], if [Equation 1] is summarized for the maximum cruise time, it is as shown in [Equation 5]. In [Equation 5], an embodiment in the case where the safety distance is 4 m is expressed.

The first and second accelerations and the safety distance may be variously determined according to embodiments, and as an embodiment, the first acceleration may be determined according to a brake state, performance, or wheel air pressure of the host vehicle. If the brake state or performance of the host vehicle is good, the first acceleration may be large, and if the air pressure is low, the braking distance may increase. Therefore, it is preferable that the first acceleration is also set low as the air pressure of the host vehicle is low.

In addition, the second acceleration may be determined according to the current speed of the vehicle in front, and for safety, the second acceleration may be set to be proportional to the current speed of the vehicle in front.

In addition, the safety distance may be determined according to the current speed of the host vehicle, and as the braking distance increases as the current speed of the host vehicle increases, the safety distance may be set to be proportional to the current speed of the host vehicle.

The vehicle according to an embodiment of the present invention may output visual or auditory data informing the driver of an abnormality in the adaptive cruise control function while maintaining the current speed during the maximum cruising time calculated as described above, in step S220. have. In addition, when the driver does not intervene in vehicle operation during the maximum cruising time, for example, when the accelerator pedal or the brake pedal is not manipulated or the steering wheel is not manipulated, the speed of the own vehicle may be reduced to the first acceleration.

3 is a view for explaining a vehicle control method in an ACC abnormal situation according to another embodiment of the present invention, and FIG. 4 is a view showing the relative distance between the speed of the own vehicle and the vehicle in front according to the mode.

The vehicle according to an embodiment of the present invention enters the first mode in which the current speed of the own vehicle is maintained for the maximum cruising time (S310) when an abnormality with the adaptive cruise control function is detected. The first mode may correspond to the level 1 mode described above.

)은 자차의 현재 속도(

), 전방 차량의 현재 속도(

) 및 자차와 전방 차량 사이의 상대 거리(

)에 따라서 계산될 수 있다.The maximum cruise time is determined according to the current speed of the host vehicle at the time when the abnormality is detected, the current speed of the front vehicle, and the relative distance between the host vehicle and the front vehicle. As expressed in [Equation 5], if the first and second accelerations are constants given in advance, the maximum cruise time (

) is the current speed (

), the current speed of the vehicle ahead (

) and the relative distance between the own vehicle and the vehicle in front (

) can be calculated according to

And, the vehicle according to an embodiment of the present invention enters the second mode in which the speed of the own vehicle is decelerated to a preset acceleration after the maximum cruising time (S320). The second mode corresponds to the level 2 mode described above, and the vehicle may enter the second mode when there is no driver intervention in the first mode.

As shown in FIG. 4 , when the adaptive cruise control function is normally exhibited (Normal Mode), it can be seen that the host vehicle cruises at a constant speed and the relative distance to the vehicle in front is also constant. Afterwards, when an abnormality is detected in the adaptive cruise control function, the vehicle maintains the current speed during the maximum cruising time in the first mode (Level 1), and decelerates to a preset acceleration in the second mode (Level 2) after the maximum cruising time. . As the speed of the vehicle decreases, the relative distance to the vehicle in front increases. In FIG. 4 , the blue graph indicates the relative distance, and the red graph indicates the speed of the host vehicle.

Meanwhile, according to an embodiment, the vehicle according to an embodiment of the present invention may provide visual data to a driver of a neighboring vehicle in the first mode. Visual data is data that provides information on detecting abnormalities in the adaptive cruise control function of the own vehicle to nearby drivers. data for As an example, the visual data may be provided in the form of turning on all the turn indicators.

The technical contents described above may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the embodiments, or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic such as floppy disks. - includes magneto-optical media, and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. A hardware device may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, the present invention has been described with specific matters such as specific components and limited embodiments and drawings, but these are only provided to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , various modifications and variations are possible from these descriptions by those of ordinary skill in the art to which the present invention pertains. Therefore, the spirit of the present invention should not be limited to the described embodiments, and not only the claims to be described later, but also all those with equivalent or equivalent modifications to the claims will be said to belong to the scope of the spirit of the present invention. .

Claims (10)

calculating, from a time point when an abnormality with respect to the adaptive cruise control function is detected, a maximum cruising time for which the host vehicle can cruise at a current speed of the own vehicle at the time point when the abnormality is detected;
maintaining the current speed during the maximum cruise time; and
After the maximum cruise time, decelerating the speed of the host vehicle to a first acceleration
A vehicle control method in an ACC abnormal situation comprising a.
The method of claim 1,
The step of calculating the maximum cruise time is
The maximum cruising distance of the own vehicle, the first movement distance of the own vehicle to the stopping time after the maximum cruising time, the second movement distance from the time when the abnormality is detected to the stopping time of the front vehicle, and the time when the abnormal calculating the maximum cruising time by using the relative distance between the host vehicle and the front vehicle of
the second moving distance
A movement distance when the vehicle decelerates from the current speed of the front vehicle to the second acceleration at the time when the abnormality is detected,
Vehicle control method in ACC abnormal situation.
3. The method of claim 2,
The second acceleration is
determined according to the current speed of the vehicle in front
Vehicle control method in ACC abnormal situation.
3. The method of claim 2,
The step of calculating the maximum cruise time is
Calculating the maximum cruising time by additionally using a preset safety distance between the host vehicle and the front vehicle
Vehicle control method in ACC abnormal situation.
5. The method of claim 4,
the safe distance
determined according to the current speed of the host vehicle
Vehicle control method in ACC abnormal situation.
The method of claim 1,
The first acceleration is
Determined according to the brake state, performance, or wheel air pressure of the own vehicle
Vehicle control method in ACC abnormal situation.
The method of claim 1,
The step of decelerating the speed of the host vehicle to the first acceleration includes:
During the maximum cruise time, when the driver does not operate the accelerator pedal or the brake pedal, the speed of the host vehicle is decelerated to the first acceleration
Vehicle control method in ACC abnormal situation.
The method of claim 1,
The anomaly of the adaptive cruise control function is
Including a failure of the sensor for the adaptive cruise control
Vehicle control method in ACC abnormal situation.
entering a first mode in which the current speed of the host vehicle is maintained for a maximum cruise time when an abnormality is detected in the adaptive cruise control function; and
After the maximum cruise time, entering a second mode for decelerating the speed of the host vehicle to a preset acceleration,
The maximum cruise time is,
It is determined according to the current speed of the host vehicle at the time when the abnormality is detected, the current speed of the front vehicle, and the relative distance between the host vehicle and the front vehicle.
Vehicle control method in ACC abnormal situation.
10. The method of claim 9,
providing visual data to a driver of a surrounding vehicle in the first mode;
A vehicle control method in an ACC abnormal situation further comprising a.

Images