KR19990051911A - Automatic driving control device of vehicle and its control method - Google Patents

Abstract

The present invention relates to a control device that tracks a vehicle ahead of a road and automatically runs the road, and a control method thereof. The vehicle automatic driving control apparatus includes a vehicle speed detector for detecting a speed of a vehicle, a lane detector installed at a front part of a vehicle to detect left and right lanes, and an image of a front part of the vehicle by capturing an object located in all directions of the vehicle. a camera that outputs a front vehicle, an inter-vehicle distance detector that measures its distance from the vehicle in all directions, and a steering that is coupled to a steering column of the vehicle and controls rotation of the steering column by a predetermined control signal. A steering wheel controller, a brake driver that controls the vehicle brake by predetermined control, a throttle valve controller that controls the vehicle speed by controlling the opening degree of the throttle valve by the predetermined control, and outputs and detects the lane detectors The wheel controller and the brake driver in response to a predetermined omnidirectional vehicle image and the output of the vehicle distance sensor. And a control unit for selectively controlling the throttle valve controller to follow the vehicle located in all directions at predetermined intervals.

Description

Automatic driving control device of vehicle and its control method

The present invention relates to an apparatus for automatically controlling the running of a vehicle and a control method thereof, and more particularly, to a control apparatus and a control method for automatically driving a road by tracking a vehicle ahead of the road.

Frequently, collisions occur due to driver's carelessness or poor watch while driving a car. That is, traffic accidents due to lane departure due to poor visibility and lack of driver's concentration during long distance driving, rainy weather or night driving, and collision with the driving vehicle are increasing. In addition, people who are inexperienced driving, such as novice drivers, can not measure the distance distance and the driving speed with the driving vehicle in front of the driver will cause a crash.

In order to prevent such a collision, a collision prevention system having a near radar attached to a vehicle has been devised. However, in the collision avoidance method, the distance measurement with the front driving vehicle can be detected relatively accurately, but information about the driving lane of the vehicle cannot be detected. In addition, the collision avoidance system using the radar has a problem in that it is not possible to accurately perform the collision avoidance function without measuring the distance from the vehicle in front of the curved lane or the uneven lane during driving.

Accordingly, an object of the present invention is to provide an automatic driving control apparatus for a vehicle and a control method thereof to follow a vehicle in all directions so as to prevent a collision of a vehicle in advance.

Another object of the present invention is to provide an automatic traveling control device and a control method thereof capable of controlling the driving of a vehicle by communication with a neighboring vehicle.

An embodiment of the present invention for achieving the above object is a vehicle speed detector for detecting the speed of the vehicle, a lane detector installed in the front portion of the vehicle to detect the left and right lanes, and the front portion by imaging the object located in all directions of the vehicle A camera that outputs an image of a front vehicle of the vehicle, an inter-vehicle distance detector that measures its own distance from an omnidirectional vehicle, and a steering column of the vehicle, the steering column being connected by a predetermined control signal A steering wheel controller that controls rotation of the vehicle, a brake driver that controls the vehicle brake by predetermined control, a throttle valve controller that controls the vehicle speed by controlling the opening degree of the throttle valve by predetermined control, and a lane The wheel controller in response to an output of detectors and the output of the sensed omnidirectional vehicle image and the inter-vehicle distance detector, And a control unit for selectively controlling the brake driver and the throttle valve controller to follow the vehicle located in all directions at predetermined intervals.

1 is a diagram schematically illustrating the operation of an embodiment of the present invention.

2 is a block diagram of an automatic driving control apparatus for a vehicle according to an exemplary embodiment of the present invention.

3 is a flowchart illustrating an automatic driving 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. It should be noted that in the following description, only parts necessary for understanding the operation according to the present invention will be described, and descriptions of other parts will be omitted so as not to obscure the subject matter of the present invention.

1 is a diagram schematically illustrating the operation of an embodiment of the present invention. Referring to FIG. 1, in a vehicle 3 equipped with an automatic driving control apparatus according to an exemplary embodiment of the present invention, first and second lane detectors 14 and 18 are installed at left and right sides of a vehicle front part. The center portion of the vehicle is provided with a camera 18 for capturing a vehicle located in all directions and outputting an image of the vehicle, and a distance detector 20 for detecting a distance and generating a signal corresponding thereto. In this case, the inter-vehicle distance detector 20 may be implemented by applying a principle such as distance detection or radar using an ultrasonic sensor.

2 is a block diagram of an automatic driving control apparatus for a vehicle according to an exemplary embodiment of the present invention. In FIG. 2, reference numeral 10 denotes a vehicle speed detector, and 12 denotes a mode selection key for setting an automatic driving mode according to the present invention. 14 and 16 are lane detectors, 18 are cameras, 20 are distance detectors, 20 are electronic control units (hereinafter referred to as "ECUs"), 22 are data transceivers, and 24 are control of the ECU 20. Is a SWH controller including a motor driven by and controlling a rotation of a steering wheel (hereinafter referred to as "SWH"), 26 is a brake driver, 28 is a throttle valve controller, 30 is an indicator, and 32 is a signal lamp controller.

In the above configuration, the brake driver 26 has a function of controlling the anti-lock brake system (ABS) under the control of the ECU 20 to brake the vehicle, and the throttle valve controller 28 has a throttle valve under the control of the ECU 20. It has the function of adjusting the opening amount by driving. In addition, the data transceiver 22 has a function of transmitting and receiving data to and from the vehicle located in the front-rear direction to transmit and receive frame data indicating a state such as an automatic operation mode and a change of direction. The signal lamp controller 32 has a function of selectively driving the left and right direction switching lamps installed in the vehicle under the control of the ECU 32.

FIG. 3 is a flowchart of automatic driving control of a vehicle according to an embodiment of the present invention, in which such a program is masked in a ROM region in the ECU 20 shown in FIG.

Hereinafter, the operation of FIG. 2 preferably configured according to an embodiment of the present invention will be described in detail with reference to the schematic diagram of FIG. 1 and the control flowchart of FIG. 3.

Now, when the user of the vehicle equipped with the autonomous driving apparatus according to the present invention selects the autonomous driving mode by operating the mode selection key 12 while driving within the prescribed lane 5 as shown in FIG. 1, the autonomous driving setting command is shown in FIG. 2. Is delivered to ECU 20. The ECU 20 determines that the autonomous driving mode is selected in step 34 of FIG. 3, and propagates the autonomous driving mode frame data to the neighboring vehicle through the data transmitter 22 in step 36.

At this time, the data transceiver of the automatic driving control apparatus mounted on the vehicle located in all directions among the vehicles traveling in the state shown in FIG. 1 receives frame data propagated from the data transmitter 22 of FIG. It is recognized that the mode is set, and the vehicle in the forward direction, which recognizes the mode, transmits frame data indicating the direction change to the vehicle in the backward direction whenever the direction is changed.

Meanwhile, the ECU 20 of FIG. 2, which has performed the process of FIG. 3, reads the outputs of the vehicle speed detector 10 and the first and second lane detectors 14 and 16 in process 38 to detect the current vehicle speed and simultaneously displays information of the driving lane. Detect. At this time, the first and second lane detectors 14 and 16 detect information of the lane as the presence or absence of a signal reflected from the lane of white and yellow color and the intensity of the reflected signal using an optical sensor. Such a lane detector may be implemented by applying the principle of a line tracking vehicle used in factory automation.

The ECU 20 having accessed the vehicle speed and the lane information by the above operation analyzes the lane detection information in step 48 of FIG. 3 to search whether the specified lane has been departed. For example, in FIG. 1, when the information detected by the first lane detector 14 is compared with the information output from the second lane detector 16, if one side is determined to be largely unilaterally, it is determined that the lane has deviated.

If the lane deviates in step 48, the ECU 20 detects a departure direction based on the information output from the first and second lane detectors 14 and 16 in step 50, and generates a direction control signal for allowing the vehicle to enter the prescribed lane. Provided to SWH Controller 24.

For example, if the vehicle is being displaced outward, the ECU 20 supplies a direction control signal for moving to the right to the SWH controller 24 including a motor coupled to the steering column to rotate the steering wheel and repeat from step 38 described above. Do it. Accordingly, it can be seen that the vehicle is automatically adjusted to automatically enter the driving lane when the vehicle leaves the driving lane by the control process. It should be noted that if the turning lamp is operated in step 50, the adjustment of the SWH is not performed.

If it is determined in step 48 that the vehicle is not in a lane departure state, the ECU 20 inputs the image of the omnidirectional vehicle output from the camera 18 in step 52 and simultaneously inputs the output of the inter-vehicle distance detector 20. In addition, a direction control signal for tracking the image of the vehicle output from the camera 18 is output to the SWH controller 24 in step 54 to control the rotation of the steering wheel. At this time, the steering wheel is adjusted by detecting a change in the image pattern output from the camera 18. For example, a direction control signal is output such that the steering wheel is rotated in a direction in which the image pattern of the vehicle output from the camera 18 moves.

In step 54, the ECU 20 that adjusts the direction of the steering wheel searches whether the vehicle maintains the specified interval in step 56. If the inter-vehicle distance (distance between the vehicle located in front of the vehicle and itself) output from the inter-vehicle distance detector 20 is not a preset inter-vehicle distance, the vehicle speed is reduced by controlling the brake driver 26 or the throttle valve controller 28 in step 58. To increase or decrease the number of minutes. For example, if the vehicle is too narrow, the ECU 20 outputs a brake control signal to the brake driver 26 to operate the ABS to widen the vehicle distance, and if the vehicle is too wide, drive the throttle valve controller 28 to increase the vehicle speed.

As a result of the search of step 56, if it is determined that the distance between the vehicle and the vehicle ahead of time is preset, the ECU 20 searches whether frame data is received from the data transceiver 22 in step 60 of FIG. If the data frame is not received in step 60 of FIG. 3, the display 30 of FIG. 2 indicates that the automatic operation mode is performed, and the process is repeated from step 34.

If it is determined that the frame data is received, the ECU 20 searches whether the data received in step 62 is the direction change data, and transmits the direction change data to the signal lamp controller 32 in step 64 only when the data indicates the direction change. To turn the direction light in the corresponding direction.

As described above, the embodiment of the present invention can be very useful for those who are inexperienced by controlling the adjustment of the throttle valve, the brake, and the steering wheel to automatically track and drive the vehicle located in front of the vehicle.

As described above, the present invention can automatically track a vehicle traveling in front of the vehicle and automatically drive at regular intervals, so that a plurality of vehicles can facilitate driving when traveling long distances and prevent accidents of those who are inexperienced in driving. There is an advantage to this.

Claims (5)

In the automatic traveling control device of a vehicle, A vehicle speed detector for detecting the speed of the vehicle, Lane detectors installed at the front of the vehicle to detect the left and right lanes, A camera for photographing an object located in the front of the vehicle and outputting an image of the front vehicle; A distance sensor to measure the distance between the vehicle and the vehicle in all directions; A steering wheel controller coupled to a steering column of the vehicle and controlling rotation of the steering column by a predetermined control signal; A brake driver for controlling the vehicle brake by predetermined control, A throttle valve controller for controlling the vehicle speed by controlling the opening degree of the throttle valve by predetermined control; In response to the output of the lane detectors and the detected omnidirectional vehicle image and the output of the inter-vehicle distance detector, the steering wheel controller, the brake driver, and the throttle valve controller are selectively controlled to follow the vehicle located in all directions at predetermined intervals. Automatic driving control apparatus for a vehicle comprising a control unit to be configured. The apparatus of claim 1, further comprising a data transceiver for transmitting and receiving data to and from a neighboring vehicle under control of the control unit, wherein the control unit transmits data indicating an automatic driving mode to the neighboring vehicle through the data transceiver. And at the same time analyzing the received data and outputting a direction change control signal. 3. The automatic driving control apparatus for a vehicle according to claim 2, wherein the control unit further comprises a signal lamp controller for selectively driving a direction indicator lamp installed in the vehicle by input of a predetermined control signal. A lane detector, a steering wheel controller coupled to a steering column of the vehicle and controlling rotation of the steering column by a predetermined control signal, a data transmitting / receiving device for data communication with a neighboring vehicle, and a braking to control acceleration and deceleration of the vehicle In the automatic running control method of a vehicle having a control means and an acceleration means, Controlling the steering wheel controller when leaving the driving lane to suppress the departure of the lane; And adjusting the steering wheel controller to track an image of the front vehicle traveling, and controlling the braking means and the acceleration unit so that the vehicle is constant with the front vehicle. The automatic driving of claim 4, further comprising driving a turning lamp installed in the vehicle according to the received turning data in response to receiving data indicating turning from the vehicle located in front of the vehicle. Control method.