KR20170077317A - Apparatus for controlling autonomous emergency braking system and method thereof - Google Patents

Abstract

An apparatus and a method for controlling an AEB system according to the present invention are disclosed. The apparatus for controlling an AEB system according to the present invention determines an active mode or an inactive mode of an AEB according to attribute information according to a location of a moving object and activates or deactivates the AEB according to the determined mode ; And a setting unit configured to set the mode of the AEB to the inactivation mode and to change the mode of the AEB to the activation mode or the inactivation mode according to the determined mode.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an apparatus and a method for controlling an AEB system,

The present invention relates to an AEB system control method, and more particularly, to an apparatus and method for controlling an AEB system in an active mode or an inactive mode according to attribute information.

According to the survey data of the road traffic corporation, the deaths of pedestrians account for 36.5% of all traffic accident deaths, and the cost of social loss due to pedestrian traffic accidents is estimated to exceed 13 trillion won annually.

In Europe, USA, Japan and other major countries, safety regulations are being strengthened to reduce pedestrians' traffic accidents. Various advanced technologies are being introduced to prevent collision by detecting pedestrians in vehicles. In particular, in Europe, the AEB system is mandatory for the purpose of reducing pedestrian injuries and deaths, and the Euro NCAP (New Car Assessment Program) officially includes AEB as a vehicle safety assessment item from 2014.

The Autonomous Emergency Braking System (AEB) is an automatic risk-based braking system that detects when a preceding vehicle stops or stops, or if an obstacle such as a pedestrian suddenly appears, The driver is alerted or controlled to decelerate automatically, and furthermore, the brake is automatically operated in the vehicle to prevent a collision accident or to minimize the damage.

In the AEB system, it is necessary to accurately determine the collision possibility and the collision prediction time based on the accurate detection of the pedestrian, the precise prediction of the moving direction and the moving speed of the pedestrian, and the prediction information in order to prevent collision between the vehicle and the pedestrian, , The driver should be presented with a warning of danger in order to induce avoidance or perform automatic braking immediately before the crash.

Although the AEB system uses various sensors for precise pedestrian detection and distance detection, there is a limit to the performance of each type of sensor. Especially in an environment where there is obstacle to detecting pedestrians due to nighttime, bad weather or various types of features There is a problem that the AEB performance can not be guaranteed due to the technical limitations of the sensor.

Referring to the recently published Euro NCAP AEBS requirements, it is required to detect the risk of collision with a pedestrian with a walking speed of 3-8 km / h, even when the vehicle is running at 20-60 km per hour. However, there is a technical limitation in determining whether there is a risk of a collision by detecting the appearance of a sudden pedestrian while the vehicle is running at a speed of 20 km / h or more and judging that there is a possibility of a collision and decelerating or suddenly braking within a short time. It is very difficult to satisfy the requirements of the Euro NCAP because it is difficult to detect the pedestrian when it is covered.

In the case of the CP2 scenario required by the Euro NCAP, it is necessary to respond to the risk of collision by detecting pedestrians who are completely obscured by the vehicle stopped in the vicinity, and the behavior pattern is irregular In addition to the characteristics of children pedestrians, in the harsh environment where pedestrians with small footprints are hiding in the car and jumping out of the vehicle suddenly running, the AEB system detects it in advance to prevent collision. Lt; / RTI >

U.S. Patent No. 6,862,537 discloses a sensor fusion system architecture, which is a sensor system for detecting the situation around a vehicle. Sensors having different characteristics are disposed at respective positions of the vehicle, A technique of acquiring various sensing information capable of grasping the situation of a sensor and fusing it to recognize a more accurate surrounding situation is disclosed.

However, according to the above conventional art, it is still difficult to detect the pedestrian completely obstructed by the vehicle stopped in the vicinity and detect the risk of collision promptly.

In addition, since such an AEB system is constantly operated to prevent collision during running of the vehicle, emergency braking on a road on which the vehicle is traveling at a high speed, such as an automobile exclusive road, may pose a greater risk.

Accordingly, if the mode for activating the automatic emergency braking and the mode for deactivating the automatic emergency braking are selectively operated by using the attribute information according to the position of the vehicle, the automatic emergency braking for pedestrian protection can be operated more efficiently.

US Patent No. 6,862,537 Korean Patent Publication No. 10-2012-0140062

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide an AEB system for selectively activating a mode for activating automatic emergency braking and a mode for deactivating, And a method for the same.

It is another object of the present invention to provide an apparatus and method for controlling an AEB system that selectively activates a mode for activating automatic emergency braking and a mode for deactivating an AEB system in an area where pedestrians' .

However, the objects of the present invention are not limited to those mentioned above, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

In order to achieve the above objects, an apparatus for controlling an AEB system according to an aspect of the present invention determines an active mode or an inactive mode of an AEB (Autonomous Emergency Braking) according to attribute information according to a location of a moving object, A control unit for controlling activation or deactivation of the AEB according to a determined mode; And a setting unit for changing the mode of the AEB according to the determined mode to an active mode for activating the AEB or an inactive mode for deactivating the AEB.

Preferably, the controller determines the mode of the AEB to be the active mode or the inactivation mode according to the road attribute information according to the position of the moving object.

Preferably, the road-marking information includes information relating to a use or a form of a road that may affect the running of the vehicle or the walking of the pedestrian.

Preferably, the controller determines the mode of the AEB as the activation mode or the inactivation mode by using the environment attribute information according to the location of the moving object.

Preferably, the environmental attribute information includes information relating to the weather or the environment around the road, which may affect the running of the vehicle or the walking of the pedestrian.

Preferably, the controller determines the mode of the AEB to be the activation mode or the inactivation mode using the road attribute information and the environment attribute information according to the location of the moving object.

The apparatus for controlling an AEB system according to the present invention may further include a determination unit for determining a possibility of a pedestrian appearance using the road attribute information and the environment attribute information, Is determined as the activation mode or the inactivation mode.

According to another aspect of the present invention, there is provided an apparatus for controlling an AEB system, the apparatus comprising: a convergence unit for generating the convergence information by combining the road attribute information and the environment attribute information based on the road attribute information and the pre- Wherein the judging unit judges the possibility of the appearance of the pedestrian by using the fusion information generated as a result of the combining.

Preferably, the fusion information includes a value indicating whether the pedestrian can not be walked, a weight normalized for each sensing value, and a reliability normalized for each sensing value.

Preferably, the control unit determines attribute information according to a position of the moving object using at least one sensor mounted on the moving object.

Preferably, the sensor includes at least one of a navigation device, an image sensor, an active sensor, and a high-pass device.

Preferably, when the sensing value obtained from at least one sensor mounted on the mobile body is inputted, the controller determines whether the sensing value is valid using the assistant sign or the section remaining distance obtained through the route information, And if it is found to be valid, determines the attribute information according to the position of the moving object by using the sensed value.

Preferably, the control unit determines whether to change the mode of the AEB from the currently active active mode to the inactive mode according to the attribute information according to the position of the moving object, and displays attribute information according to the position of the moving object and a state of the moving object And determines whether to change the mode of the AEB from the currently inactive mode to the active mode according to the status information.

According to another aspect of the present invention, there is provided a method for controlling an AEB system, the method comprising: determining an AEB (Autonomous Emergency Braking) mode as an active mode or a deactivation mode according to attribute information according to a location of a moving object; Controlling activation or deactivation of the AEB; And modifying the mode of the AEB according to the determined mode to an active mode for activating the AEB or an inactive mode for deactivating the AEB.

Preferably, the controlling step determines the mode of the AEB as the activation mode or the inactivation mode according to the road attribute information according to the position of the moving object.

Preferably, the road-marking information includes information relating to a use or a form of a road that may affect the running of the vehicle or the walking of the pedestrian.

Preferably, the controlling step determines the mode of the AEB to be the activation mode or the inactivation mode by using the environment attribute information according to the position of the moving object.

Preferably, the environmental attribute information includes information relating to the weather or the environment around the road, which may affect the running of the vehicle or the walking of the pedestrian.

Preferably, the controlling step determines the mode of the AEB to be the active mode or the inactivation mode by using the road attribute information and the environment attribute information according to the position of the moving object.

Preferably, the controlling step determines the possibility of a pedestrian appearance using the road attribute information and the environment attribute information, and determines the mode of the AEB as the activation mode or the deactivation mode according to the determination result. do.

Preferably, the controlling step generates fusion information by combining the road attribute information and the environment attribute information based on the road attribute information and the pre-assigned weight for each environment attribute information, And the possibility of the appearance of the pedestrian is determined by using the fusion information.

Preferably, the fusion information includes a value indicating whether the pedestrian can not be walked, a weight normalized for each sensing value, and a reliability normalized for each sensing value.

Preferably, the controlling step determines attribute information according to a position of the moving object using at least one sensor mounted on the moving object.

Preferably, the sensor includes at least one of a navigation device, an image sensor, an active sensor, and a high-pass device.

Preferably, when the sensing value obtained from at least one sensor mounted on the mobile body is inputted, the controlling step determines whether the sensing value is valid using the assistant sign or the section remaining distance obtained through the route information, And judges attribute information according to the position of the moving object by using the sensed value, when the determination result is valid.

Preferably, the controlling step determines whether to change the mode of the AEB from the currently active active mode to the inactive mode according to the attribute information according to the position of the moving object, and displays the attribute information according to the position of the moving object, And determines whether to change the mode of the AEB from the currently inactive mode to the active mode according to the status information.

Accordingly, the present invention selectively operates the mode for activating and deactivating the automatic emergency braking by using the attribute information according to the position of the moving object, and deactivates the AEB system in an area where the possibility of pedestrians is remarkably low , The automatic emergency braking control can be performed more efficiently.

Also, since the automatic emergency braking can be controlled efficiently according to the activation mode and the inactivation mode, safety and convenience of the driver can be improved.

Further, according to the present invention, when the vehicle is traveling in an area where the possibility of the appearance of the pedestrian is remarkably low according to the property information, the inactivation mode is operated, thereby minimizing the malfunction of the system due to the false recognition of the pedestrian.

In addition, the present invention can concentrate on detecting other kinds of objects that are likely to appear in the area, and thus can efficiently utilize the resources of the system.

1 is a block diagram of an apparatus for controlling automatic emergency braking according to an embodiment of the present invention.
2 is a view showing various types of signs according to an embodiment of the present invention.
3 is a view showing various types of roads according to an embodiment of the present invention.
4A to 4B are diagrams for explaining the principle of calculating reliability according to an embodiment of the present invention.
5 is a first diagram illustrating a method for controlling an AEB system according to an embodiment of the present invention.
6 is a second diagram illustrating a method for controlling an AEB system in accordance with an embodiment of the present invention.
7 is a diagram illustrating a method of validating a sensor value according to an embodiment of the present invention.
8 is a diagram illustrating a method of validating a sensor value according to another embodiment of the present invention.
9 is a view for explaining a mode determination principle of an AEB system according to an embodiment of the present invention.
10 is a view for explaining a mode determination principle of an AEB system according to another embodiment of the present invention.

Hereinafter, an apparatus and method for controlling an AEB system according to an embodiment of the present invention will be described with reference to the accompanying drawings. The present invention will be described in detail with reference to the portions necessary for understanding the operation and operation according to the present invention.

In describing the constituent elements of the present invention, the same reference numerals may be given to constituent elements having the same name, and the same reference numerals may be given thereto even though they are different from each other. However, even in such a case, it does not mean that the corresponding component has different functions according to the embodiment, or does not mean that the different components have the same function. It should be judged based on the description of each component in the example.

In this specification, the moving body includes a vehicle such as an automobile or a train, and a robot such as a cleaning robot or a service robot, and a movable device is sufficient. The AEB system senses the objects referred to in this specification, and the AEB system senses it in the vehicle even if there is no active instruction of the driver when the preceding vehicle stops or stops, or if the pedestrian / obstacle suddenly appears, (AEBS) or EBS (Automatic Braking System) or AEBS (Automatic Emergency Braking System) or EBS (Automatic Braking System) (Emergency Braking System).

In addition, an external object referred to in this specification is typically a pedestrian. Pedestrians are those who are walking on the road or working on the road, people on the street, people standing or lying on the road, persons riding or pushing wheelchairs for disabled persons, children riding on tricycles or model cars, , A prime mover bicycle, a person who pulls a bicycle, etc. In the following, it is defined as a pedestrian or an object. In addition, in the present invention, the object may further include a stationary facility such as a pedestrian block, a guardrail,

In particular, according to the present invention, an active mode for activating the AEB system and an inactive mode for deactivating the AEB system are selectively operated by using the attribute information according to the location of the moving object, and the possibility of appearance of the pedestrian is remarkably low We propose a new AEB control scheme to disable the AEB system in the region.

In the present invention, attribute information according to the position of the moving object is used. For example, the attribute information may include road attribute information, environmental attribute information, and the like, which the vehicle is currently traveling or traveling on. In the present invention, an example of using the road attribute information and the environment attribute information is described, but the present invention is not limited thereto and various types of attribute information can be used as needed.

Here, the road attribute information may mean information relating to the use or form of the road, which may affect the running of the vehicle or the walking of the pedestrian, and the environmental attribute information may be information that may affect the running of the vehicle or the walking of the pedestrian It may mean information related to the weather, environment, etc. around the road.

Further, in the present invention, it is possible to determine the appearance possibility of the pedestrian using the various attribute information, and to further use the state information. Here, the state information may include, for example, a speed, a gear state, and the like as information related to the state of the vehicle.

Particularly, the present invention uses at least one of the road attribute information and the environment attribute information to judge the possibility of a pedestrian appearing on a road on which a moving object is traveling or a road to be traveled, and to activate or deactivate the mode of the AEB system do.

1 is a block diagram illustrating an apparatus for controlling an AEB system according to an embodiment of the present invention.

1, an apparatus for controlling automatic emergency braking according to the present invention includes a sensor unit 100, a fusion unit 200, a determination unit 300, a control unit 400, and a setting unit 500 .

The sensor unit 100 detects an object located outside the moving vehicle and generates an object signal. The sensor for object detection may be a single sensor, or may be a plurality of sensors. In this embodiment, the sensor unit 100 may include an image sensor unit 110 and a distance sensor unit 120. The image sensor unit 110 generates external image information as an object signal, and the distance sensor unit 120 can calculate a distance value. When there is an external object or an obstacle such as a pedestrian, a bicycle, a baby carriage, etc. around the vehicle, the sensor unit 100 outputs an object signal including information on the presence or absence of the object, captured image information, .

In this embodiment, the image sensor unit 110 may be implemented to include at least one image sensor. According to one embodiment of the present invention, the image sensor unit 110 may include a first image sensor 111, which is a Far Infra Red (FIR) camera, and a second image sensor 112, which is a CMOS camera have. However, the present invention is not limited thereto and may further include an image sensor (or a camera sensor) of a different method.

The CMOS camera (or CCD camera) captures images similar to those seen by the human eye because it acts to sense and project light in the visible light range. However, the FIR camera acquires an image by projecting light in an infrared band that a person can not see. The NIR (near infra red) refers to a wavelength of 700 to 1400 nm. The FIR light is also referred to as LWIR (Long Wavelength Infra Red), and the wavelength of light Lt; RTI ID = 0.0 > 8 < / RTI > Particularly, the FIR band has the advantage of distinguishing the temperature because the wavelength changes according to the temperature. Especially, human body temperature is widely used because it has a wavelength of 10μm.

The image sensor unit 110 acquires an image of an object (or an obstacle) moving from the outside by photographing the viewing direction (or the vehicle traveling direction). The image acquired from the at least one image sensor 111 or 112 included in the image sensor unit 110 is subjected to image fusion through a sensor fusion processing unit (not shown), thereby detecting a more accurately moving object (e.g., a pedestrian) . In other words, it is possible to compensate for a deficient portion (e.g., an incorrect portion of the image) acquired from each of the image sensors 111 and 112 through the image fusion, thereby allowing an external object to be detected more accurately.

For example, the image sensor unit 110 provides road attribute information such as the presence or absence of a median separator, the presence or absence of a left or right edge separator, a prohibition of walking, a prohibition of crossing,

2 is a view showing various types of signs according to an embodiment of the present invention.

Referring to FIG. 2, there is shown a sign indicating that (a) is prohibited from walking, (b) is prohibited from crossing, and (c) is an exclusive use road, and the image sensor unit provides such road attribute information.

At this time, for example, signs indicating prohibition of walking, prohibition of traverse, and roads for automobiles recognized by the image sensor are described as an example, but the present invention is not limited thereto. Signs that can display various road attribute information other than these signs may be used.

It also shows (d) a supplemental sign indicating the start of the section, and this supplemental information is also available because these supplemental signs are used with signs.

The distance sensor unit 120 may include at least one distance sensor. According to an embodiment of the present invention, the distance sensor unit 120 may include a first distance sensor 121 which is a radar sensor and a second distance sensor 122 which is a LIDAR sensor. However, the present invention is not limited to this, and may further include other types of distance sensors (e.g., an ultrasonic distance sensor, an infrared distance sensor, and the like). Light Detection And Ranging (LIDAR) sensors are sensors that can be used to measure the position coordinates of a reflector by emitting laser pulses and measuring the time of reflection and return.

The distance sensor unit 120 detects a signal reflected from an object (or an obstacle) in the viewing direction (or the vehicle traveling direction) to detect the distance between the object (or obstacle) and the vehicle. At least one of the distance sensors 121 and 122 included in the distance sensor unit 120 operates in synchronization with each other. Therefore, it is possible to simultaneously detect the distance to a moving object (or an obstacle) in the viewing direction. As described above, the distance information of the object detected at the same time can be supplemented when any one of the distance sensors is abnormal, thereby ensuring higher reliability.

For example, the distance sensor unit 120 provides road attribute information such as the distance to the edge of the lane.

The sensor unit 100 may include an active sensor unit 130 such as a radar. The active sensor unit 130 is a sensor capable of obtaining information by transmission and reception of electromagnetic waves, and may be, for example, a radar 131.

For example, the radar 131 is a vehicle radar, which provides road attribute information such as the presence of a median separator, the presence or absence of a left or right edge separator, and the distance to a car edge.

At this time, the vehicle radar is mounted on a moving vehicle (vehicle), and provides information about the surrounding environment around the front and rear using a millimeter wave, and if necessary, controls the vehicle to help the driver to drive safely. It is one.

Technologies employing such a vehicle radar are referred to as active cruise control, adaptive cruise control, or intelligent cruise control. Typical automakers applying these technologies to vehicles are Daimler-Benz, BMW, Jaguar, and Nissan.

The International Standard for Vehicle Radar has ITU-R Recommendation M.1452, but it does not refer to detailed system specifications or operation methods, but rather it refers to the outline, rather than the recommendation, in the nature of the current vehicle radar .

The sensor unit 100 may include a navigation device 140. The navigation device 140 provides the position of the vehicle, that is, the attribute information (hereinafter referred to as the road attribute information) of the road on which the vehicle is currently traveling or will be traveling. The navigation device 140 may include a GPS receiver 141 that receives a GPS (Global Positioning System) signal and a map database 142 that stores information such as roads. The navigation device 140 has a variety of commercially available navigation devices. When software related to the road attribute information is installed in the navigation device, the navigation device 140 can provide the road attribute information as an output value.

For example, the navigation device 140 provides road attribute information such as whether it is an exclusive use road, an elevated road, or a national road.

3 is a view showing various types of roads according to an embodiment of the present invention.

Referring to FIG. 3, (a) a national road, (b) a motorway, (c) a pier where a walkway exists but there is a pier on the right, (d) a pier with no walkway, The navigation device provides such road attribute information.

At this time, although the national road, the exclusive use road, and the bridge pier provided by the navigation device are described as an example, the present invention is not limited to this, and various types of roads capable of representing the attributes of the road may be provided as road attribute information have.

In addition, the navigation device 140 provides environmental attribute information, such as weather, a waiting state, and the like, of the vehicle, that is, the environment around the road on which the vehicle is currently traveling or traveling.

In this embodiment, although the navigation device is exemplified as an internal component, the automatic emergency braking function control device may be implemented by a method in which the navigation device is provided as an external component and the road attribute information is received from the navigation device.

The sensor unit 100 may include a high-pass device 150. Here, the high-pass device 150 refers to a system that allows payment by wireless communication without having to stop a toll on the expressways and toll roads of the Republic of Korea. The high-pass device 150 provides the position of the vehicle, that is, the attribute information of the road on which the vehicle is going to run (hereinafter, road attribute information).

For example, the high-pass device 150 provides road attribute information such as entering or advancing a toll road.

The sensor unit 100 may also include an ultrasonic sensor. In particular, when the ultrasonic sensor is constructed, an ultrasonic sensor used in a back warning buzzer system (BWS) of the vehicle may be used.

The ultrasonic sensor can calculate the distance to an object (or an obstacle) by measuring the time taken to reflect and radiate a frequency higher than the home frequency band. Generally, an ultrasonic sensor is a high-index ultrasonic sensor having a detection distance of about 10 m and a steering angle of about 10 degrees, or a light-directed ultrasonic sensor having a detection distance of about 3 m and a steering angle of about 180 degrees Therefore, the characteristics can be adjusted to have various detection distances and directivity angles.

In the ultrasonic sensor, when the ultrasonic wave is not received, the output of the ultrasonic sensor remains HIGH while the trigger pulse is applied, and at the same time, the burst pulse is transmitted and the output becomes the LOW state. If an ultrasonic wave reflected from an object (or an obstacle) is received, the output becomes HIGH again and enters a standby state again until it receives ultrasonic waves. The distance to the object (or obstacle) is measured by measuring the time in the LOW state.

As described above, the sensor unit 100 can provide road attribute information or environment attribute information according to the position of the mobile object. Here, the road attribute information may include whether the road is an exclusive road, an elevated road, a national road, a median separator, a left or right marginal zone, and a distance to a car edge. The environmental property information may include time, weather, temperature, humidity, and atmospheric conditions indicating day or night.

Of course, in the present invention, an image sensor unit, an active sensor unit, a navigation device, and a high pad device are described as examples of the sensor unit, but the present invention is not limited thereto.

The fusion unit 200 may receive sensing values from various sensors constituting the sensor unit 100, and may integrate the received sensed values. In particular, the fusion unit 200 may generate at least one fusion information as a result of fusion of the sensed values transmitted from the sensor unit 100 and fusion thereof.

The fusion unit 200 can generate only one fusion information when only one sensing value is used. In the present invention, if only one sensing value is used, the possibility of pedestrian output can be determined using the sensing value itself without generating fusion information.

At this time, the fusion information Fi generated in the fusion unit 200 can be defined as the following Equation (1).

[Equation 1]

Fi = {B _i , w _i , p _i }

Here, Bi represents a value (-1 or 0 or 1) indicative of the possibility of appearance of a pedestrian, wi represents a normalized weight for each sensing value for Bi, pi represents a value indicating normalized reliability for each Bi ~ 1).

The weight may be an arbitrary value or a normalized value within a certain range, and may be predefined for each sensing value in consideration of the priority of information transmitted from each sensor.

For example, a weight for information transmitted from each sensor such as 1.0 for a high-pass device, 0.8 for a navigation device, and 0.5 for an image sensor can be predetermined.

As another example, the high pass device is set to 0.4, the navigation device is set to 0.4, and the image sensor is set to 0.2, and the sum of the weights given to the respective information is normalized to be 1.

As another example, the weight is calculated by considering the priority of each information so that it is triggered when it is applied together with the image sensor without being triggered by the navigation device alone.

And the reliability is calculated by the convergence part or by receiving the calculated value from each sensor.

For example, ADAS (Advanced Driver Assistance Systems) sensors such as cameras and image sensors provide reliability information on the detection results.

As another example, since the navigation device or the high-pass device can not provide the reliability information, the reliability of the detection result is calculated by itself. Assuming that the GPS device has a uniform error distribution within the GPS error range, The reliability is calculated through the proportion of the portion on the road where the link can be selected.

4A to 4B are diagrams for explaining the principle of calculating reliability according to an embodiment of the present invention.

Referring to FIG. 4A, assuming that the sensor has a uniform error distribution in the GPS error range d, the reliability p _i of the sensor that does not provide the reliability information is expressed by the following equation (2).

&Quot; (2) "

p _i = (AB) / B

Here, A represents a portion selected by another link, and B represents an error range.

Referring to FIG. 4B, the reliability calculation can be approximated in consideration of on-line real-time characteristics. Reliability can be calculated from the number of points matched to the dedicated road link among the sample points.

At this time, as the sample point becomes denser, the accuracy improves. The reliability is expressed by the following equation (3).

&Quot; (3) "

p _i = NUM (C) / NUM (T)

Here, NUM (T) represents the total number of points, and NUM (C) represents the number of points matched to the dedicated road link.

As another example, it is possible to calculate the reliability by linking with a known map matching technique.

The determination unit 300 may calculate the fusion value using the generated fusion information, compare the calculated fusion value with a predetermined threshold value, and determine the possibility of the appearance of the pedestrian according to the comparison result.

The fusion value J calculated here can be defined as the following equation (4) or (5).

&Quot; (4) "

&Quot; (5) "

At this time, if the fused value calculated as the result of the comparison is greater than a predetermined threshold value, the determination unit 300 can determine that the possibility of a pedestrian appearance is remarkably low.

In the present invention, it is judged whether or not the possibility of a pedestrian appearance is remarkably low using one threshold value. However, the present invention is not limited to this, and a plurality of threshold values may be used as needed.

The control unit 400 receives the pedestrian appearance possibility determination result from the determination unit, determines the mode of the AEB system as the active mode or the inactive mode according to the received determination result, and controls the activation or deactivation of the AEB system according to the determined mode have.

For example, when it is determined that the pedestrian appearance probability is extremely low as a result of the determination, the control unit 400 may determine the mode of the AEB system to be the inactive mode and control the mode.

In particular, when it is determined that the pedestrian appearance probability is extremely low when the controller 400 is operating in the active mode, the control unit 400 determines the active mode of the AEB system to change from the active mode to the inactive mode.

On the other hand, if it is determined that the pedestrian appearance possibility is not remarkably low as a result of the determination, the controller 400 can determine the mode of the AEB system as the active mode and control the mode.

In particular, when the controller 400 determines that the AEB system is not an area in which pedestrians are unlikely to appear when the vehicle is in the inactive mode, the control unit 400 does not determine the AEB system as an active mode, It is determined that the AEB system satisfies all the condition conditions and the mode of the AEB system is determined as the activation mode, and the operation mode is changed from the inactivation mode to the activation mode.

At this time, the control unit 400 may deactivate the AEB system only when it is determined that the possibility of pedestrian appearance is significantly low using both the road attribute information and the environment attribute information.

Road attribute information with low possibility of pedestrian appearance is classified into attribute information or morphological information.

For example, 1) the acceleration information may be a highway or an automobile exclusive road in the Road Traffic Act, a road prohibited to be walked by other pedestrians, etc., and 2) a morphological information may be a pier with a guardrail, An elevator, a tunnel, etc., where the separating bar includes all forms of restricting the pedestrian's walking, such as guard rails, concrete barriers, and green areas, or, if a median bar is installed at the center of the road, It may be a section where a road sign for a car is installed.

At this time, the control unit 400 may determine the mode of the AEB system using the road attribute information or the environment attribute information according to the location of the moving object. For example, the mode of the AEB system may be determined using either the road attribute information or the environment attribute information. Or the mode of the AEB system can be determined using both the road attribute information and the environment attribute information.

In addition, the controller 400 may control the characteristics of the respective sensors constituting the sensor unit 100. FIG. For this purpose, each sensor constituting the sensor unit 100 may include a characteristic adjusting unit. That is, the characteristic adjusting unit can control the characteristics of the corresponding sensor under the control of the control unit.

For example, in the case of an image sensor, resolution is set densely in an area within the lane so as to utilize resources necessary for pedestrian detection for detecting other objects likely to appear on the road, and a classification necessary for pedestrian detection Omit the procedure.

As another example, in the case of a radar, a dynamic range must be set to a large value in order to detect a pedestrian, which may interfere with noise, so that it is possible to minimize noise interference by lowering the sensitivity level when it is determined that pedestrians are unlikely to appear.

In addition, the controller 400 can predict the possibility of forward collision and the possibility of rear collision using spatial information (position or velocity information, etc.) of the object (pedestrian and other vehicle) according to the sensing value. There is no particular limitation on the method of determining the possibility of forward collision and the possibility of rear collision.

For example, a forward collision probability and a rear collision probability may be calculated using a forward collision index and a backward collision index, where the collision index may be a collision prediction time.

In addition, when it is determined that there is a possibility of a rear-end collision, the control unit 400 may control the emergency light or the tail lamp to operate by calculating the control point of the emergency light or the tail light.

For example, the control unit 400 may control the emergency light to blink before the emergency braking operation of the vehicle occurs if there is a possibility of rear-end collision, and to control the emergency light to continuously blink continuously for a predetermined time after the emergency braking operation is performed can do.

As another example, the control unit 400 controls the brake light (taillight) to turn on even if the driver does not step on the brake pedal if there is a possibility of a rear collision, and continues to turn on the taillight for a predetermined time after the emergency braking operation is performed .

If there is a possibility of a forward collision, the control unit 400 directly interrupts the control of the vehicle according to the control signal and outputs a warning output, a longitudinal braking (e.g., braking braking), or a lateral control Control) to avoid collision with other vehicles.

In addition, when it is determined that it is difficult for the vehicle to avoid collision with another moving body, the control unit 400 can actively control the steering wheel to avoid collision by performing steering control without the driver's steering control. For example, if the lane width, the width of the lane, and the like of the lane during the current lane are sufficient for the control of the current lane through the sensor unit and the direction in which collision with the external object is expected It is possible to perform the active control by setting the steering angle at an increasing distance.

In addition, the controller 400 operates the initial flow rate increase module to minimize the response delay time generated during brake operation, intentionally decrease the responsiveness of the engine, or control the output to decrease, have.

Generally, the diesel engine can control the output by controlling the fuel injection amount, and in the case of the gasoline engine, the output of the engine can be controlled by controlling the air amount. Therefore, in the case of a diesel engine, when the accelerator pedal is operated, the fuel pump is regulated to increase the fuel injection quantity and increase the expansion pressure of the combusted mixer, thereby increasing the output. At this time, the output of the engine can be intentionally lowered by controlling the fuel pump so as to reduce the fuel injection amount.

In the case of gasoline, the output of the engine can be controlled by controlling the amount of air by adjusting the opening degree of the throttle valve. At this time, the output of the engine can be intentionally lowered by reducing the amount of air sucked into the engine combustion chamber by adjusting the opening degree of the throttle valve.

The setting unit 500 may change the mode of the AEB to the active mode for activating the AEB or the inactive mode for deactivating the AEB according to the determined mode.

At this time, the setting unit 500 may store the road attribute information or the environment attribute information previously set as the attribute information to be used for determining the mode of the AEB, and may be changed by the user.

For example, either the road attribute information or the environment attribute information is selected as the attribute information of the moving object, or both the road attribute information and the environment attribute information are selected and stored.

As another example, only a part of each of the road attribute information and the environment attribute information may be selected as the attribute information of the moving object. State is selected and stored.

5 is a first diagram illustrating a method for controlling an AEB system according to an embodiment of the present invention.

As shown in FIG. 5, when an apparatus for controlling an AEB system according to the present invention (hereinafter referred to as an AEB control apparatus) is operated in an active mode (S500), a sensing value can be input from the sensor S501).

Here, the sensing value input may be at least one of the road attribute information and the environment attribute information.

Next, the AEB control device can check the validity of the received sensing value (S502).

Next, the AEB control device can check whether there is a sensing value that does not include reliability among the sensing values input after the validity check (S503). That is, the AEB control device determines that the sensing value , The reliability of the sensed value can be calculated (S504).

The AEB controller may generate at least one fusion information using the received sensing value if there is no sensing value that does not include reliability as a result of the checking (S505).

Next, the AEB control device can calculate the fusion value J using the generated fusion information (S506).

Next, the AEB control device can compare the calculated fusion value J with a preset threshold value Jc (S507). That is, if the convergence value calculated as a result of the comparison is greater than the threshold value, the AEB control device determines that the AEB system is in a low-probability region, and determines that the mode of the AEB system is inactivated (S509) (S508).

Next, the AEB control device may change the mode of the AEB system to the inactivation mode according to the determined mode (S510) and perform control to perform the changed inactivation mode.

The AEB controller can adjust the characteristics of the sensor according to the inactivation mode (S511).

6 is a second diagram illustrating a method for controlling an AEB system in accordance with an embodiment of the present invention.

As shown in FIG. 6, when the apparatus for controlling the AEB system according to the present invention (hereinafter referred to as AEB control apparatus) operates in the inactivation mode (S600), a sensing value can be input from the sensor S601).

Here, the sensing value input may be at least one of the road attribute information and the environment attribute information.

Next, the AEB control device can check the validity of the received sensing value (S602).

Next, the AEB controller can check whether there is a sensing value that does not include reliability among the sensing values input after the validity check (S603). That is, if there is a sensing value that does not include the reliability as a result of the checking, the AEB control device can calculate the reliability of the sensing value (S604).

Next, if there is no sensing value that does not include the reliability as a result of the checking, the AEB control device can generate at least one fusion information using the sensing value input (S605).

Next, the AEB control device can calculate the fusion value J using the generated fusion information (S606).

Next, the AEB control device can compare the calculated fusion value J with a preset threshold value Jc (S607). That is, if the fused value calculated as the result of the comparison is larger than the threshold value, the AEB control device determines that the possibility of the pedestrian appearance is low, so that the AEB system can continuously operate the mode of the AEB system in the inactive mode (S608).

On the other hand, if the convergence value calculated as a result of the comparison is smaller than the threshold value, the AEB control device can confirm whether all predetermined condition conditions are satisfied using the vehicle state information (S609).

Here, the state information may be a speed, a gear state, or the like as information indicating the state of the vehicle.

Next, the AEB control device may determine the mode of the AEB system to be the active mode if the status condition is satisfied as a result of the checking (S610). That is, the AEB control apparatus can change the mode of the AEB system from the inactivation mode to the activation mode only when the fusion value is smaller than the threshold and satisfies at least one predetermined condition condition.

For example, when one state condition {V _MIN <V <V _MAX }, V _MIN is set to the minimum speed, and V _MAX is set to the maximum speed, the AEB control device checks whether the condition of the vehicle is satisfied by using the vehicle speed V If it is satisfied, the mode of the AEB system is changed from the inactive mode to the active mode.

If the condition is not satisfied, the AEB system operates in the inactive mode.

As another example, when two state conditions { V _MIN <V <V _MAX } and {Gear state = 'D (Driver)'} are set, it is checked whether the first state condition is satisfied using the vehicle speed V, 1 state condition is satisfied, it is determined whether or not the second state condition is satisfied by using the gear state of the vehicle. If the first state condition and the second state condition are satisfied, the mode of the AEB system is changed from the inactive mode to the active mode do.

If the first condition is not satisfied, the AEB system operates in the inactive mode.

This state condition can be set or changed by the user, but it is possible to change the mode of the AEB system from the inactive mode to the active mode only when all of the set state conditions are satisfied.

Next, the AEB controller changes the mode of the AEB system to the active mode according to the determined mode (S611), and controls the modified AEB mode to perform the changed active mode.

7 is a diagram illustrating a method of validating a sensor value according to an embodiment of the present invention.

As shown in FIG. 7, when the validity is checked through the interval distance of the auxiliary signboard, the apparatus for controlling the AEB system according to the present invention (hereinafter referred to as the AEB control apparatus) The distance can be obtained (S701).

Next, the AEB control device can confirm whether the acquired section remaining distance Dr is less than 0 (S702).

Next, the AEB control apparatus can change the information to the undetected state in consideration of the distance information of the auxiliary signboard if the interval remaining distance is 0 or more as a result of the checking (S703).

Such validation can be done at the sensor itself or at the fusion site.

8 is a diagram illustrating a method of validating a sensor value according to another embodiment of the present invention.

As shown in FIG. 8, when the validity is checked through the route information of the navigation, an apparatus for controlling the AEB system according to the present invention (hereinafter, referred to as an AEB control apparatus) obtains the remaining distance from the navigation route information (S701).

Next, the AEB control device can confirm whether the acquired section remaining distance Dr is less than the offset distance Dp (S702).

In this case, the offset distance is a distance for releasing the sensor information dictionary, and can be calculated in consideration of the sensor latency, the time required for recognizing the driver, and the estimated average speed in the remaining interval.

Next, the AEB control device can change the information to the non-detection state in consideration of the route information of the navigation when the remaining distance is equal to or greater than the offset distance Dp as a result of the checking (S703).

This validation can be done at the sensor itself or at the fusion site.

9 is a view for explaining a mode determination principle of an AEB system according to an embodiment of the present invention.

As shown in FIG. 9, an apparatus for controlling an AEB system according to the present invention (hereinafter referred to as an AEB control apparatus) can be provided with a sensing value from a plurality of sensors.

Here, the sensor includes a navigation device, an image sensor, and an active sensor, and each sensor can provide a sensed value obtained by acquiring a sensed value of the corresponding road attribute information.

For example, the navigation device provides the sensed value S1 = {highway, no confidence} as the attribute information of the road on which the vehicle is currently traveling or traveling, and the image sensor provides the sensed value S2 = S4 = {no detection of the road sign, no confidence}}, and the active sensor provides the road attribute information S8 = {edge separation detection , Reliability 90%} and so on.

The AEB controller can generate at least one fusion information using the sensing value provided. At this time, five types of fusion information are generated by receiving a plurality of sensing values.

For example, the five fusion information items generated are the road attribute F1 = {1, 0.5, 0.9}, the edge separator F2 = {1, 0.2, 0.8}, the median separator F3 = {0, 0.1, {0, 0.1, -}, private road sign F5 = {0, 0.1, -}.

The AEB controller can calculate the fusion value using the five fusion information generated. Here, the fused value is calculated by using the above-mentioned expression (4), and is expressed by the following expression (6).

&Quot; (6) &quot;

The AEB controller can determine the possibility of pedestrian appearance using the fusion value thus generated.

10 is a view for explaining a mode determination principle of an AEB system according to another embodiment of the present invention.

As shown in FIG. 10, an apparatus for controlling an AEB system according to the present invention (hereinafter referred to as an AEB control apparatus) can be provided with a sensing value from a plurality of sensors.

For example, the navigation device provides the sensed value S1 = {highway, no confidence} as the attribute information of the road on which the vehicle is currently traveling or traveling, and the image sensor provides the sensed value S2 = S4 = {not detected, no confidence}}, and the active sensor is provided with the road attribute information S8 = {edge separation detection, reliability 70%}, S3 = {pedestrian detection, reliability 70%}, , Reliability 90%} and so on.

The AEB controller can generate at least one fusion information using the sensing value provided. At this time, five types of fusion information are generated by receiving a plurality of sensing values.

For example, the generated five pieces of convergence information include a road attribute F1 = {1, 0.3, 0.9}, an edge separator F2 = {1, 0.1, 0.8}, a median separator F3 = {0, 0.1, {-1, 0.3, 0.7}, private road sign F5 = {0, 0.1, -}.

The AEB controller can calculate the fusion value using the five fusion information generated. Herein, the fusion value is calculated by using the above-mentioned equation (4), and is expressed by the following equation (7).

&Quot; (7) &quot;

The AEB controller can determine the possibility of pedestrian appearance using the fusion value thus generated.

In the present invention, the AEB system is operated in accordance with the sensed sensed value, and the AEB system is operated in an active mode or in an inactive mode in order to operate the AEB system. However, the present invention is not limited thereto , An activation mode for generating a braking or warning when the AEB system is driven and detecting a danger, or a deactivation mode for not generating a braking or warning.

It is to be understood that the present invention is not limited to these embodiments, and all of the elements constituting the embodiments of the present invention described above may be combined or operated in one operation. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. In addition, such a computer program may be stored in a computer-readable medium such as a USB memory, a CD disk, a flash memory, etc., and read and executed by a computer to implement embodiments of the present invention. As the storage medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, or the like may be included.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or essential characteristics thereof. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100:
110: Image sensor unit
120: Distance sensor unit
130: Active sensor unit
140: Navigation device
150: High-pass device
200: fusion unit
300:
400:
500: Setting section

Claims (26)

A control unit for determining an AEB mode as an active mode or a deactivation mode according to attribute information according to a position of a moving object and controlling activation or deactivation of the AEB according to the determined mode; And
Changing a mode of the AEB according to the determined mode to an active mode for activating the AEB or a deactivating mode for deactivating the AEB;
And an AEB system. The method according to claim 1,
Wherein,
And determining the mode of the AEB as the activation mode or the inactivation mode according to the road attribute information according to the position of the moving object. 3. The method of claim 2,
Wherein the road-marking information includes information related to a use or a form of a road that may affect the running of a vehicle or the walking of a pedestrian. The method according to claim 1,
Wherein,
Wherein the control unit determines the mode of the AEB as the activation mode or the inactivation mode using environment attribute information according to the position of the moving object. 5. The method of claim 4,
Wherein the environment attribute information includes information related to a weather or an environment around the road that may affect the running of the vehicle or the walking of the pedestrian. The method according to claim 1,
Wherein,
And determining the mode of the AEB as the activation mode or the inactivation mode using the road attribute information and the environment attribute information according to the location of the moving object. The method according to claim 6,
A determination unit for determining a possibility of a pedestrian appearance using the road attribute information and the environment attribute information;
Further comprising:
Wherein the control unit determines the mode of the AEB as the activation mode or the inactivation mode according to the determination result. 8. The method of claim 7,
A fusion unit for generating fusion information by combining the road attribute information and the environment attribute information based on the road attribute information and a pre-assigned weight for each environment attribute information;
Further comprising:
Wherein the determination unit determines the possibility of the pedestrian appearance using the fusion information generated as a result of the combining. 9. The method of claim 8,
The fusion information includes:
A value indicating whether the pedestrian can walk or not, a normalized weight for each sensing value, and a normalized reliability for each sensing value. The method according to claim 1,
Wherein,
Wherein the attribute information is determined based on a position of the moving object by using a sensing value obtained from at least one sensor mounted on the moving object. 11. The method of claim 10,
Wherein the sensor comprises at least one of a navigation device, an image sensor, an active sensor, and a high-pass device. 11. The method of claim 10,
Wherein,
When the sensing value obtained from at least one sensor mounted on the mobile body is inputted, it is determined whether the sensing value is valid using the assistant sign or the remaining distance obtained through the route information,
And if it is determined to be valid, determines the attribute information according to the position of the moving object by using the sensed value. The method according to claim 1,
Wherein,
Determines whether to change the mode of the AEB from the currently active mode to the inactive mode according to the attribute information according to the position of the moving object,
And determines whether to change the mode of the AEB from the currently inactive mode to the active mode according to the attribute information according to the position of the moving object and the state information indicating the state of the moving object. Determining an active mode or an inactive mode of the AEB according to attribute information according to the position of the moving object and controlling activation or deactivation of the AEB according to the determined mode; And
Changing the mode of the AEB to the active mode for activating the AEB or the inactive mode for deactivating the AEB according to the determined mode;
Gt; AEB &lt; / RTI &gt; 15. The method of claim 14,
Wherein the controlling comprises:
And determining the mode of the AEB as the activation mode or the inactivation mode according to the road attribute information according to the position of the moving object. 16. The method of claim 15,
Wherein the road-marking information includes information related to a use or a form of a road that may affect the running of a vehicle or the walking of a pedestrian. 15. The method of claim 14,
Wherein the controlling comprises:
Wherein the mode of the AEB is determined to be the active mode or the inactivation mode using environment attribute information according to the position of the moving object. 18. The method of claim 17,
Wherein the environmental attribute information includes information related to a weather or an environment around the road which may affect the running of the vehicle or the walking of the pedestrian. 15. The method of claim 14,
Wherein the controlling comprises:
Wherein the mode of the AEB is determined to be the active mode or the inactivation mode by using the road attribute information and the environment attribute information according to the position of the moving object. 20. The method of claim 19,
Wherein the controlling comprises:
Judges the possibility of appearance of a pedestrian using the road attribute information and the environment attribute information,
And determining the mode of the AEB as the activation mode or the inactivation mode according to the determination result. 21. The method of claim 20,
Wherein the controlling comprises:
The road attribute information and the environment attribute information are combined based on the road attribute information and the pre-assigned weight for each environment attribute information to generate fusion information,
And the possibility of appearance of the pedestrian is determined using the fusion information generated as a result of the combining. 22. The method of claim 21,
The fusion information includes:
A value representative of whether or not pedestrian walking is possible, a normalized weight for each sensing value, and a normalized reliability for each sensing value. 15. The method of claim 14,
Wherein the controlling comprises:
Wherein the attribute information based on the position of the moving object is determined using a sensing value obtained from at least one sensor mounted on the moving object. 24. The method of claim 23,
Wherein the sensor comprises at least one of a navigation device, an image sensor, an active sensor, and a high-pass device. 24. The method of claim 23,
Wherein the controlling comprises:
When the sensing value obtained from at least one sensor mounted on the mobile body is inputted, it is determined whether the sensing value is valid using the assistant sign or the remaining distance obtained through the route information,
And determining attribute information according to the position of the moving object by using the sensed value if the determination result is valid. 15. The method of claim 14,
Wherein the controlling comprises:
Determines whether to change the mode of the AEB from the currently active mode to the inactive mode according to the attribute information according to the position of the moving object,
And determines whether to change the mode of the AEB from the currently inactive mode to the active mode according to the attribute information according to the position of the moving object and the status information indicating the state of the moving object.

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