CN103802830A - SCC system for car and control method thereof - Google Patents

Abstract

The invention discloses an intelligent cruise control system of a vehicle and a control method thereof. An intelligent cruise control system for a vehicle according to an embodiment of the present invention includes: an information receiving unit, which receives traffic information sent from a traffic controller at an intersection; The distance of the intersection; whether it can pass through the judging unit, which uses the information received from the information receiving unit and the navigator unit, to determine whether it can pass through the intersection in the direction of vehicle travel; and the control unit of the intelligent cruise control, which judges whether it can pass through The information received by the Ministry determines the speed of the vehicle. According to the present invention, the vehicle autonomously judges the remaining passable time that the driver cannot see visually, and controls whether the driver can pass and whether the speed of the vehicle needs to be accelerated in a short period of time, so as to improve the application of intelligent cruise control. driver convenience of the vehicle.

Description

Vehicle intelligent cruise control system and control method thereof

technical field

The present invention relates to an intelligent cruise control system and its control method for vehicles, in particular to an intelligent cruise control system and its control method capable of judging whether a vehicle in intelligent cruise control can pass through an intersection and then controlling it.

Background technique

With the advancement of vehicle functions, it has become a trend to install Smart Cruise Control (SCC) or Electronic Stability Control (ESC) systems for vehicle safety. The intelligent cruise control system is an integral part of the inter-vehicle distance control device during driving. It uses the radar sensor installed in front of the vehicle to sense the front and provides the cruise function so that it can maintain a predetermined distance from the vehicle ahead. , to drive automatically at the speed set by the driver, or provide a speed limit function to control the vehicle speed so that it does not exceed the speed set by the driver.

This kind of intelligent cruise control system has the convenience that the driver does not need to continuously operate the accelerator pedal (accelerator) in order to adjust the vehicle speed, and can prevent the vehicle from exceeding the set speed and seek safe driving, so it is a widely loved by drivers. Function.

The existing Korean Patent Laid-Open No. 10-2012-0065781, etc., has proposed a method of notifying passing vehicles of the remaining time when going straight in relation to the intersection passage of intelligent cruise control vehicles, and further proposed that the vehicle that is scheduled to pass the intersection For vehicles that require priority passage such as ambulances and fire trucks, a method of providing the remaining time for passage in the direction of travel is added.

However, the currently proposed method does not consider the speed limit at the intersection, congestion conditions, etc., and only increases the speed according to the remaining time of the passing signal in the direction of travel, so it may be dealt with by the police and cause accidents due to violation of the speed limit regulations.

Contents of the invention

technical problem

Therefore, the technical problem to be solved by the present invention is to provide an intelligent cruise control system, which has the ability to comprehensively consider the passing conditions of intersections such as congestion, signal information, and the prescribed speed of driving roads, etc., so as to consider changing the intelligent cruise control speed and release. function.

Technical solutions

In order to achieve the above object, the present invention provides an intelligent cruise control system for a vehicle, which includes: an information receiving unit that receives traffic information sent from a traffic controller at an intersection; speed, calculate and send the distance from the vehicle to the intersection; whether to pass the judgment part, which uses the information received from the information receiving part and the navigator part, to judge whether the vehicle can pass the intersection in the direction of travel; and intelligent cruise The control unit of the control determines the speed of the vehicle based on the information received from the passability determination unit.

The traffic information may include a remaining time of an incoming signal in a traveling direction of the vehicle.

The passability judging unit can judge that: when the intersection can be passed at the set speed, pass the intersection at the set speed; intersection.

The traffic information may also include vehicle congestion conditions in the traveling direction of the vehicle.

The passability judging unit can calculate the maximum traveling speed of the vehicle from the received vehicle congestion situation information in the traveling direction of the vehicle, and increase the speed-up speed of the vehicle when the maximum traveling speed of the vehicle is smaller than the speed limit of the road. limited to the maximum travel speed of the vehicle.

The traffic controller can be set at the intersection to collect traffic information such as traffic signals and congestion at the intersection, and send it to adjacent vehicles through a wireless data sending device.

The navigator unit can calculate the distance from the current vehicle position to the place where the intersection is completely passed through according to the remaining distance before entering the intersection and the passing distance after entering the intersection by using the current vehicle position and the intersection position information ( Intersection passing distance) information and maximum allowable speed information of the traveling road are sent to the passability judgment unit.

On the other hand, in order to achieve the above object, the present invention provides a control method for an intelligent cruise control system of a vehicle, which includes: receiving the remaining time of the entering signal of the direction of travel of the intersection sent from the traffic controller of the intersection and the time remaining for the intersection the step of receiving traffic information on the congestion situation of the intersection; the step of receiving the prescribed speed of the traveling road and the distance of the vehicle to the intersection from the navigator; using the traffic information received from the traffic controller and the information received from the navigator, The step of judging whether it is possible to pass through the intersection in the direction of travel of the vehicle; and when it is judged that it is possible to pass through the intersection, according to the information received from the traffic controller and the information received from the navigator, determine the time required to pass the intersection. Step of vehicle speed.

In the step of judging whether the vehicle can pass through the intersection in the direction of travel, it can be determined that: when the intersection can be passed at the set speed, the intersection can be passed at the set speed; When passing the intersection, speed up and pass; when the intersection cannot be passed at the speed limit, stop.

In the step of judging whether it is possible to pass through an intersection in the direction of travel of the vehicle, the maximum travel speed of the vehicle can be calculated from the received vehicle congestion situation information in the direction of travel of the vehicle. hours, the speed at which the vehicle can be increased is limited to the maximum running speed of the vehicle.

technical effect

According to the embodiment of the present invention, it is possible to determine whether the vehicle can pass through the intersection and control it, thereby improving the product value of the intelligent cruise control system.

In addition, the vehicle independently judges the remaining passing time that the driver cannot see visually, and controls whether the driver can pass and whether the vehicle needs to be accelerated in a short period of time, which is difficult for the driver to judge. driver convenience.

Description of drawings

Fig. 1 is a schematic diagram showing the situation of a vehicle passing an intersection when the intelligent cruise control device is in operation;

FIG. 2 is a block diagram showing the configuration of an intersection traffic controller provided at an intersection;

3 is a block diagram showing the composition of an intelligent cruise control system according to an embodiment of the present invention;

Fig. 4 is a flow chart of the system for judging whether to pass through an intersection according to an embodiment of the present invention.

Explanation of reference signs

11: Information receiving department 12: Navigator department

13: Whether it can pass the judgment part 14: The control part of the smart cruise control (SCC)

Detailed ways

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the process, the size, shape, etc. of the components shown in the drawings may be exaggerated for the sake of clarity of explanation and convenience. In addition, terms specifically defined in consideration of the constitution and operation of the present invention may vary depending on the intention of the user or the operator, or custom. Such terms should be defined on the basis of the entire contents of this specification. Moreover, the concept of the present invention is not limited to the suggested embodiments, and those skilled in the art who understand the concept of the present invention can easily implement other embodiments within the scope of the same concept, which of course also belong to the scope of the present invention.

Fig. 1 is a schematic diagram showing the situation of a vehicle passing through an intersection in the operation of the intelligent cruise control device, Fig. 2 is a block diagram showing the composition of an intersection traffic controller provided at the intersection, and Fig. 3 shows an intelligent cruise according to an embodiment of the present invention Block diagram of the configuration of the control system.

A vehicle in operation of a smart cruise control (Smart Cruise Control, referred to as SCC) device uses a radar sensor (not shown in the figure) installed in front of the vehicle 10 to sense the front as mentioned above, and provides a cruise function, so that it can While maintaining a preset distance from the vehicle in front, it automatically travels at the speed set by the driver.

As shown in Fig. 1 to Fig. 3, the intelligent cruise control system of the vehicle of one embodiment of the present invention comprises: information receiving part 11, it receives the traffic information that sends from the traffic controller 20 of intersection; The specified speed of the driving road, calculate and send the distance of the vehicle to the intersection; whether it can pass through the judgment part 13, which uses the information received from the information receiving part 11 and the navigator part 12 to judge whether it can pass through the intersection; the intelligent cruise control The control unit 14 specifies the speed of the vehicle based on the information received from the passability judgment unit 13 .

After the vehicle 10 passing through the intersection reaches a receivable area where traffic information can be received from the traffic controller 20 , the traffic information is wirelessly received from the traffic controller 20 .

The traffic controller 20 may include a congestion situation recognition unit 21 for collecting information on the congestion situation at an intersection, a traffic signal control unit 22 for controlling signal lights at the intersection, and an information transmission unit 23 .

The traffic jam recognition unit 21 also functions as a traffic information server, collects various regional road information or traffic-related information, and provides information on traffic conditions, traffic regulations, and traffic accidents through traffic information boards or traffic broadcasts.

This congestion situation identification part 21 can utilize the induction loop detector (Inductive Loop Detector), the magnetic field detector (Magnetive Detector), the ultrasonic detector (Ultra Sonic Detector), the ultrashort wave detector (Microwave Detector) (Microwave Detector) that is arranged on the road surface or the intersection. ), image processing detector (Image Processing Detector), infrared detector (Infrared Detector) and other detectors, CCTV image information (such as, CCTV, WEB cameras and network camera images), road electronic signs (such as VMS image information), and information provided by patrol cars or citizens, collect and store various traffic status information.

The traffic signal control unit 22 provides the switching order of the signal lamps at the intersection, the signal switching cycle and remaining time, and the intersection position information.

The information sending unit 23 provides the traffic information provided by the congestion situation recognition unit 21 and the traffic signal control unit 22 to the vehicles approaching the intersection through the wireless data sending device. The traffic controller 20 performs one-way communication with vehicles approaching the intersection. As an example, it can transmit data radially around the intersection, or transmit data only in a specific direction by using a directional antenna. to communicate.

The information transmitted by the traffic controller 20 is received by the information receiving unit 11 of the smart cruise control system.

The information receiving unit 11 extracts the signal information and congestion status information necessary for the traveling direction of the vehicle from the received traffic information, and transmits it to the passability judging unit 13 .

The signal information required for the driving direction of the vehicle refers to the status and remaining time of the current traffic light.

The congestion situation at the intersection is information including not only the congestion situation at the entry end of the intersection but also the congestion situation after passing through the intersection. The average travel speed of passing vehicles at the intersection can be calculated from the congestion status information. Even if the vehicle passing the intersection speeds up to pass the intersection, it cannot exceed the average speed of vehicles passing the intersection calculated from the congestion situation information.

On the other hand, the navigator unit 12 uses the current position of the vehicle and the intersection position information received by the traffic controller 20, based on the remaining distance (X1) before entering the intersection and the passing distance (X2) after entering the intersection, to calculate The distance (X1+X2, hereinafter referred to as “intersection passing distance”) from the current vehicle position to the point where the intersection is completely passed is transmitted to the passable judgment unit 13 of the maximum allowable speed information of the traveling road. Whether or not the judgment section 13 utilizes the intersection signal information transmitted from the information receiving section 11 and the congestion situation in each direction of travel and the intersection passing distance (X1+X2) and predetermined speed information received from the navigator section 12, judges that the intersection will pass. Whether the vehicle 10 at the intersection can pass through the intersection.

In addition, if it is possible to pass through the intersection, it is judged whether it is possible to pass at the current speed, and whether it is necessary to speed up, and then send it to the control unit 14 of the smart cruise control.

The control unit 14 of the smart cruise control increases the speed of the vehicle required to pass the intersection or stops the vehicle. That is, when there is an acceleration request from the passability judgment part 13, a corresponding action is performed, and when there is no information from the passability judgment part 13, the smart cruise control operation is continued based on the existing radar.

This wireless communication method using the traffic controller 20 at the intersection, since the detection range of the existing vehicle radar is limited to 100m to 200m, it plays a supplementary role when there is an area that cannot be detected.

Fig. 4 is a flow chart of the system for judging whether to pass through an intersection according to an embodiment of the present invention. Referring to FIG. 4 , a method for passing an intersection of a vehicle operating under smart cruise control using the smart cruise control system will be described.

Assuming that the traveling direction of the vehicle passing through the intersection is going straight, the traffic signal is a green signal that can pass in the corresponding direction. Also, the symbols used in the following descriptions are defined as follows:

X1: remaining distance before entering the intersection,

X2: the distance from entering the intersection to fully passing,

V_set speed: the action speed of the intelligent cruise control set by the driver,

V_limited speed: the maximum allowed speed of the road,

t_remaining time: the remaining time of passing signals in each direction of travel

As shown in FIG. 4 , in step S11 , the vehicle running the smart cruise control determines whether there is an intersection ahead during driving. Whether the intersection exists or not is determined by sensing a traffic control signal transmitted from the traffic controller 20 at the intersection.

After checking, feedback is performed when the traffic control signal is not sensed, and the vehicle continues to drive by operating the intelligent cruise control while grasping whether the traffic control signal is sensed.

After the check in step S11, when the intersection control signal is sensed, in step S12, a step of summarizing the information required for judging whether to pass the intersection is performed.

That is, the information receiving unit 11 receives the signal information of the current intersection, the remaining time of the entering signal at the current intersection, and the congestion situation in the traveling direction of each intersection from the traffic controller 20 , and transmits the information to the passing judgment unit 13 .

In addition, the navigator unit 12 calculates the maximum allowable speed of the intersection to pass and the distance from the vehicle to the intersection passing point, and transmits it to the passability judgment unit 13 .

In step S13, if it is determined that the vehicle cannot pass due to congestion in the traveling direction, a step of stopping the vehicle before entering the intersection is performed in step S17.

In step S14 , the passability judgment unit 13 judges whether it is possible to pass at the maximum allowable speed by using the information received from the traffic controller 20 and the navigator unit 12 .

At this time, the maximum allowable speed of vehicles passing through the intersection is the speed limit of the corresponding intersection. When there is traffic jam, it can be calculated as the average speed of vehicles passing through the intersection under the condition that the distance between the user and the vehicle in front can be maintained. speed.

When comparing the remaining time of the traffic signal with the intersection passing distance, if the intersection can be passed at the current set speed, it will pass the intersection at the user's set speed by operating the smart cruise control.

That is, the case where the formula "t_remaining time≧(X1+X2)/V_set speed" holds true.

If it is impossible to pass at the set speed, but can pass through the intersection with the maximum allowable speed, it is judged in step S15 whether it is necessary to increase the set speed (S15), so that in step S16, within the maximum allowable speed, the set speed is temporarily adjusted. Speed is increased until the intersection is completely passed in order to pass the intersection.

That is, the formula (X1+X2)/V_allowed speed≦t_remaining time<(X1+X2)/V_set speed holds true.

At this time, the set speed can be adjusted up to the maximum allowable speed, but the minimum speed that can be passed can also be calculated, and the set speed can only be changed to the corresponding speed.

When the intersection cannot be passed at the maximum allowable speed of the driving road,

That is, in step S17, when "t_remaining time<(X1+X2)/V_speed limit", it is necessary to stop before the intersection, so a stop signal is transmitted in step S17.

As described above, the intelligent cruise control system of an embodiment of the present invention enables the vehicle to independently judge the remaining passing time that the driver cannot visually know, and it is difficult for the driver to judge in a short time whether it is possible to pass and whether a vehicle is needed. Acceleration, and control, which can improve the driver convenience of the vehicle to which the smart cruise control is applied.

The above mainly describes the preferred embodiments of the present invention. The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be applied to the foregoing embodiments The technical solutions described in the examples are modified, or some or all of the technical features are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. an intelligent cruise control system for vehicle, is characterized in that, comprising:

Information acceptance division, it receives the traffic information of sending from the traffic controller of four corners;

Navigating instrument portion, it sends the specified speed of travel, and calculating and sending is sent the distance of vehicle to four corners;

Can pass through judging part, it utilizes the information receiving from described information acceptance division and described navigating instrument portion, and can judgement pass through the four corners of vehicle direct of travel; And

The control part of intelligent cruise control, can it,, according to from the described information that receive by judging part, determine the speed of vehicle.

2. the intelligent cruise control system of vehicle according to claim 1, is characterized in that:

Described traffic information comprises the excess time of the entering signal of the direct of travel of described vehicle.

3. can the intelligent cruise control system of vehicle according to claim 2, is characterized in that, described being judged as by judging part:

In the time can passing through four corners with setting speed, pass through four corners with setting speed;

In the time can passing through four corners by speedup in limited speed, speedup is passed through four corners.

4. the intelligent cruise control system of vehicle according to claim 3, is characterized in that:

Described traffic information also comprises the vehicle congestion situation of the direct of travel of described vehicle.

5. the intelligent cruise control system of vehicle according to claim 4, is characterized in that:

Describedly can pass through judging part, calculate the maximum travelling speed of vehicle from the vehicle congestion condition information of vehicle direct of travel receiving, at the maximum travelling speed of described vehicle than the limited speed hour of road, the maximum travelling speed that can speedup speed be defined as described vehicle of vehicle.

6. the intelligent cruise control system of vehicle according to claim 1, is characterized in that:

Described traffic controller is arranged at four corners, collects the traffic informations such as traffic signal, four corners congestion, sends to the vehicle closing on by wireless data sending set.

7. the intelligent cruise control system of vehicle according to claim 1, is characterized in that:

Described navigating instrument portion,

The maximum permission speed information of the road in travelling and utilize when position and the four corners location information of vehicle in front, according to entering before four corners Distance Remaining and entering the distance of passing through after four corners, can calculating, from current vehicle location to distance (four corners is by the distance) information of passing through the place of four corners completely, pass through judging part described in sending to.

8. an intelligent cruise control system control method for vehicle, is characterized in that, comprising:

Receive the excess time of entering signal of four corners direct of travel and the step of the relevant traffic information of congestion of four corners sent from the traffic controller of four corners;

Receive the specified speed of travel and the vehicle step to the distance of four corners from navigating instrument;

Utilize the traffic information receiving from described traffic controller and the information receiving from described navigating instrument, can judgement by the step of the four corners of vehicle direct of travel; And

Can be when the four corners when being judged as, the information receiving according to the information receiving from described traffic controller with from described navigating instrument, determines the step of the car speed required by four corners.

9. the intelligent cruise control system control method of vehicle according to claim 8, is characterized in that, in can described judgement by the step of the four corners of vehicle direct of travel, is judged as:

In the time can passing through four corners with setting speed, pass through four corners with setting speed;

In the time can passing through four corners by speedup in limited speed, speedup is passed through;

In the time cannot passing through four corners with limited speed, stop.

10. the intelligent cruise control system control method of vehicle according to claim 8, is characterized in that:

Can pass through in the step of four corners of vehicle direct of travel in described judgement,

Calculate the maximum travelling speed of vehicle from the vehicle congestion condition information of vehicle direct of travel receiving, at the maximum travelling speed of described vehicle than the limited speed hour of road, the maximum travelling speed that can speedup speed be defined as described vehicle of vehicle.

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