KR-20260064784-A - APPARATUS AND METHOD FOR ESTIMATING DECELERATION OF FORWARD VEHICLE AND CONTROLLING INTER-VEHICLE DISTANCE BASED ON MAP INFORMATION

Abstract

The present invention relates to an apparatus and method for estimating the deceleration of a vehicle ahead and controlling the distance between vehicles based on map information. The map information-based forward vehicle deceleration estimation and inter-vehicle distance control device according to the present invention comprises: a surrounding object recognition unit that acquires and transmits driving information of surrounding objects; a speed change point detection unit that generates and transmits point information where the driving speed of the surrounding objects is expected to change based on map information; a surrounding object driving behavior prediction unit that predicts the driving behavior of the surrounding objects using the driving information and point information of the surrounding objects; and a safety distance determination unit that determines the safety distance of the self vehicle using the prediction result of the driving behavior of the surrounding objects.

Inventors

• 신성근
• 이혁기

Assignees

• 한국자동차연구원

Dates

Publication Date

20260508

Application Date

20241029

Claims (20)

1. A surrounding object recognition unit that acquires and transmits driving information of surrounding objects; A speed change point detection unit that generates and transmits point information where the driving speed of the surrounding object is expected to change based on map information; A surrounding object driving behavior prediction unit that predicts the driving behavior of the surrounding object using driving information and point information of the surrounding object; and A safety distance determining unit that determines the safety distance of the self vehicle using the prediction results regarding the driving behavior of the surrounding objects mentioned above. Map information-based front vehicle deceleration estimation and inter-vehicle distance control device including
2. In paragraph 1, The above surrounding object recognition unit acquires and transmits the driving speed of the surrounding object based on the sensor of the above vehicle. Map information-based front vehicle deceleration estimation and inter-vehicle distance control device.
3. In paragraph 1, The above surrounding object recognition unit acquires and transmits the driving speed of the surrounding object through V2V communication. Map information-based front vehicle deceleration estimation and inter-vehicle distance control device.
4. In paragraph 1, The above speed change point detection unit generates information about a point where the driving speed of the surrounding object is expected to decrease, based on the map information including GPS information and high-precision map information. Map information-based front vehicle deceleration estimation and inter-vehicle distance control device.
5. In paragraph 4, The above speed change point detection unit generates the point information by considering the type of the surrounding object. Map information-based front vehicle deceleration estimation and inter-vehicle distance control device.
6. In paragraph 1, The above surrounding object driving behavior prediction unit predicts the driving behavior of the above surrounding object related to deceleration. Map information-based front vehicle deceleration estimation and inter-vehicle distance control device.
7. In paragraph 1, The above surrounding object driving behavior prediction unit predicts the driving behavior of the above surrounding object in relation to lane change. Map information-based front vehicle deceleration estimation and inter-vehicle distance control device.
8. In paragraph 1, The above safety distance determining unit determines the separation distance between the self vehicle capable of avoiding a collision with the surrounding object and the surrounding object. Map information-based front vehicle deceleration estimation and inter-vehicle distance control device.
9. In paragraph 1, A vehicle deceleration calculation unit that determines the required deceleration of the vehicle considering the above safety distance Map information-based front vehicle deceleration estimation and inter-vehicle distance control device including further
10. In paragraph 1, A vehicle driving behavior control unit that controls the driving behavior of the vehicle considering the above-mentioned required deceleration Map information-based front vehicle deceleration estimation and inter-vehicle distance control device including further
11. In a map information-based front vehicle deceleration estimation and inter-vehicle distance control method performed by a map information-based front vehicle deceleration estimation and inter-vehicle distance control device, (a) A step of calculating the risk of collision with surrounding objects based on map information; (b) a step of calculating the required deceleration of the vehicle; and (c) A step of controlling the driving behavior of the above vehicle A method for estimating front vehicle deceleration and controlling inter-vehicle distance based on map information including
12. In Paragraph 11, The above step (a) calculates the collision risk using driving information of the surrounding object and information on the point where the driving speed of the surrounding object is expected to decrease. Method for estimating front vehicle deceleration and controlling inter-vehicle distance based on map information.
13. In Paragraph 12, The above step (a) calculates the collision risk using the classification information of the surrounding objects. Method for estimating front vehicle deceleration and controlling inter-vehicle distance based on map information.
14. In Paragraph 11, Step (b) above determines the safety distance from the surrounding object considering the collision risk and calculates the required deceleration. Method for estimating front vehicle deceleration and controlling inter-vehicle distance based on map information.
15. In Paragraph 11, Step (c) above performs deceleration of the vehicle according to the required deceleration rate. Method for estimating front vehicle deceleration and controlling inter-vehicle distance based on map information.
16. In Paragraph 11, Step (c) above controls the driving behavior regarding lane changes of the vehicle by comprehensively considering the required deceleration rate and surrounding traffic conditions. Method for estimating front vehicle deceleration and controlling inter-vehicle distance based on map information.
17. Input interface device for receiving surrounding object recognition information and map information; A memory storing a program that estimates the deceleration of a vehicle ahead and controls the distance between vehicles using the surrounding object recognition information and map information; and It includes a processor that executes the above program, and The processor determines the distance between vehicles by considering the point where the vehicle ahead is expected to decelerate, the driving speed of the vehicle ahead, and the expected deceleration of the vehicle ahead. Map information-based forward vehicle deceleration estimation and inter-vehicle distance control system.
18. In Paragraph 17, The processor estimates the deceleration of the vehicle ahead using the map information related to the bus stop or lane disappearance point. Map information-based forward vehicle deceleration estimation and inter-vehicle distance control system.
19. In Paragraph 17, The processor estimates the deceleration of the vehicle ahead by considering classification information included in the surrounding object recognition information. Map information-based forward vehicle deceleration estimation and inter-vehicle distance control system.
20. In Paragraph 17, The above processor determines the deceleration of the vehicle in consideration of the above-determined distance between vehicles, and controls deceleration driving or lane change driving in consideration of the determined deceleration of the vehicle. Map information-based forward vehicle deceleration estimation and inter-vehicle distance control system.

Description

Apparatus and Method for Estimating Deceleration of Forward Vehicle and Controlling Inter-Vehicle Distance Based on Map Information The present invention relates to an apparatus and method for estimating the deceleration of a vehicle ahead and controlling the distance between vehicles based on map information. One of the typical dangerous situations that causes accidents while driving is sudden braking by the vehicle ahead. When the vehicle ahead brakes suddenly, the driver of a vehicle following behind faces the problem of being unable to predict and respond to the sudden change in state. Autonomous vehicles and advanced safety systems utilize sensors such as cameras and radar to perceive objects located in front and around the vehicle, measure their speed and direction of travel, and determine a safe driving path to control the vehicle. During this process, due to limitations in sensor perception processing time and the performance of prediction models, it is difficult to make immediate and accurate predictions regarding sudden changes in state, such as sudden braking by a vehicle ahead; consequently, the risk of accidents increases further in situations where a sufficient safe distance is not maintained. FIG. 1 illustrates a map information-based front vehicle deceleration estimation and inter-vehicle distance control device according to an embodiment of the present invention. FIG. 2 illustrates the estimation of the deceleration of a vehicle ahead when approaching a bus stop according to an embodiment of the present invention. FIG. 3 illustrates the estimation of the deceleration of a vehicle ahead in a lane disappearing section according to an embodiment of the present invention. FIG. 4 illustrates the identification of an adjacent vehicle's lane change intention and the securing of a safe distance according to an embodiment of the present invention. FIG. 5 illustrates a method for estimating the deceleration of a vehicle ahead and controlling the distance between vehicles based on map information according to an embodiment of the present invention. FIG. 6 is a block diagram showing a computer system for implementing a method according to an embodiment of the present invention. The aforementioned objectives of the present invention, as well as other objectives, advantages, and features, and the methods for achieving them, will become clear from the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but can be implemented in various different forms, and the following embodiments are provided merely to easily inform those skilled in the art of the purpose, structure, and effects of the invention, and the scope of the rights of the present invention is defined by the description in the claims. Meanwhile, the terms used in this specification are for describing the embodiments and are not intended to limit the invention. In this specification, the singular form includes the plural form unless specifically stated otherwise in the text. As used in this specification, "comprises" and/or "comprising" do not exclude the presence or addition of one or more other components, steps, actions, and/or elements to the mentioned components, steps, actions, and/or elements. FIG. 1 illustrates a map information-based front vehicle deceleration estimation and inter-vehicle distance control device according to an embodiment of the present invention. The map information-based forward vehicle deceleration estimation and inter-vehicle distance control device according to the present invention includes a surrounding object recognition unit (110) that acquires and transmits driving information of surrounding objects, a speed change point detection unit (120) that generates and transmits point information where the driving speed of the surrounding objects is expected to change based on the map information, a surrounding object driving behavior prediction unit (130) that predicts the driving behavior of surrounding objects using the driving information and point information of surrounding objects, and a safety distance determination unit (140) that determines the safety distance of the vehicle using the prediction result of the driving behavior of surrounding objects. The surrounding object recognition unit (110) acquires and transmits the driving speed of the surrounding object based on the sensor of the vehicle. The surrounding object recognition unit (110) obtains and transmits the driving speed of surrounding objects through V2V communication. The speed change point detection unit (120) generates information about a point where the driving speed of surrounding objects is expected to decrease based on the map information including GPS information and high-precision map information. For example, it generates information about a point where the driving speed of surrounding objects is expected to decrease, such as a bus sto