Vehicle control method, vehicle control device, and vehicle control system including same
The present disclosure relates to a vehicle control method, a vehicle control device, and a vehicle control system including same. Specifically, a vehicle control device according to the present disclosure includes: a vehicle travel route estimation unit which estimates a first travel route of a vehicle on the basis of the turn radius and traveled distance of the vehicle, when the speed of the vehicle is equal to or less than a preset speed; a target travel route predicter which confirms a target from periphery detection information about the periphery of the vehicle, and predicts a second travel route of the target; a collision determiner which determines whether there is a possibility of a collision between the vehicle and the target; and a vehicle control unit which controls to perform at least one among an alert control, a brake control, and an avoidance control, when there is a possibility of a collision between the vehicle and the target.
1 . A vehicle control device comprising a processor configured to:
calculate a turning radius based on a steering angle of a steering wheel and a steering ratio of a vehicle when a vehicle speed of the vehicle is equal to or less than a preset speed, calculate a traveling distance, which is a distance in which the vehicle travels while the vehicle is turning, based on at least one of the vehicle speed and a pulse signal of at least one vehicle wheel, and predict a first traveling path of the vehicle based on the turning radius and the traveling distance;
identify a target based on information acquired by detecting objects in the vicinity of the vehicle, and predict a second traveling path of the target;
set a collision determination boundary region corresponding to a size of the vehicle, and determine a probability of a potential collision between the vehicle and the target based on the collision determination boundary region, the first traveling path, the target, and the second traveling path; and
control at least one of a warning control, a braking control, and an avoidance control to be performed when the probability of the potential collision between the vehicle and the target is present,
wherein the processor is further configured to:
measure each of a first predicted position of the vehicle present on the first traveling path and a second predicted position of the target present on the second traveling path every unit time set in advance,
determine the probability of the potential collision based on whether the collision determination boundary region moving on the first traveling path is overlaid with the target traveling on the second traveling path, and
determine that the probability of the potential collision is present when a collision determination boundary region at the first predicted position and the target at the second predicted position, which are predicted at a specific time, are overlaid with each other.
2 . The vehicle control device according to claim 1 , wherein the processor is configured to calculate a steering angle of the at least one wheel based on the steering angle of the steering wheel and the steering ratio, and calculate the turning radius using the steering angle of the at least one wheel and a distance between wheel shafts stored in advance.
3 . The vehicle control device according to claim 2 , wherein the processor is configured to:
based on a vehicle modeling, store in advance respective multiple steering ratios corresponding to multiple front wheels included in vehicle modeling related information,
calculate respective steering angles of the multiple front wheels based on the steering angle of the steering wheel and the multiple steering ratios,
calculate multiple radii using the respective steering angles of the multiple front wheels and a first distance between wheel shafts set in advance, and
calculate the turning radius of the vehicle using the calculated multiple radii.
4 . The vehicle control device according to claim 2 , wherein the processor is configured to:
based on a bicycle modeling, store in advance a steering ratio corresponding to a front wheel included in bicycle modeling related information,
calculate a steering angle of the front wheel based on the steering angle of the steering wheel and the steering ratio, and
calculates the turning radius using the steering angle of the front wheel and a second distance between wheel shafts set in advance.
5 . The vehicle control device according to claim 2 , wherein the processor is configured to calculate the turning radius for at least one rear wheel of the vehicle.
6 . The vehicle control device according to claim 5 , wherein the processor is configured to:
based on a vehicle modeling, calculate respective radii of multiple rear wheels included in vehicle modeling related information, and
calculate the turning radius for the rear wheels of the vehicle by averaging the respective radii of multiple rear wheels.
7 . The vehicle control device according to claim 1 , wherein the processor is configured to:
calculate a heading angle of the vehicle using the turning radius and the traveling distance,
calculate a traveling displacement of the vehicle based on the turning radius and the heading angle, and
predict the first traveling path based on the heading angle and the traveling displacement.
8 . The vehicle control device according to claim 1 , wherein the processor is configured to:
identify a type of the target, and when the target is an immovable target, determines that the prediction of the second traveling path is not required, and
when the target is a movable object, predict the second traveling path by detecting a traveling speed of the target from the object detection information.
9 . The vehicle control device according to claim 1 , wherein the processor is configured to modify a size of the collision determination boundary region based on a type of the target.
10 . The vehicle control device according to claim 9 , wherein the processor is configured to increase the size of the collision determination boundary region when the target is a pedestrian.
11 . The vehicle control device according to claim 1 , wherein the processor is configured to compare the vehicle speed of the vehicle with a reference vehicle speed set in advance, and modify a size of the collision determination boundary region based on a result of the comparing.
12 . The vehicle control device according to claim 11 , wherein the processor is configured to increase the size of the collision determination boundary region when the vehicle speed is equal to or greater than the reference vehicle speed.
13 . The vehicle control device according to claim 1 , wherein the processor is configured to increase a size of the collision determination boundary region according to, or in proportion to, the vehicle speed of the vehicle.
14 . The vehicle control device according to claim 1 , wherein the processor is configured to modify a size of the collision determination boundary region based on a shape of the target.
15 . The vehicle control device according to claim 14 , wherein the collision determination boundary region is adjusted to be increased according to, or in proportion to, a size of the target determined based on the shape of the target.
16 . A vehicle control system comprising:
a steering angle sensor configured to detect a steering angle of a steering wheel;
a vehicle speed sensor configured to detect a speed of a vehicle;
an object detection sensor configured to detect objects in the vicinity of the vehicle;
a vehicle control device mounted to the vehicle; and
a processor included in the vehicle control device, and configured to determine a probability of a potential collision between a target present in the vicinity of the vehicle and the vehicle, and control the vehicle when the probability of the potential collision is present,
wherein the processor is configured to receive steering angle information from the steering angle sensor, vehicle speed information from the vehicle speed sensor, and object detection information from the object detection sensor, calculate a turning radius based on the steering angle and a steering ratio of the vehicle when a vehicle speed of the vehicle is equal to or less than a preset speed, calculate a traveling distance, which is a distance in which the vehicle travels while the vehicle is turning, based on the vehicle speed, predict a first traveling path of the vehicle based on the turning radius and the traveling distance, predict a second traveling path of the target by identifying the target based on the object detection information, set a collision determination boundary region corresponding to a size of the vehicle, determine a probability of a potential collision between the vehicle and the target based on the collision determination boundary region, the first traveling path, the target, and the second traveling path, and control to perform at least one of a warning control, a braking control, and an avoidance control when the probability of the potential collision between the vehicle and the target is present,
measure each of a first predicted position of the vehicle present on the first traveling path and a second predicted position of the target present on the second traveling path every unit time set in advance,
determine the probability of the potential collision based on whether the collision determination boundary region moving on the first traveling path is overlaid with the target traveling on the second traveling path, and
determine that the probability of the potential collision is present when a collision determination boundary region at the first predicted position and the target at the second predicted position, which are predicted at a specific time, are overlaid with each other.
17 . A vehicle control method comprising:
calculating a turning radius based on a steering angle of a steering wheel and a steering ratio of a vehicle when a vehicle speed of the vehicle is equal to or less than a preset speed, calculating a traveling distance, which is a distance in which the vehicle travels while the vehicle is turning, based on a vehicle speed of the vehicle, and predicting a first traveling path of the vehicle based on the turning radius and the traveling distance;
identifying a target based on information acquired by detecting objects in the vicinity of the vehicle, and predicting a second traveling path of the target;
setting a collision determination boundary region corresponding to a size of the vehicle, and determining a probability of a potential collision between the vehicle and the target based on the collision determination boundary region, the first traveling path, the target, and the second traveling path; and
controlling at least one of a warning control, a braking control, and an avoidance control to be performed when the probability of the potential collision between the vehicle and the target is present,
wherein the determining the probability of the potential collision comprising:
measuring each of a first predicted position of the vehicle present on the first traveling path and a second predicted position of the target present on the second traveling path every unit time set in advance,
determining the probability of the potential collision based on whether the collision determination boundary region moving on the first traveling path is overlaid with the target traveling on the second traveling path, and
determining that the probability of the potential collision is present when a collision determination boundary region at the first predicted position and the target at the second predicted position, which are predicted at a specific time, are overlaid with each other.