Provided in the present invention is a method for determining a collision risk situation for an autonomous vehicle, which comprises: a sensing step in which a sensor unit recognizes a preceding vehicle located in front of a driving vehicle, and measures a variable factor including the distance between the driving vehicle and the preceding vehicle or relative velocity; and a risk situation determination step including a turning avoidance possibility determination process in which a risk situation determination unit determines whether the driving vehicle can avoid a collision with the preceding vehicle by turning in a driving direction based on the variable factor, or a braking avoidance possibility determination process in which the risk situation determination unit determines whether the driving vehicle can avoid a collision with the preceding vehicle by braking based on the variable factor. Therefore, when a collision cannot be avoided through turning or braking, it is determined to be a risk situation. Consequently, the situation in which a collision cannot be avoided through steering or braking can be determined to reduce the risks of an accident of an autonomous vehicle.

    본 발명은, 센서부가 주행차량의 전방에 위치한 선행차량을 인지하고 주행차량과 상기 선행차량의 거리 또는 상대속도를 포함하는 가변요소를 측정하는 센싱 단계; 및 위험상황 판단부가 상기 가변요소를 기반으로 주행차량이 주행 방향 선회를 통해 상기 선행차량과 충돌 회피가 가능한지 판단하는 선회 회피 가부 판단 과정 또는 상기 가변요소를 기반으로 상기 주행차량이 제동을 통해 상기 선행차량과 충돌 회피가 가능한지 판단하는 제동 회피 가부 판단 과정을 포함하는 위험상황 판단 단계;를 포함하고, 상기 선회 또는 상기 제동을 통한 충돌 회피가 불가한 경우 위험상황으로 간주하는 자율주행 차량의 충돌 위험상황 판단 방법을 제공한다. 전술한 바와 같은 구성을 갖는 본 발명에 따르면, 조향 또는 제동을 통한 충돌 회피가 불가능한 상황을 판단하여 자율주행 차량의 사고 위험을 낮출 수 있는 이점이 있다.


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    Titel :

    METHOD FOR AUTONOMOUS VEHICLE OF DETERMINING RISK OF COLLISION


    Weitere Titelangaben:

    자율주행 차량의 충돌 위험상황 판단 방법


    Beteiligte:
    PARK KYUN SANG (Autor:in) / LEE SANG HYUP (Autor:in) / LEE JOUNG HEE (Autor:in)

    Erscheinungsdatum :

    2020-03-12


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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