阅读说明：本技术 车辆后方警告系统及其方法 (Vehicle rear warning system and method thereof ) 是由 姜恩奭 于 2021-04-09 设计创作，主要内容包括：本发明提供一种后方警告系统及其方法,该系统包括：检测单元,其检测目标车辆的位置；估计单元,其基于由该检测单元检测到的该目标车辆的位置来估计该目标车辆的行驶方向；以及设定单元,其设定关于该主车辆的碰撞警告范围,并基于由该估计单元估计的该目标车辆的行驶方向来改变该碰撞警告范围。(The invention provides a rear warning system and a method thereof, wherein the system comprises: a detection unit that detects a position of a target vehicle; an estimation unit that estimates a traveling direction of the target vehicle based on the position of the target vehicle detected by the detection unit; and a setting unit that sets a collision warning range regarding the host vehicle and changes the collision warning range based on the traveling direction of the target vehicle estimated by the estimation unit.)

1. A vehicle rear warning system comprising:

a detection unit configured to detect a position of a target vehicle;

an estimation unit configured to estimate a traveling direction of the target vehicle based on the detected position of the target vehicle; and

a setting unit configured to set a collision warning range of a host vehicle and adjust the collision warning range based on the estimated traveling direction of the target vehicle.

2. The vehicle rear warning system according to claim 1, wherein the detection unit is connected to a radar sensor located at a rear of the host vehicle, and is configured to detect the position of the target vehicle located rearward or to a side of the host vehicle.

3. The vehicle rear warning system according to claim 1, wherein:

the collision warning range extends between a first boundary and a second boundary that are spaced apart from each other in a lateral direction with respect to the host vehicle, and

the setting unit is configured to adjust the first boundary or the second boundary based on the estimated traveling direction of the target vehicle.

4. The vehicle rear warning system according to claim 3, wherein:

the estimation unit is further configured to estimate a lateral distance between the target vehicle and the host vehicle, an

The setting unit is further configured to adjust the second boundary to be closer to the host vehicle when the estimated lateral distance between the target vehicle and the host vehicle increases.

5. The vehicle rear warning system according to claim 3, wherein:

the estimation unit is further configured to estimate a lateral distance between the target vehicle and the host vehicle, an

The setting unit is further configured to adjust the first boundary to be further away from the host vehicle when the estimated lateral distance between the target vehicle and the host vehicle decreases.

6. The vehicle rear warning system according to claim 3, further comprising a calculation unit configured to calculate a lateral distance between the host vehicle and the target vehicle based on the detected position of the target vehicle,

wherein the setting unit is further configured to compare the calculated lateral distance between the host vehicle and the target vehicle with a predetermined distance, and adjust the collision warning range based on a result of the comparison between the calculated lateral distance and the predetermined distance.

7. The vehicle rear warning system according to claim 6, wherein the setting unit is further configured to adjust the first boundary to be closer to the host vehicle and the second boundary to be farther from the host vehicle when the calculated lateral distance between the target vehicle and the host vehicle is smaller than the first boundary or larger than the second boundary.

8. The vehicle rear warning system according to claim 6, wherein the setting unit is further configured to adjust the second boundary to be farther away from the host vehicle and the first boundary to be closer to the host vehicle when the calculated lateral distance between the target vehicle and the host vehicle is between the first boundary and the second boundary.

9. The vehicle rear warning system according to claim 6, wherein the setting unit is further configured to adjust the second boundary to be closer to the host vehicle when the estimated traveling direction of the target vehicle indicates that the target vehicle moves away from the host vehicle and the calculated lateral distance between the target vehicle and the host vehicle is equal to or greater than a first distance.

10. The vehicle rear warning system according to claim 6, wherein the setting unit is further configured to adjust the first boundary to be farther away from the host vehicle when the estimated traveling direction of the target vehicle indicates that the target vehicle moves close to the host vehicle and the calculated lateral distance between the target vehicle and the host vehicle is equal to or smaller than a second distance.

11. A method for providing a vehicle rear warning, comprising:

detecting a position of a target vehicle;

estimating a traveling direction of the target vehicle based on the detected position of the target vehicle; and

setting a collision warning range of a host vehicle, and adjusting the collision warning range based on the estimated traveling direction of the target vehicle.

12. The method of claim 11, wherein the detecting the location of the target vehicle comprises: detecting the position of the target vehicle located rearward or to a side of the host vehicle using a radar sensor located at a rear of the host vehicle.

13. The method of claim 11, wherein:

the collision warning range extends between a first boundary and a second boundary that are spaced apart from each other in a lateral direction with respect to the host vehicle, and

the setting the collision warning range includes adjusting the first boundary or the second boundary based on the estimated traveling direction of the target vehicle.

14. The method of claim 13, wherein the setting the collision warning range comprises: adjusting the second boundary to be closer to the host vehicle as a lateral distance between the target vehicle and the host vehicle increases.

15. The method of claim 13, wherein the first boundary is adjusted to be further away from the host vehicle when a lateral distance between the target vehicle and the host vehicle decreases.

16. The method as recited in claim 13, further comprising:

calculating a lateral distance between the host vehicle and the target vehicle based on the detected position of the target vehicle;

comparing the calculated lateral distance between the host vehicle and the target vehicle to a predetermined distance; and

adjusting the collision warning range based on a result of comparison between the calculated lateral distance and the predetermined distance.

17. The method of claim 16, wherein the adjusting the collision warning range comprises: when the calculated lateral distance between the target vehicle and the host vehicle is less than the first boundary or greater than the second boundary, adjusting the first boundary to be closer to the host vehicle and the second boundary to be farther from the host vehicle.

18. The method of claim 16, wherein the adjusting the collision warning range comprises: when the calculated lateral distance between the target vehicle and the host vehicle is between the first boundary and the second boundary, adjusting the second boundary to be farther away from the host vehicle and the first boundary to be closer to the host vehicle.

19. The method of claim 16, wherein the adjusting the collision warning range comprises: adjusting the second boundary to be closer to the host vehicle when the estimated direction of travel of the target vehicle indicates that the target vehicle moves away from the host vehicle and the calculated lateral distance between the target vehicle and the host vehicle is equal to or greater than a predetermined first distance.

20. The method of claim 16, wherein the adjusting the collision warning range comprises: adjusting the first boundary to be farther away from the host vehicle when the estimated direction of travel of the target vehicle indicates that the target vehicle moves closer to the host vehicle and the calculated lateral distance between the target vehicle and the host vehicle is equal to or less than a predetermined second distance.

Technical Field

The present invention relates to a vehicle rear warning system and a control method thereof, and more particularly, to a system for detecting a target vehicle behind or behind a host vehicle and warning passengers of the possibility of collision and a control method thereof.

Background

A rear warning apparatus is an apparatus that gives a warning to a driver when there is a possibility of collision with an object detected at the rear-side of a moving vehicle.

The rear warning apparatus may include a Blind Spot Detection (BSD) system that detects and warns a driver of an object present in a rear warning area of the vehicle, and a Lane Change Assist (LCA) system that determines and warns the driver of a possibility of a collision between the vehicle changing lane and a target vehicle approaching the host vehicle quickly from behind.

Such a vehicle rear warning system shows that the subject vehicle moves out of and into the collision warning range when the subject vehicle travels away from or toward the host vehicle.

At this time, a difference between the position of the target vehicle detected by the detection sensor and the position of the rear collision warning range causes an error, which requires a technique to control it.

The matters described above as background are only for better understanding of the background of the invention and should not be taken as an admission that they correspond to prior art already known to a person of ordinary skill in the relevant art.

Disclosure of Invention

The present invention is proposed to solve such a problem, and aims to reduce an error in a vehicle rear collision warning by reducing a collision warning range when a target vehicle leaves a rear collision warning range detected by a host vehicle.

The vehicle rear warning system according to the present invention includes: a detection unit configured to detect a position of a target vehicle; an estimation unit configured to estimate a traveling direction of the target vehicle based on the detected position of the target vehicle; and a setting unit configured to set a collision warning range of the host vehicle and adjust the collision warning range based on the estimated traveling direction of the target vehicle.

The detection unit may be connected to a radar sensor located at the rear of the host vehicle and configured to detect the position of the target vehicle located behind or to the side of the host vehicle.

The collision warning range may extend between a first boundary and a second boundary that are spaced apart from each other in a lateral direction with respect to the host vehicle, and the setting unit may be configured to adjust the first boundary or the second boundary based on an estimated traveling direction of the target vehicle.

The estimation unit may be further configured to estimate a lateral distance between the target vehicle and the host vehicle, and the setting unit may be further configured to adjust the second boundary to be closer to the host vehicle when the estimated lateral distance between the target vehicle and the host vehicle increases.

The estimation unit may be further configured to estimate a lateral distance between the target vehicle and the host vehicle, and the setting unit may be configured to adjust the first boundary to be further away from the host vehicle when the estimated lateral distance between the target vehicle and the host vehicle decreases.

The calculation unit may be configured to calculate a lateral distance between the host vehicle and the target vehicle based on the detected position of the target vehicle, and the setting unit may be further configured to compare the calculated lateral distance between the host vehicle and the target vehicle with a predetermined distance, and adjust the collision warning range based on a result of the comparison between the calculated lateral distance and the predetermined distance.

The setting unit may be further configured to adjust the first boundary to be closer to the host vehicle and the second boundary to be farther from the host vehicle when the calculated lateral distance between the target vehicle and the host vehicle is smaller than the first boundary or larger than the second boundary.

The setting unit may be further configured to adjust the second boundary to be farther away from the host vehicle and the first boundary to be closer to the host vehicle when the calculated lateral distance between the target vehicle and the host vehicle is between the first boundary and the second boundary.

The setting unit may be further configured to adjust the second boundary to be closer to the host vehicle when the estimated direction of travel of the target vehicle indicates that the target vehicle moves away from the host vehicle and the calculated lateral distance between the target vehicle and the host vehicle is equal to or greater than a first distance.

The setting unit may be further configured to adjust the first boundary to be further away from the host vehicle when the estimated direction of travel of the target vehicle indicates that the target vehicle is moving close to the host vehicle and the calculated lateral distance between the target vehicle and the host vehicle is equal to or smaller than a second distance.

A method for providing a vehicle rear warning according to an embodiment of the present invention includes: detecting a position of a target vehicle; estimating a traveling direction of the target vehicle based on the detected position of the target vehicle; and setting a collision warning range of the host vehicle, and adjusting the collision warning range based on the estimated traveling direction of the target vehicle.

The detecting the position of the target vehicle may include: the position of the target vehicle located behind or to the side of the host vehicle is detected using a radar sensor located at the rear of the host vehicle.

The collision warning range may extend between a first boundary and a second boundary that are spaced apart from each other in a lateral direction with respect to the host vehicle, and the setting the collision warning range includes adjusting the first boundary or the second boundary based on an estimated traveling direction of the target vehicle.

The setting of the collision warning range may include: the second boundary is adjusted to be closer to the host vehicle as the lateral distance between the target vehicle and the host vehicle increases.

Adjusting the first boundary to be further away from the host vehicle when a lateral distance between the target vehicle and the host vehicle decreases.

The collision warning method includes calculating a lateral distance between the host vehicle and the target vehicle based on the detected position of the target vehicle, comparing the calculated lateral distance between the host vehicle and the target vehicle with a predetermined distance, and adjusting the collision warning range based on a result of the comparison between the calculated lateral distance and the predetermined distance.

The adjusting the collision warning range may include: when the calculated lateral distance between the target vehicle and the host vehicle is less than the first boundary or greater than the second boundary, the first boundary is adjusted to be closer to the host vehicle and the second boundary is adjusted to be farther from the host vehicle.

The adjusting the collision warning range may include: when the calculated lateral distance between the target vehicle and the host vehicle is between the first boundary and the second boundary, the second boundary is adjusted to be farther away from the host vehicle, and the first boundary is adjusted to be closer to the host vehicle.

The adjusting the collision warning range may include: adjusting the second boundary to be closer to the host vehicle when the estimated direction of travel of the target vehicle indicates that the target vehicle moves away from the host vehicle and the calculated lateral distance between the target vehicle and the host vehicle is equal to or greater than a predetermined first distance.

The adjusting the collision warning range may include: adjusting the first boundary to be further away from the host vehicle when the estimated direction of travel of the target vehicle indicates that the target vehicle moves closer to the host vehicle and the calculated lateral distance between the target vehicle and the host vehicle is equal to or less than a predetermined second distance.

The vehicle rear warning system according to the present invention has the effect of reducing the collision warning range when the target vehicle leaves the collision warning range, thereby improving the accuracy of detecting a target vehicle that deviates from the collision warning range.

Drawings

Fig. 1 is a view showing the configuration of a vehicle rear warning system according to an embodiment of the invention.

Fig. 2 is a view showing an example of a vehicle rear warning system according to an embodiment of the invention.

Fig. 3 is a view showing the positions of a first boundary and a second boundary corresponding to the position of a target vehicle in the vehicle rear warning system according to the embodiment of the invention.

Fig. 4 is a flowchart illustrating a vehicle rear warning method according to an embodiment of the present invention.

Detailed Description

The specific structural and functional descriptions of the embodiments of the present invention disclosed in the present specification or application are given by way of example only for the purpose of describing the embodiments according to the present invention, and the embodiments according to the present invention may be implemented in various forms, and the illustrated embodiments should not be construed as being limited to the embodiments described in the present specification or application.

Since embodiments in accordance with the present invention can be modified in various ways and have various forms, specific embodiments will be shown in the drawings and described in detail in this specification or application. However, it is not intended to limit the embodiments according to the concept of the present invention to the particular forms disclosed, but it should be construed to include all modifications, equivalents, and alternatives falling within the spirit and technical scope of the invention.

Terms such as first and/or second may be used to describe various components, but these components should not be limited by these terms. These terms are only used for the purpose of distinguishing one component from another. For example, a first component may be termed a second component, and, similarly, a second component may also be termed a first component, without departing from the scope of the claims in accordance with the present inventive concept.

When a component is referred to as being "connected" or "coupled" to another component, it can be directly connected or coupled to the other component, but it is understood that other components may be present therebetween. On the other hand, when one component is referred to as being "directly connected" or "directly coupled" to another component, it is understood that there are no other components between them. Other expressions describing the relationship between components such as "between" and "just between" or "adjacent to" and "directly adjacent to" should be interpreted in the same manner.

The terminology used in the description is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Unless the context clearly dictates otherwise, singular expressions include plural expressions. In this specification, terms such as "including" or "having" are intended to specify the presence of stated features, integers, steps, actions, components, parts, or combinations thereof, and should not be construed as precluding the presence or addition of one or more other features, integers, steps, actions, components, parts, or combinations thereof in advance.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Hereinafter, the present invention will be described in detail by describing preferred embodiments thereof with reference to the accompanying drawings. Like reference symbols in the various drawings indicate like elements.

An algorithm configured to control operations of various components of the vehicle or a non-volatile memory (not shown) configured to store data related to software commands for reproducing the algorithm and data stored in the memory may be used to implement the control unit according to an exemplary embodiment of the present invention through a processor configured to perform operations to be described below. Here, the memory and the processor may be implemented as separate chips. Alternatively, the memory and the processor may be implemented as a single chip integrated with each other. The processor may take the form of one or more processors.

Fig. 1 is a view showing the configuration of a vehicle rear warning system according to an embodiment of the invention. Fig. 2 is a view showing an example of a vehicle rear warning system according to an embodiment of the invention. Fig. 3 is a view showing the positions of a first boundary and a second boundary corresponding to the position of a target vehicle in a vehicle rear warning system according to an example of the invention.

Hereinafter, a vehicle rear warning system according to a preferred embodiment of the present invention will be described with reference to fig. 1 to 3.

The vehicle rear warning system according to the present invention can detect the target vehicle 200 approaching the host vehicle 100 from the rear-side and issue an alarm signal to the passenger of the vehicle, thereby reducing the accident of a rear-end collision or a side-wipe collision.

A plurality of detection devices capable of detecting the target vehicle 200 are mounted at the rear of the host vehicle so as to be able to detect the target vehicle 200 traveling in the lateral direction behind the host vehicle.

The vehicle rear warning system according to the invention may set a collision detection range for detecting the target vehicle 200 traveling in the lateral direction behind the host vehicle at a speed higher than a predetermined speed. The collision detection range may be reduced before the subject vehicle 200 enters the collision detection range to form a warning generation range a in which a collision warning is generated when the subject vehicle 200 completely enters the collision detection range. Therefore, no warning is generated for a small movement of the target vehicle 200 in the lateral direction behind the host vehicle 100, and detection is made possible only when the warning generation range a is completely entered, thereby preventing false detection.

When the target vehicle 200 completely enters the warning generation range a and maintains the distance to the host vehicle 100, the collision detection range may be expanded to the warning maintenance range B. Therefore, when target vehicle 200 on the rear-side completely leaves warning maintenance range B, the warning is cancelled, and even if minute movement of target vehicle 200 is detected as warning maintenance range B is expanded, the warning signal is not cancelled, so that target vehicle 200 on the rear-side of host vehicle 100 can be accurately detected.

Graph 1 in fig. 2 shows a warning signal of the vehicle rear warning system according to the present invention, where "1" indicates that the signal is on and "0" indicates that the signal is off. Graph 2 shows the change in the collision warning range. The graph 3 shows a counter for determining the mobility of the target vehicle 200 and shows a movement of 60 seconds, wherein 1 is added when driving towards the host vehicle 100 or driving away from the host vehicle 100. The graph 4 shows the traveling direction of the target vehicle 200 after the collision warning.

Specifically, the vehicle rear warning system according to the present invention includes: a detection unit 10 that detects a position of a target vehicle; an estimation unit 20 that estimates the traveling direction of the target vehicle 200 based on the position of the target vehicle 200 detected by the detection unit 10, and a setting unit 30 that sets a collision warning range for the host vehicle 100 and changes the collision warning range based on the traveling direction of the target vehicle 200 estimated by the estimation unit 20.

Further referring to fig. 1 and 2, the detection unit 10 may detect a target vehicle 200 traveling in the lateral direction while changing lanes behind the host vehicle, and form a collision detection range to detect that the target vehicle 200 enters the collision detection range.

The estimation unit 20 may detect the mobility of the target vehicle 200 traveling in the lateral direction behind the host vehicle 100, and estimate the traveling direction of the target vehicle 200. When the target vehicle 200 travels in the lateral direction behind the host vehicle 100, a numerical value of 1 in the graph 4 of fig. 2 indicates that the target vehicle 200 travels away from the host vehicle 100, and 2 indicates that the target vehicle 200 travels toward the host vehicle 100.

As shown in graph 2 of fig. 2, the setting unit 30 may change the collision warning range. The setting unit 30 may change the collision warning range based on the traveling direction of the target vehicle 200 estimated by the estimation unit 20. Therefore, when the target vehicle leaves the collision warning range, the collision warning range is reduced, thereby informing the passenger of the accurate position of the target vehicle 200.

The detection unit 10 is connected to a radar sensor 50 mounted at the rear of the host vehicle, and detects the position of a target vehicle 200 located behind or to the side of the host vehicle.

The detection unit 10 may detect the target vehicle 200 traveling in the lateral direction behind the host vehicle by the radar sensor 50 installed behind the host vehicle, and the detection unit 10 may also be connected to a device other than the radar sensor 500, such as an ultrasonic sensor capable of detecting the target vehicle 200.

The setting unit 30 sets a collision warning range between the first boundary and a second boundary spaced apart from the first boundary in the lateral direction of the host vehicle 100, and changes the first boundary or the second boundary based on the traveling direction of the target vehicle 200 estimated by the estimation unit 20.

The first boundary and the second boundary may be moved by application of a formula as shown in the following table.

The collision warning range may be formed to have a first boundary and a second boundary spaced apart from each other so that it is possible to suggest to the passenger when the target vehicle 200 advances between the first boundary and the second boundary and to move the first boundary or the second boundary based on the traveling direction of the target vehicle 200, so that it is possible to reduce an error between the actual position of the target vehicle 200 and the position detected by the sensor.

The above table shows a case where the target vehicle does not enter the warning generation range a, and formula a is applied to the first boundary and formula B is applied to the second boundary.

In a of fig. 2, the first boundary may be formed at a distance of 1.64m from the host vehicle 100, and the second boundary may be formed at a distance of 5.36m from the host vehicle 100. The numerical values of the first boundary and the second boundary are arbitrary values and may vary.

Further included is a calculation unit 40 that calculates a lateral distance between the target vehicle 200 and the host vehicle 100 based on the position of the target vehicle 200 detected by the detection unit 10, and the setting unit 30 compares the lateral distance between the host vehicle 100 and the target vehicle 200 with a predetermined distance, and changes the collision warning range based on the comparison result.

With further reference to fig. 2, graph 3 of fig. 2 shows a signal of the calculation unit 40 that calculates the position of the target vehicle. The calculation unit 40 may calculate the position of the target vehicle 200 traveling in the lateral direction behind the host vehicle 100 in real time, and input the increase and decrease of the position into the setting unit 30.

Therefore, when the target vehicle 200 enters the collision warning range, the collision warning range is changed from the warning generation range a to the warning maintenance range B, thereby having an effect of accurately recognizing the target vehicle 200 without recognizing other vehicles than the target vehicle 200.

When the estimation unit 20 estimates that the lateral distance between the target vehicle 200 and the host vehicle 100 increases, the setting unit 30 moves the second boundary toward the host vehicle 100.

With further reference to fig. 2 and 3, the setting unit 30 may change the collision warning range in the case where the target vehicle 200 is traveling in the lateral direction behind the host vehicle 100.

The formula B- Δ σ may be applied to the second boundary in the above table.

When it is estimated that the lateral distance from the host vehicle 100 increases such that the target vehicle 200 leaves the collision warning range after the warning signal, the setting unit 30 moves the second boundary toward the host vehicle 100 to promptly cancel the warning signal.

Therefore, there is an effect of reducing an error between the actual position of the target vehicle 200 and the collision warning range when the target vehicle 200 is traveling.

When the estimation unit 20 estimates that the lateral distance between the target vehicle 200 and the host vehicle 100 decreases, the setting unit 30 moves the first boundary away from the host vehicle 100.

Further referring to fig. 2 and 3, the setting unit 30 may change the collision warning range in the case where the target vehicle 200 is traveling in the lateral direction behind the host vehicle 100 to approach the host vehicle 100.

The formula a + Δ γ may be applied to the first boundary in the above table.

When it is estimated that the lateral distance from the host vehicle 100 decreases and the target vehicle 200 leaves the collision warning range after the collision warning, the setting unit 30 moves the first boundary away from the host vehicle 100 to promptly cancel the warning signal.

Therefore, there is an effect of reducing an error between the actual position of the target vehicle 200 and the collision warning range when the target vehicle 200 is traveling.

Further included is a calculation unit 40 that calculates a lateral distance between the target vehicle 200 and the host vehicle 100 based on the position of the target vehicle 200 detected by the detection unit 10, and the setting unit 30 compares the lateral distance between the host vehicle 100 and the target vehicle 200 estimated by the estimation unit 20 with a predetermined distance, and changes the collision warning range based on the comparison result.

The calculation unit 40 calculates the position of the target vehicle 200 traveling in the lateral direction behind the host vehicle 100 in real time, and inputs it into the setting unit 30.

Therefore, when the target vehicle 200 enters the collision warning range, the collision warning range is changed from the warning generation range a to the warning maintenance range B, thereby having an effect of accurately recognizing the target vehicle 200 without recognizing other vehicles than the target vehicle 200.

When the calculation unit 40 calculates that the lateral distance between the target vehicle 200 and the host vehicle 100 is smaller than the first boundary or larger than the second boundary, the setting unit 30 moves the first boundary toward the host vehicle 100 and moves the second boundary away from the host vehicle 100.

When the calculation unit 40 calculates that the position of the target vehicle 200 is smaller than the first boundary close to the host vehicle or larger than the second boundary spaced apart from the first boundary far from the host vehicle, and determines that the target vehicle 200 is outside the collision warning range, the setting unit 30 may move the first boundary toward the host vehicle 100 to reduce the warning maintenance range B and move the second boundary away from the host vehicle 100 to form the warning generation range a again.

This produces an effect of reliably eliminating the collision warning for the target vehicle 200 traveling to a position adjacent to the first boundary and the second boundary before moving.

When the calculation unit 40 calculates that the lateral distance between the target vehicle 200 and the host vehicle 100 is between the first boundary and the second boundary, the setting unit 30 moves the second boundary away from the host vehicle 100 and moves the first boundary toward the host vehicle 100.

Further referring to fig. 2 and 3, the setting unit 30 may change the collision warning range in the case where the distance between the target vehicle 200 and the host vehicle 100 is increased to be between the first boundary and the second boundary on the rear-side of the host vehicle 100.

In the above table, the formula A- Δ α may be applied to the first boundary, and the formula B + Δ β may be applied to the second boundary.

Next, the case in c and g of fig. 2 and that in ② of fig. 3 will be described, when the calculation unit 40 calculates that the lateral distance between the target vehicle 200 and the host vehicle 100 is between the first boundary and the second boundary, the setting unit 30 moves the first boundary to 1.44m and the second boundary to 5.56m to form the warning maintenance range B. The values of the boundary ranges may vary.

Thus, small movements of the target vehicle 200 do not eliminate the collision warning, thereby having the effect of preparing for the occurrence of a rear-end collision accident.

When the estimation unit 20 estimates that the target vehicle 200 is traveling away from the host vehicle 100 and the calculation unit 40 calculates that the distance between the target vehicle 200 and the host vehicle 100 is equal to or greater than the predetermined first distance, the setting unit 30 moves the second boundary toward the host vehicle 100.

With further reference to fig. 2 and 3, the setting unit 30 may change the collision warning range in the case where the distance between the target vehicle 200 and the host vehicle 100 increases from a predetermined first distance to the rear-side of the host vehicle 100 to a predetermined second distance.

The formula B + Δ β Δ σ may be applied to the second boundary in the above table.

Next, the case in d of fig. 2 and the case of switching from (c) to (c) of fig. 2 will be described. When the calculation unit 40 calculates that the distance between the target vehicle 200 and the host vehicle 100 is equal to or greater than the predetermined first distance and the estimation unit 20 estimates that the target vehicle 200 travels away from the host vehicle 100 within the collision warning range, the setting unit 30 moves the second boundary to 4.86 m. The boundary range values of fig. 2 may vary. The first distance may be a distance to an adjacent lane spaced apart from the host vehicle 100.

Therefore, as the second boundary moves toward the host vehicle 100, the collision warning range becomes smaller, and the collision warning for the target vehicle 200 traveling away from the host vehicle 100 is promptly cancelled, thereby having the effect of further improving the accuracy of the vehicle rear warning system.

When the estimation unit 20 estimates that the target vehicle 200 is traveling toward the host vehicle 100 and the calculation unit 40 calculates that the distance between the target vehicle 200 and the host vehicle 100 is equal to or smaller than the predetermined second distance, the setting unit 30 moves the first boundary away from the host vehicle 100.

With further reference to fig. 2 and 3, the setting unit 30 may change the collision warning range in the case where the distance between the target vehicle 200 and the host vehicle 100 decreases on the rear-side of the host vehicle 100. This is the case where the target vehicle 200 leaves the collision warning range from behind the host vehicle 100.

The formula a- Δ α + Δ γ may be applied to the first boundary in the above table.

Next, the case of switching from h of fig. 2 to (r) of fig. 3 will be described. When the calculation unit 40 calculates that the distance between the target vehicle 200 and the host vehicle 100 is equal to or smaller than the predetermined second distance and the estimation unit 20 estimates that the target vehicle 200 travels toward the host vehicle 100, the setting unit 30 moves the first boundary to 1.78 m. In the case where the target vehicle 200 is traveling toward the host vehicle 100 and leaves the collision warning range, the first boundary is moved away from the host vehicle 100, and the collision warning is cancelled when the target vehicle 200 leaves the collision warning range.

The second distance may be a distance to a lane spaced from the host vehicle 100 on both sides of the host vehicle 100.

Therefore, when the target vehicle 200 moves rearward from the collision warning range to the rear of the host vehicle 100, the target vehicle 200 can be accurately detected, so that the collision warning can be eliminated, and there is an effect of reducing the feeling of fatigue of the passenger due to frequent alarms.

Fig. 4 is a flowchart illustrating a vehicle rear warning method according to an embodiment of the present invention.

Referring to fig. 4, a vehicle rear detecting method according to an embodiment of the present invention includes: a detection step S10 of detecting a position of the target vehicle; an estimation step S11 of estimating the traveling direction of the target vehicle 200 based on the position of the target vehicle 200 detected in the detection step S10, and a setting step S20 of setting a collision warning range for the host vehicle 100 and changing the collision warning range based on the traveling direction of the target vehicle 200 estimated in the estimation step S11.

In the detection step S10, the position of the target vehicle 200 located behind or to the side of the host vehicle is detected in conjunction with the radar sensor 50 mounted on the rear of the host vehicle.

In the setting step S20, a collision warning range is set between the first boundary and the second boundary that are spaced apart from each other in the lateral direction of the host vehicle 100, and the first boundary and the second boundary are moved based on the traveling direction of the target vehicle 200 estimated in the estimating step S11.

When the lateral distance between the target vehicle 200 and the host vehicle 100 is estimated to increase in the estimation step S11, the second boundary is moved toward the host vehicle 100 in the setting step S20.

When the lateral distance between the target vehicle 200 and the host vehicle 100 is estimated to decrease in the estimation step S11, the first boundary is moved away from the host vehicle 100 in the setting step S20.

Further included is a calculation step S12 of calculating the lateral distance between the host vehicle 100 and the target vehicle 200 based on the position of the target vehicle 200 detected in the detection step S10, and comparing the lateral distance between the host vehicle 100 and the target vehicle 200 calculated in the calculation step S12 with a predetermined distance, and changing the collision warning range based on the comparison result in the setting step S20.

When it is estimated that the lateral distance between the target vehicle 200 and the host vehicle 100 is smaller than the first boundary or larger than the second boundary in the estimating step S12, the first boundary is moved toward the host vehicle 100 and the second boundary is moved away from the host vehicle 100 in the setting step S20.

When it is estimated in the estimating step S12 that the lateral distance between the target vehicle 200 and the host vehicle 100 is between the first boundary and the second boundary, in the setting step S20, the second boundary is moved away from the host vehicle 100 and the first boundary is moved toward the host vehicle 100.

When it is estimated that the target vehicle 200 is traveling away from the host vehicle 100 in the estimating step S11 and the distance between the target vehicle 200 and the host vehicle 100 is calculated to be equal to or greater than the predetermined first distance in the calculating step S12, the second boundary is moved toward the host vehicle 100 in the setting step S20.

When the target vehicle 200 is estimated to travel toward the host vehicle 100 in the estimation step S11 and the distance between the target vehicle 200 and the host vehicle 100 is calculated to be equal to or smaller than the predetermined second distance in the calculation step S12, the first boundary is moved away from the host vehicle 100 in the setting step S20.

While particular embodiments of the present invention have been shown and described, it will be obvious to those skilled in the art that the present invention may be modified and adapted in various ways within the technical spirit of the present invention provided by the following patent claims.