阅读说明：本技术 控制车辆驾驶的系统、方法及计算机可读存储介质 (System, method, and computer-readable storage medium for controlling vehicle driving ) 是由 朴志旿 于 2021-06-02 设计创作，主要内容包括：提供了一种用于控制车辆驾驶的系统、方法及计算机可读存储介质。该系统包括一个或多个处理器,该处理器被配置为收集关于在主车辆的行驶方向上识别的其他车辆的信息,检查主车辆行驶方向上的道路是直线道路还是弯曲道路,并且响应于该检查,当主车辆进入道路的弯曲段并且在主车辆行驶方向上检测到其他车辆时,控制主车辆在主车辆回避其他车辆的方向上行驶,并且执行主车辆的制动使得降低主车辆的行驶速度。(A system, method, and computer-readable storage medium for controlling vehicle driving are provided. The system includes one or more processors configured to collect information about other vehicles identified in a traveling direction of the host vehicle, check whether a road in the traveling direction of the host vehicle is a straight road or a curved road, and in response to the check, when the host vehicle enters a curved section of the road and detects other vehicles in the traveling direction of the host vehicle, control the host vehicle to travel in a direction in which the host vehicle avoids the other vehicles, and perform braking of the host vehicle so as to reduce a traveling speed of the host vehicle.)

1. A system for controlling vehicle driving, comprising:

one or more processors configured to:

collecting information about other vehicles identified in a direction of travel of the host vehicle;

checking whether a road in a traveling direction of the host vehicle is a straight road or a curved road; and is

In response to the check, when the host vehicle enters a curved section of the road and the other vehicle is detected in the traveling direction of the host vehicle, controlling the host vehicle to travel in a direction in which the host vehicle avoids the other vehicle, and performing braking of the host vehicle such that a traveling speed of the host vehicle is reduced.

2. The system of claim 1, further comprising a memory configured to store instructions;

wherein the one or more processors are further configured to execute the instructions to configure the one or more processors to:

collecting information about the other vehicles identified in the direction of travel of the host vehicle;

checking whether the road in the traveling direction of the host vehicle is the straight road or the curved road; and is

In response to the check, when the host vehicle enters the curved section of the road and the other vehicle is detected in the traveling direction of the host vehicle, controlling the host vehicle to travel in the direction in which the host vehicle avoids the other vehicle, and performing the braking of the host vehicle such that the traveling speed of the host vehicle decreases.

3. The system of claim 1, wherein the one or more processors comprise:

an object detection unit configured to collect information on the other vehicle identified in the traveling direction of the host vehicle;

a road detection unit configured to check whether the road in a traveling direction of the host vehicle is the straight road or the curved road; and

a driving control unit configured to, in response to the check, control the host vehicle to travel in a direction in which the host vehicle avoids the other vehicle when the host vehicle enters a curve section of the road and the other vehicle is detected in a traveling direction of the host vehicle, and perform the braking of the host vehicle such that the traveling speed of the host vehicle is reduced.

4. The system of claim 3, wherein the driving control unit is further configured to control the host vehicle to travel in a direction opposite to a direction in which the other vehicle travels toward the host vehicle when the other vehicle is detected in the curved segment.

5. The system of claim 3, wherein the object detection unit is further configured to identify an obstacle around the host vehicle, and when there is an obstacle in the direction in which the host vehicle avoids the other vehicle, the driving control unit is further configured to cause the host vehicle to be separated from the obstacle by a predetermined safety distance or more.

6. The system of claim 3, wherein the roadway detection unit is further configured to identify lanes around the host vehicle, and the driving control unit is further configured such that the host vehicle does not cross a centerline of the roadway while avoiding the other vehicles.

7. The system according to claim 3, further comprising a correction unit configured to store in advance brake power and brake timing that depend on a distance between the host vehicle and the other vehicle and a relative speed of the other vehicle, and correct the brake power and the brake timing according to the distance between the host vehicle and the other vehicle and the relative speed of the other vehicle,

wherein the driving control unit is further configured to brake the host vehicle using the brake timing and the brake power input through the correction unit.

8. The system of claim 7, wherein the correction unit is further configured to: correcting the braking power and the braking timing upward when the distance between the host vehicle and the other vehicle is less than or equal to a reference distance.

9. The system of claim 7, wherein the correction unit is further configured to: correcting the braking power and the braking timing upward when the relative speed of the other vehicle is equal to or higher than a reference speed.

10. The system according to claim 7, wherein the road detection unit is further configured to check whether the road is an uphill road or a downhill road, and the correction unit is further configured to: the braking power and the braking timing are corrected downward when the host vehicle is traveling on the uphill road, and are corrected upward when the host vehicle is traveling on the downhill road.

11. The system of claim 1, wherein the one or more processors are Engine Control Units (ECUs).

12. A method for controlling vehicle driving, comprising:

an object detection operation of collecting information on other vehicles identified in a traveling direction of a host vehicle;

a road detection operation of checking whether a road in a traveling direction of the host vehicle is a straight road or a curved road; and

a driving control operation of, in response to the road detection operation, controlling the host vehicle to travel in a direction in which the host vehicle avoids the other vehicle when the host vehicle enters a curve section of the road and the other vehicle is detected in the traveling direction of the host vehicle, and performing braking of the host vehicle such that a traveling speed of the host vehicle is reduced.

13. The method according to claim 12, wherein in the driving control operation, when the other vehicle is detected in the curved section, the host vehicle is controlled to travel in a direction opposite to a direction in which the other vehicle travels toward the host vehicle.

14. The method according to claim 12, wherein an obstacle around the host vehicle is also recognized in the object detection operation, and in the driving control operation, when there is an obstacle in the direction in which the host vehicle avoids the other vehicle, the host vehicle is separated from the obstacle by a predetermined safety distance or more.

15. The method according to claim 12, wherein a lane around the host vehicle is identified in the road detection operation, and the host vehicle is not caused to cross a center line of the road when avoiding the other vehicle in the driving control operation.

16. The method of claim 12, further comprising a corrective operation: storing braking power and braking timing that depend on a distance between the host vehicle and the other vehicle and a relative speed of the other vehicle in advance, and correcting the braking power and the braking timing according to the distance between the host vehicle and the other vehicle and the relative speed of the other vehicle,

wherein in the driving control operation, the host vehicle is braked with the brake timing and the brake power input by the correction operation.

17. The method according to claim 16, wherein in the correction operation, the braking power and the braking timing are corrected upward when the distance between the host vehicle and the other vehicle is less than or equal to a reference distance.

18. The method according to claim 16, wherein in the correction operation, the brake power and the brake timing are corrected upward when the relative speed of the other vehicle is equal to or higher than a reference speed.

19. The method according to claim 16, wherein it is further checked whether the road is an uphill road or a downhill road in the road detection operation, and in the correction operation, the braking power and the braking timing are corrected downward when the host vehicle is traveling on the uphill road, and are corrected upward when the host vehicle is traveling on the downhill road.

20. A non-transitory computer-readable storage medium storing instructions that, when executed by one or more processors, cause the one or more processors to perform the method of claim 12.

Technical Field

The present invention relates to a system and method for controlling vehicle driving to ensure safety during travel on a curved road.

Background

Vehicles often travel on curved roads as well as on straight roads. When driving on a curved road, the risk of collision with an oncoming vehicle increases, since the view of the curved section in front of the vehicle is unsafe.

In other words, in the case where the driver drives the vehicle on a curved road, since the field of view of the curved section is not secured, the recognition ability of the driver is deteriorated, and thus the driver cannot cope with the situation. In particular, when driving on an inclined curved road, the risk of collision is further increased.

On such curved roads, to prevent the risk of collisions, information is conveyed by road signs. However, even if the driver recognizes a danger through the road sign, it is difficult for the driver to cope with a sudden oncoming vehicle on the curved road.

Therefore, there is a need for a method for quickly determining the presence or absence of an object in the vehicle traveling direction during traveling on a curved road, and quickly responding to the determination result to avoid a vehicle collision.

It should be understood that the above matters described in the related art are merely to facilitate the understanding of the background of the present invention and should not be construed as prior art which is well known to those skilled in the art.

Disclosure of Invention

This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

In one general aspect, a system for controlling vehicle driving, includes: one or more processors configured to collect information about other vehicles identified in a direction of travel of a host vehicle; checking whether a road in a traveling direction of a host vehicle is a straight road or a curved road; and in response to the check, when the host vehicle enters a curved section of the road and detects another vehicle in the traveling direction of the host vehicle, controlling the host vehicle to travel in a direction in which the host vehicle avoids the other vehicle, and performing braking of the host vehicle such that the traveling speed of the host vehicle is reduced.

The system may also include a memory configured to store instructions. The one or more processors may be further configured to execute the instructions to configure the one or more processors to: collecting information about other vehicles identified in a direction of travel of the host vehicle; checking whether a road in a traveling direction of the host vehicle is a straight road or a curved road; and in response to the check, when the host vehicle enters a curved section of the road and detects another vehicle in the traveling direction of the host vehicle, controlling the host vehicle to travel in a direction in which the host vehicle avoids the other vehicle, and performing braking of the host vehicle such that the traveling speed of the host vehicle is reduced.

The one or more processors may include: an object detection unit configured to collect information on other vehicles identified in a traveling direction of a host vehicle; a road detection unit configured to check whether a road in a traveling direction of a host vehicle is a straight road or a curved road; and a driving control unit configured to, in response to the check, control the host vehicle to travel in a direction in which the host vehicle avoids the other vehicle, and perform braking of the host vehicle such that a travel speed of the host vehicle is reduced, when the host vehicle enters the curved section of the road and the other vehicle is detected in a travel direction of the host vehicle.

The driving control unit may be further configured to control the host vehicle to travel in a direction opposite to a direction in which the other vehicle travels toward the host vehicle when the other vehicle is detected in the curved section.

The object detection unit may be further configured to recognize an obstacle around the host vehicle, and when there is an obstacle in a direction in which the host vehicle avoids the other vehicle, the driving control unit may be further configured to separate the host vehicle from the obstacle by a predetermined safety distance or more.

The road detection unit may be further configured to identify a lane around the host vehicle, and the driving control unit may be further configured such that the host vehicle does not cross the center line of the road while avoiding the other vehicle.

The system may further include a correction unit configured to store in advance braking power (braking power) and braking timing (braking timing) that depend on the distances between the host vehicle and the other vehicles and the relative speeds of the other vehicles, and correct the braking power and the braking timing according to the distances between the host vehicle and the other vehicles and the relative speeds of the other vehicles. The driving control unit may be further configured to brake the host vehicle using the brake timing and the brake power input through the correction unit.

The correction unit may be further configured to: when the distance between the host vehicle and the other vehicle is less than or equal to the reference distance, the braking power and the braking timing are corrected upward.

The correction unit may be further configured to: when the relative speed of the other vehicle is equal to or higher than the reference speed, the brake power and the brake timing are corrected upward.

The road detection unit may be further configured to check whether the road is an uphill road or a downhill road, and the correction unit may be further configured to correct the braking power and the braking timing downward when the host vehicle is traveling on an uphill road, and to correct the braking power and the braking timing upward when the host vehicle is traveling on a downhill road.

The road detection unit may be further configured to check whether the road is a paved road or a non-paved road, and the correction unit may be further configured to correct the braking power and the braking timing upward when the host vehicle travels on the non-paved road.

The road detection unit may be further configured to check whether the road is in a wet condition, and the correction unit may be further configured to correct the brake power and the brake timing upward when the road is in a wet condition.

The one or more processors may be an Engine Control Unit (ECU).

In another general aspect, a method for controlling driving of a vehicle includes: an object detection operation of collecting information on other vehicles identified in a traveling direction of a host vehicle; a road detection operation of checking whether a road in a traveling direction of the host vehicle is a straight road or a curved road; and a driving control operation of, in response to the road detection operation, controlling the host vehicle to travel in a direction in which the host vehicle avoids the other vehicle, and performing braking of the host vehicle such that a travel speed of the host vehicle is reduced, when the host vehicle enters a curved section of a road and the other vehicle is detected in a travel direction of the host vehicle.

In the driving control operation, when the other vehicle is detected in the curved section, the host vehicle may be controlled to travel in a direction opposite to a direction in which the other vehicle travels toward the host vehicle.

In the object detection operation, an obstacle around the host vehicle may also be recognized, and in the driving control operation, when there is an obstacle in a direction in which the host vehicle avoids the other vehicle, the host vehicle may be separated from the obstacle by a predetermined safety distance or more.

In the road detection operation, a lane around the host vehicle may be identified, and in the driving control operation, the host vehicle may be made not to cross the center line of the road when avoiding other vehicles.

The method may further include a correction operation of previously storing braking power and braking timing that depend on the distances between the host vehicle and the other vehicles and the relative speeds of the other vehicles, and correcting the braking power and braking timing according to the distances between the host vehicle and the other vehicles and the relative speeds of the other vehicles. In the driving control operation, the host vehicle may be braked with the brake timing and the brake power input by the correction operation.

In the correction operation, when the distance between the host vehicle and the other vehicle is less than or equal to the reference distance, the brake power and the brake timing may be corrected upward.

In the correction operation, when the relative speed of the other vehicle is equal to or higher than the reference speed, the brake power and the brake timing may be corrected upward.

In the road detection operation, it is also possible to check whether the road is an uphill road or a downhill road, and in the correction operation, the braking power and the braking timing may be corrected downward when the host vehicle is traveling on an uphill road, and the braking power and the braking timing may be corrected upward when the host vehicle is traveling on a downhill road.

In the road detection operation, it is also possible to check whether the road is a paved road or a non-paved road, and in the correction operation, when the host vehicle is traveling on the non-paved road, the brake power and the brake timing may be corrected upward.

In the road detection operation, it may also be checked whether the road is in a wet condition, and in the correction operation, the brake power and the brake timing may be corrected upward when the road is in a wet condition.

Other features and aspects will be apparent from the following detailed description, the accompanying drawings, and the claims.

Drawings

Fig. 1 is a configuration diagram of a system for controlling driving of a vehicle according to the present invention.

Fig. 2 is a diagram illustrating avoidance travel according to the system for controlling vehicle driving shown in fig. 1.

Fig. 3 is a diagram for describing the system for controlling the driving of the vehicle shown in fig. 1.

Fig. 4 is a flow chart of a method for controlling vehicle driving according to the present invention.

Detailed Description

Hereinafter, a system and method for controlling vehicle driving according to a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

Fig. 1 is a configuration diagram of a system for controlling vehicle driving according to the present invention, fig. 2 is a diagram illustrating avoidance running according to the system for controlling vehicle driving shown in fig. 1, fig. 3 is a diagram for describing the system for controlling vehicle driving shown in fig. 1, and fig. 4 is a flowchart of a method for controlling vehicle driving according to the present invention.

The present invention may be applied to a vehicle driven by a driver, and may also be applied to an autonomous vehicle. In other words, the present invention disengages the driver from a situation where a collision risk is likely to occur, which cannot be recognized by the driver, and can perform driving not only by the driver but also according to the control of the ECU.

As shown in fig. 1, the system for controlling the driving of a vehicle according to the present invention includes: an object detection unit 10 that collects information about other vehicles 2 identified in the traveling direction of the host vehicle 1; a road detection unit 20 that checks whether a road in a traveling direction of the host vehicle 1 is a straight road or a curved road; and a driving control unit 40 that, when the host vehicle 1 enters a curve section and the other vehicle 2 is detected in the traveling direction of the host vehicle 1, controls the host vehicle 1 to travel in a direction in which the host vehicle 1 avoids the other vehicle 2, and performs braking such that the traveling speed of the host vehicle 1 decreases.

Here, the object detection unit 10 may collect information about other vehicles 2 around the host vehicle 1 from various sensors. The sensors may be LiDAR (LiDAR), cameras, radar, and ultrasonic sensors, and they may acquire information on the shape, size, speed, distance, and the like of the other vehicles 2 and identify various obstacles 3.

The road detection unit 20 may be configured as the same sensor as the object detection unit 10, check the road state, and additionally receive weather information through a navigation system, and acquire various types of road information on a straight road, a curved road, an uphill road, and a downhill road.

The information on the other vehicles 2 and the roads input through the object detection unit 10 and the road detection unit 20 in this way is supplied to the driving control unit 40, and the driving control unit 40 controls the vehicles based on the input information. In particular, when the road detection unit 20 detects that the host vehicle 1 enters a curved section and the object detection unit 10 detects the other vehicle 2 in the traveling direction of the host vehicle 1, the driving control unit 40 controls the host vehicle 1 to travel in a direction in which the host vehicle 1 avoids the other vehicle 2 so that the host vehicle 1 avoids colliding with the other vehicle 2 traveling in the opposite direction. Further, the driving control unit 40 performs braking of the host vehicle 1 such that the traveling speed of the host vehicle 1 is reduced to allow the host vehicle 1 to easily avoid a collision with another vehicle 2. Further, even if the host vehicle 1 cannot avoid the other vehicle 2 completely, the collision can be reduced by braking of the host vehicle 1.

In this way, the present invention improves driving safety during driving to provide driving reliability to passengers.

The present invention will be described in detail. As shown in fig. 2, when the other vehicle 2 is detected on the curved road, the driving control unit 40 may control the host vehicle 1 to travel in a direction opposite to a direction in which the other vehicle 2 travels toward the host vehicle 1. The driving control unit 40 controls the traveling of the host vehicle 1, and when the other vehicle 2 approaches the host vehicle 1, controls the host vehicle 1 to travel so as to avoid the other vehicle 2. Here, the driving control unit 40 may cause the host vehicle 1 to travel in a direction opposite to the direction in which the other vehicle 2 approaches, based on the information about the other vehicle 2 around the host vehicle 1 and the information of the other object detected by the object detection unit 10, so that the host vehicle 1 may avoid the oncoming vehicle 2 to prevent a collision with the other vehicle 2.

The object detection unit 10 may recognize the obstacle 3 around the host vehicle 1, and when the obstacle 3 exists in a direction in which the host vehicle 1 avoids the other vehicle 2, the driving control unit 40 may separate the host vehicle 1 from the obstacle 3 by a predetermined safety distance or more.

In other words, various obstacles such as the guard rail 3 may be located on the road in addition to the vehicle. Therefore, the driving control unit 40 receives information about the obstacle 3 through the object detection unit 10, and controls the vehicle such that the vehicle travels in an area where the obstacle 3 does not exist, or travels while maintaining a safe distance or longer from the obstacle 3. Here, the safe distance may be set according to the shape and size of the host vehicle 1, and set as a distance at which the host vehicle 1 does not collide with the obstacle 3 to avoid the collision.

By confirming the obstacle 3 around the host vehicle 1 in this way and avoiding a collision with the other vehicle 2 in consideration of the obstacle 3, driving stability is further ensured.

Further, the road detection unit 20 may recognize a lane around the host vehicle 1, and the driving control unit 40 may cause the host vehicle 1 not to cross the center line 4 while avoiding the other vehicles 2.

The road is divided into lanes defining the same driving direction and lanes defining opposite driving directions. In particular, the centre line 4 divides the lane in opposite driving directions and the risk of accidents is very high when the vehicle crosses the centre line 4.

Therefore, when the driving control unit 40 controls the host vehicle 1 to travel in a direction in which the host vehicle 1 avoids the other vehicle 2, the driving control unit 40 may control the host vehicle 1 to travel in a direction in which the other vehicle 2 does not exist and not cross the center line 4 so that the host vehicle 1 avoids an oncoming vehicle.

Meanwhile, the present invention performs braking of the host vehicle 1 when the host vehicle 1 avoids the other vehicle 2 in the curved section to further ensure safety. Here, the present invention provides a correction unit 30 that corrects the braking power and the braking timing so as to effectively perform braking of the host vehicle 1.

The correction unit 30 stores in advance the brake power and the brake timing in relation to the distance between the host vehicle 1 and the other vehicle 2 and the relative speed of the other vehicle 2, and the driving control unit 40 corrects the brake power and the brake timing according to the distance between the host vehicle 1 and the other vehicle 2 and the relative speed of the other vehicle 2. Then, the driving control unit 40 executes braking of the host vehicle 1 using the braking power and the braking timing input through the correction unit 30 so that the host vehicle 1 stably avoids the other vehicle 2.

That is, when the distance between the host vehicle 1 and the other vehicle 2 is short or the relative speed of the other vehicle 2 is high, the risk of collision with the other vehicle 2 is high. In this case, the brake pressure is increased to perform strong braking, and the brake timing is advanced to perform braking quickly. On the other hand, when the distance between the host vehicle 1 and the other vehicle 2 is long or the relative speed of the other vehicle 2 is low, the risk of collision with the other vehicle 2 is low, and therefore smooth braking is performed.

Specifically, the correction unit 30 corrects the brake power and the brake timing upward when the distance between the host vehicle 1 and the other vehicle 2 is less than or equal to the reference distance. Here, the reference distance is a prestored value, which may be set according to the size and weight of the host vehicle 1.

In other words, when the distance between the host vehicle 1 and the other vehicle 2 is less than or equal to the reference distance, the risk of collision between the host vehicle 1 and the other vehicle 2 is high, and therefore the correction unit 30 corrects the braking power and the braking timing upward so that collision avoidance between the host vehicle 1 and the other vehicle 2 is stably performed by strong braking. Here, the brake power is corrected upward in order to increase the brake pressure, and the brake power that can ensure safety according to the distance between the host vehicle 1 and the other vehicle 2 may be stored in advance. Further, the brake timing is corrected upward in order to advance the brake timing, and the brake timing that can ensure safety according to the distance between the host vehicle 1 and the other vehicle 2 may be stored in advance.

When the other vehicle 2 is detected in a state where the host vehicle has entered the curve section while the correction unit 30 corrects the braking power and the braking timing, the driving control unit 40 causes the host vehicle 1 to travel in a direction in which the host vehicle 1 avoids the other vehicle 2, and brakes the host vehicle 1 with the braking timing and the braking power corrected in accordance with the distance between the host vehicle 1 and the other vehicle 2. Thus, according to the rapid and strong braking, a time is ensured during which the host vehicle 1 can avoid the other vehicles 2. Therefore, the host vehicle 1 can easily avoid the other vehicle 2, and even if the host vehicle 1 cannot avoid the other vehicle 2, the travel speed can be reduced by the quick braking to reduce the collision.

When the relative speed of the other vehicle is equal to or higher than the reference speed, the correction unit 30 may correct the brake power and the brake timing upward.

In other words, the object detection unit 10 may collect speed information about the other vehicle 2, and the correction unit 30 may determine the degree of risk by receiving the speed information about the other vehicle 2 and comparing the speed information with a pre-stored reference speed. In other words, when the speed of the other vehicle 2 approaching the host vehicle 1 is high, the host vehicle 1 may react slowly to the other vehicle 2, or the impact may increase in the event of a collision, and thus the braking power and the braking timing are additionally corrected in accordance with the speed of the other vehicle 2.

Specifically, when the relative speed of the other vehicle 2 is equal to or higher than the reference speed, the correction unit 30 corrects the brake power and the brake timing upward. Here, the reference velocity is a velocity at which the host vehicle 1 can respond to and evade the other vehicle 2 that is close to the host vehicle 1, and is derived and stored in advance. In other words, when the relative speed of the other vehicle 2 is equal to or higher than the reference speed, the risk of collision between the host vehicle 1 and the other vehicle 2 increases, and therefore the correction unit 30 corrects the braking power and the braking timing upward to quickly brake the host vehicle 1. Therefore, the host vehicle 1 can respond to the other vehicle 2 detected in the curved section, and can safely avoid the other vehicle 2. Even if the host vehicle 1 cannot avoid the other vehicle 2, the collision can be reduced according to the quick braking.

The road detection unit 20 may also check whether the road is an uphill road or a downhill road, and the correction unit 30 may correct the braking power and the braking timing downward when the host vehicle 1 is traveling on an uphill road, and correct the braking power and the braking timing upward when the host vehicle 1 is traveling on a downhill road.

In other words, when the host vehicle 1 is traveling on an uphill road, the host vehicle 1 can be quickly braked even with low braking power. Therefore, the correction unit 30 corrects the braking power and the braking timing downward when the host vehicle 1 is traveling on an uphill road, so that excessive braking is prevented from causing discomfort to the passengers if the host vehicle 1 can avoid the other vehicle 2 when the other vehicle 2 is detected in a curved section. On the other hand, when the host vehicle 1 is traveling on a downhill road, the host vehicle may be slowly braked even with high braking power. Therefore, the correction unit 30 corrects the braking power and the braking timing upward when the host vehicle 1 is traveling on a downhill road. Therefore, when the other vehicle 2 is detected in the curved section, the host vehicle 1 is stably braked according to the quick and strong braking, and thus the other vehicle 2 can be safely avoided.

Further, the road detection unit 20 may also check whether the road is a paved road or a non-paved road, and the correction unit 30 may correct the braking power and the braking timing upward when the host vehicle 1 is traveling on the non-paved road. In the case of a paved road, normal braking may be performed, whereas in the case of a non-paved road, normal braking may not be performed due to unevenness of the road surface. Therefore, when the host vehicle 1 enters the unpaved road, the correction unit 30 corrects the brake power and the brake timing upward to perform stable braking. By rapidly braking the host vehicle 1 with high braking power in this way, the host vehicle 1 can avoid a collision with the other vehicle 2 even on a non-paved road.

Further, the road detection unit 20 may also check whether the road in the traveling direction of the host vehicle 1 is in a wet condition, and the correction unit 30 may correct the brake power and the brake timing upward when the road is in a wet condition. Here, the road detection unit 20 may recognize a wet and slippery road surface through weather information, a rain sensor, and the like.

When the road state is recognized as the wet slip condition by the road detection unit 20 in this way, the correction unit 30 may correct the brake power and the brake timing upward so that stable braking is performed even when the host vehicle 1 slips during braking. Therefore, even in the case where the road surface is slippery, the host vehicle 1 is quickly braked with high braking power, and therefore a collision with the other vehicle 2 can be stably avoided.

In the above-described correction of the brake power and the brake timing by the correction unit 30, the brake power and the brake timing are increased and corrected upward or downward according to each case, and therefore, it is possible to perform stable and accurate brake control according to each case.

A method for controlling driving of a vehicle according to the present invention includes: an object detection step S10 of collecting information about the other vehicle 2 identified in the traveling direction of the host vehicle 1; a road detection step S20 of checking whether the road in the traveling direction of the host vehicle 1 is a straight road or a curved road; and a driving control step S40 of, when the host vehicle 1 enters the curve segment and the other vehicle 2 is detected in the traveling direction of the host vehicle 1, controlling the host vehicle 1 to travel in a direction in which the host vehicle 1 avoids the other vehicle 2, and performing braking such that the traveling speed of the host vehicle 1 decreases.

Therefore, when the host vehicle 1 enters a curved section and the other vehicle 2 is detected in the traveling direction of the host vehicle 1, the host vehicle 1 is controlled to travel in a direction in which the host vehicle 1 avoids the other vehicle 2, so that the host vehicle 1 avoids a collision with the other vehicle 2 traveling in the opposite direction. Further, the host vehicle 1 is braked so that the traveling speed of the host vehicle 1 is reduced, and therefore a collision with the other vehicle 2 can be easily avoided. Further, even if the host vehicle 1 cannot avoid the other vehicle 2 completely, the collision can be reduced by braking of the host vehicle 1.

Here, in the driving control step S40, when the other vehicle 2 is detected in the curved section, the host vehicle 1 is controlled to travel in a direction opposite to the direction of the other vehicle 2 traveling toward the host vehicle 1, so that the host vehicle 1 can avoid the other vehicle 2 traveling in the opposite direction to prevent a collision with the other vehicle 2.

In the object detection step S10, the obstacle 3 around the host vehicle 1 is recognized, and in the driving control step S40, when the obstacle 3 is present in a direction in which the host vehicle 1 avoids the other vehicle 2, the host vehicle 1 is separated from the obstacle 3 by a predetermined safety distance or more. By recognizing the objects 3 around the host vehicle 1 at the time of controlling the driving of the host vehicle 1 in this manner and controlling the driving of the host vehicle 1 in consideration of the obstacle 3, driving safety is ensured.

Further, in the road detection step S20, the lane around the host vehicle 1 is recognized, and in the driving control step S40, the host vehicle 1 is caused not to cross the center line 4 while avoiding another vehicle 2, so that the host vehicle 1 avoids the oncoming vehicle 2 in the opposite direction.

The present invention provides a method of controlling vehicle driving, further comprising a correction step S30 of storing in advance braking power and braking timing that depend on the distance between the host vehicle 1 and the other vehicle 2 and the relative speed of the other vehicle 2, and correcting the braking power and braking timing according to the distance between the host vehicle 1 and the other vehicle 2 and the relative speed of the other vehicle 2, and in a driving control step S40, braking of the host vehicle 1 is performed using the braking power and braking timing input in the correction step S30.

Specifically, in the correction step S30, when the distance between the host vehicle 1 and the other vehicle 2 is less than or equal to the reference distance, the braking power and the braking timing may be corrected upward. Further, in the correction step S30, when the relative speed of the other vehicle 2 is equal to or higher than the reference speed, the brake power and the brake timing may be corrected upward.

Therefore, in the case where the risk of collision is high, rapid and strong braking is performed in consideration of the distance between the host vehicle 1 and the other vehicle 2 and the relative speed of the other vehicle 2 to ensure the time during which the host vehicle 1 can avoid the other vehicle 2, and therefore the host vehicle 1 can easily avoid the other vehicle 2, and even if the host vehicle 1 cannot avoid the other vehicle 2, the traveling speed of the host vehicle 1 can be reduced according to the rapid braking to reduce the collision.

Further, whether the road is an uphill road or a downhill road is further checked in the road detection step S20, and in the correction step S30, the braking power and the braking timing may be corrected downward when the host vehicle 1 is traveling on an uphill road, and the braking power and the braking timing may be corrected upward when the host vehicle 1 is traveling on a downhill road.

Further, it is further checked in the road detection step S20 whether the road is a paved road or a non-paved road, and in the correction step S30, when the host vehicle 1 travels on the non-paved road, the brake power and the brake timing may be corrected upward.

Further, it is further checked in the road detection step S20 whether the road is in a wet condition, and in the correction step S30, the brake power and the brake timing may be corrected upward when the road is in a wet condition.

As described above, the present invention determines the gradient of the road, the road surface state, the wet skid condition, and the like, and corrects the brake power and the brake timing according to the road state when the other vehicle 2 is detected on the curved road. Thus, the host vehicle 1 is effectively braked, and it is therefore possible to safely avoid other vehicles 2, or reduce a collision in the event of a collision, to improve safety.

According to the system and method for controlling vehicle driving constructed as described above, an oncoming vehicle in the opposite direction can be avoided while the vehicle is traveling on a curved road, thereby ensuring driving safety. Further, by performing braking according to the degree of collision risk of the vehicle, and adjusting the braking power and the braking timing according to the road state, an oncoming vehicle can be effectively avoided to improve safety.

Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims.