Driver assistance system

Patent metadata

Field	Value
Publication number	US-10569770-B1
Application number	US-201816216574-A
Country	US
Kind code	B1
Filing date	Dec 11, 2018
Priority date	Dec 11, 2018
Publication date	Feb 25, 2020
Grant date	Feb 25, 2020

Abstract

A driver assistance system (DAS) for a vehicle avoids collision between a vehicle and a preceding object using emergency steering of the vehicle. The DAS includes forward-view sensors and a corner sensor mounted to a vehicle. A controller is provided with a processor to process the forward-view image data, the forward-view sensing data, and the side-view sensing data. The controller detects both a preceding object located in a region forward of the vehicle and a side object located in a region on the side of the vehicle in response to a result of processing the forward-view image data, the forward-view sensing data, and the side-view sensing data. In response to a collision between the vehicle and the preceding object being predicted and the region on the side of the vehicle being free of the side object, the controller outputs a steering signal to a steering device of the vehicle.

First claim

What is claimed is:

1. A driver assistance system (DAS) comprising:
a first forward-view sensor comprising an image sensor mounted to a vehicle, having a field of view (FOV) including a region forward of the vehicle, and configured to acquire forward-view image data;
a second forward-view sensor comprising at least one of a radar sensor or a Light Detection And Ranging (LiDAR) sensor mounted to the vehicle, having a field of sensing (FOS) including the region forward of the vehicle, and configured to acquire forward-view sensing data;
a corner sensor comprising at least one of a radar sensor or a LiDAR sensor, mounted to the vehicle, having a field of sensing (FOS) including a region on a side of the vehicle, and configured to acquire side-view sensing data; and
a controller provided with a processor configured to process the forward-view image data, the forward-view sensing data, and the side-view sensing data,
wherein the controller detects both a preceding object located in the region forward of the vehicle and a side object located in the region on the side of the vehicle in response to a result of processing the forward-view image data, the forward-view sensing data, and the side-view sensing data, and
in response to a collision between the vehicle and the preceding object being predicted and the region on the side of the vehicle being free of the side object, the controller outputs a steering signal to a steering device of the vehicle.

2. The driver assistance system (DAS) according to claim 1 wherein:
in response to the collision between the vehicle and the preceding object being predicted after outputting the steering signal, the controller outputs a brake signal to a brake device of the vehicle.

3. The driver assistance system (DAS) according to claim 1 , wherein:
in response to the collision between the vehicle and the preceding object being predicted and the side object being detected, the controller outputs a brake signal to a brake device of the vehicle.

4. The driver assistance system (DAS) according to claim 1 , wherein:
in response to the collision between the vehicle and the preceding object being predicted and collision between the vehicle and the side object being predicted, the controller outputs a brake signal to a brake device of the vehicle.

5. The driver assistance system (DAS) according to claim 1 , wherein:
in response to the collision between the vehicle and the preceding object being predicted and the region on the side of the vehicle being free of the side object, the controller outputs the steering signal to the steering device of the vehicle to change a traveling direction of the vehicle to another direction that is free of the side object.

6. The driver assistance system (DAS) according to claim 1 , wherein:
in response to the result of processing the forward-view image data, the forward-view sensing data, and the side-view sensing data, the controller determines both a distance between the vehicle and the preceding object and a relative speed of the preceding object with respect to the vehicle.

7. The driver assistance system (DAS) according to claim 6 , wherein the controller predicts a possibility of collision between the vehicle and the preceding object based on the distance between the vehicle and the preceding object and the relative speed of the preceding object with respect to the vehicle.

8. The driver assistance system (DAS) according to claim 1 , wherein the controller is configured to determine whether the region on the side of the vehicle is free of the side object, and to output the steering signal to the steering device of the vehicle only when the region on the side of the vehicle is determined to be free of the side object.

9. The driver assistance system (DAS) according to claim 1 , wherein the controller is configured to determine whether at least one of a right side region of the vehicle and a left side region of the vehicle is free of objects and to output the steering signal to the steering device of the vehicle to change the traveling direction of the vehicle towards the at least one side region of the vehicle determined to be free of objects.

10. A driver assistance method comprising:
acquiring forward-view image data of a vehicle by a camera mounted to the vehicle and having a field of view (FOV) including a region forward of the vehicle;
acquiring forward-view sensing data of the vehicle by at least one of a forward-view radar or a forward-view Light Detection And Ranging (LiDAR) sensor mounted to the vehicle and having a field of sensing (FOS) including the region forward of the vehicle;
acquiring side-view sensing data of the vehicle by at least one of a corner radar or a corner LiDAR mounted to the vehicle and having a field of sensing (FOS) including a region on a side of the vehicle;
processing the forward-view image data, the forward-view sensing data, and the side-view sensing data to detect both a preceding object located in the region forward of the vehicle and a side object located in the region on the side of the vehicle; and
in response to a collision between the vehicle and the preceding object being predicted and the region on the side of the vehicle being free of the side object, changing a traveling direction of the vehicle to another direction.

11. The driver assistance method according to claim 10 , further comprising:
in response to the collision between the vehicle and the preceding object being predicted after changing the traveling direction of the vehicle to the other direction, performing braking of the vehicle.

12. The driver assistance method according to claim 10 , further comprising:
in response to the collision between the vehicle and the preceding object being predicted and the side object being detected, performing braking of the vehicle.

13. The driver assistance method according to claim 10 , further comprising:
in response to the collision between the vehicle and the preceding object being predicted and a collision between the vehicle and the side object being predicted, performing braking of the vehicle.

14. The driver assistance method according to claim 10 , wherein the changing the traveling direction of the vehicle includes:
changing the traveling direction of the vehicle towards a side direction that is free of the side object.

15. The driver assistance method according to claim 10 , wherein the predicting of the collision between the vehicle and the preceding object includes:
determining a distance between the vehicle and the preceding object and a relative speed of the preceding object with respect to the vehicle.

16. The driver assistance method according to claim 15 , wherein the predicting of the collision between the vehicle and the preceding object further includes:
predicting a possibility of collision between the vehicle and the preceding object based on the distance between the vehicle and the preceding object and the relative speed of the preceding object with respect to the vehicle.

17. A driver assistance system (DAS) comprising:
a first forward-view sensor including an image sensor mounted to a vehicle, having a field of view (FOV) including a forward direction of the vehicle, and configured to acquire forward-view image data;
a second forward-view sensor comprising at least one of a radar sensor or a Light Detection And Ranging (LiDAR) sensor, mounted to the vehicle, having a field of sensing (FOS) including the forward direction of the vehicle, and configured to acquire forward-view sensing data;
a corner sensor comprising at least o

Assignees

• Mando Corp

Inventors

• You Kwan Sun

Classifications

• B60W30/09 Primary

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• B60W2554/804

  Relative longitudinal speed · CPC title

• B60W2554/802

  Longitudinal distance · CPC title

• B60W2554/4041

  Position · CPC title

• B60W30/0956

  the prediction being responsive to traffic or environmental parameters · CPC title