Autonomous emergency braking apparatus and control method thereof

Patent metadata

Field	Value
Publication number	US-10889272-B2
Application number	US-201816170043-A
Country	US
Kind code	B2
Filing date	Oct 25, 2018
Priority date	Oct 30, 2017
Publication date	Jan 12, 2021
Grant date	Jan 12, 2021

Abstract

An autonomous emergency braking apparatus may include: a front sensor configured to sense object information by searching for a control target ahead of a vehicle; a compensation condition sensor configured to sense a vehicle state and a surrounding environment, in order to estimate the road state and the driving environment of the vehicle; a brake controller configured to generate a braking force to brake the vehicle; a warning controller configured to notify an operation state when the vehicle is braked; and a controller configured to calculate a braking force and braking point, adjust the road state estimated from the vehicle state sensed through the compensation condition sensor and the braking force and the braking point which are calculated according to the surrounding environment, output a braking command to the brake, and notify the operation state through the warning controller according to the braking command.

First claim

What is claimed is:

1. An autonomous emergency braking apparatus comprising:
a front sensor configured to sense object information by searching for a control target in front of a vehicle;
a compensation condition sensor configured to sense a vehicle state and a surrounding environment, in order to estimate a state of a road on which the vehicle travels and the surrounding environment of the vehicle;
a brake controller configured to generate a braking force to brake the vehicle;
a warning controller configured to notify an operation state when the vehicle is braked; and
a controller configured to calculate a braking force and a braking point by determining whether the vehicle is likely to collide, based on the object information, adjust a road state estimated from the vehicle state and the braking force and the braking point which are calculated according to the surrounding environment, output a braking command to the brake controller, and notify the operation state through the warning controller according to the braking command,
wherein the compensation condition sensor comprises at least one of a vehicle height displacement sensor configured to sense a front height and a rear height of the vehicle and a shock absorber displacement sensor configured to measure a displacement of a shock absorber installed on each shaft of the vehicle.

2. The autonomous emergency braking apparatus of claim 1 , wherein the front sensor comprises one or more of a radar, a lidar, and a camera.

3. The autonomous emergency braking apparatus of claim 1 , wherein the object information comprises one or more of a relative distance from the control target, a velocity, an acceleration, and an object property.

4. The autonomous emergency braking apparatus of claim 1 , wherein the road state comprises one or more of a road gradient and a road flatness.

5. The autonomous emergency braking apparatus of claim 1 , wherein the surrounding environment comprises one or more information of a weather condition and a vehicle weight.

6. The autonomous emergency braking apparatus of claim 1 , wherein the compensation condition sensor comprises:
a weather prediction sensor configured to sense a motion of a wiper in the vehicle, a rainfall condition, and an outside temperature;
a map system configured to provide a road information from a map information system; and
a vehicle posture sensor configured to provide a state information of the vehicle.

7. The autonomous emergency braking apparatus of claim 1 , wherein the brake controller comprises:
a braking system configured to generate the braking force by operating a brake according to the braking command; and
an engine system configured to operate an engine brake according to the braking command, and stop an acceleration force.

8. The autonomous emergency braking apparatus of claim 1 , wherein the warning controller comprises one or more:
an alarm configured to output a warning sound;
a display configured to display a warning; and
an active seat belt controller configured to provide a wearing state of a seat belt to the controller, and pull the seat belt according to the braking command.

9. A control method of an autonomous emergency braking apparatus, comprising:
searching for, by a controller, a control target and a compensation condition through a front sensor and a compensation condition sensor;
setting, by the controller, the control target and determining a collision risk based on a sensed object information;
calculating, by the controller, a target braking force and a target braking point, when it is determined that there is a collision risk;
compensating for, by the controller, a braking command based on the compensation condition, and outputting the braking command to a brake controller; and
operating, by the controller, a warning controller according to the braking command,
wherein the setting of the control target comprises:
determining, by the controller, whether a reliability of a target information provided from a plurality of sensors of the front sensor is equal to or more than a preset level;
generating, by the controller, a fusion track for autonomous emergency braking, when the reliability of the target information is equal to or more than the preset level.

10. The control method of claim 9 , wherein the setting of the control target comprises:
determining, by the controller, whether the reliability of the target information is maintained, after generating the fusion track;
determining, by the controller, whether the reliability from a single sensor of the plurality of sensors is high, when the reliability of the target information is not maintained, and determining whether the target information is recovered within a preset time;
setting, by the controller, the control target using the fusion track, when the reliability of the target information is maintained or the target information is recovered within the preset time; and
removing, by the controller, the fusion track when the reliability of the target information is not maintained, the reliability from the single sensor is low, and the target information is not recovered within the preset time.

11. The control method of claim 9 , wherein in the searching for the compensation condition, the controller searches for one or more of a road gradient, a road flatness, a weather condition, and a vehicle weight.

12. The control method of claim 9 , wherein the object information comprises one or more of a relative distance from the control target, a velocity, an acceleration, and an object property.

Assignees

• Hyundai Mobis Co Ltd

Inventors

• Lee Joo Yeob

Classifications

• B60Y2400/81

  Braking systems · CPC title

• B60W2554/802

  Longitudinal distance · CPC title

• B60W2530/10

  Weight · CPC title

• B60W2050/146

  Display means · CPC title

• B60W40/02

  related to ambient conditions · CPC title