Autonomous braking system and autonomous braking method

Patent metadata

Field	Value
Publication number	US-2016347293-A1
Application number	US-201514720843-A
Country	US
Kind code	A1
Filing date	May 25, 2015
Priority date	May 25, 2015
Publication date	Dec 1, 2016
Grant date	—

Abstract

An autonomous braking system includes a detecting module, a tracing module, a collision path prediction module, a memory register, a collision time prediction module and a decision module. The detecting module recognizes multiple objects located ahead of a vehicle, and then the tracing module traces the moving objects. The collision path prediction module is used to obtain a possible collision range and a non-collision range. The memory register records the coordinate of the objects located within the possible collision range. When one of the objects moves out of the possible collision range, its data is instantaneously removed from the memory register. The collision time prediction module predicts a collision time between the vehicle and each of the objects. The decision module determines if a brake assist is activated in accordance with the collision time.

First claim

What is claimed is:

1 . An autonomous braking system, comprising:
a detecting module configured to detect and recognize one or more objects located ahead of a vehicle; a tracing module configured to trace the one or more objects which are dynamically moving; a collision path prediction module configured to predict a collision path between the vehicle and the one or more objects in accordance with a vehicle dynamic message, and to define a possible collision range and a non-collision range in accordance with the collision path and a position of each of the one or more objects; a memory register configured to record one or more coordinate positions of the one or more objects which are located within the possible collision range, wherein when multiple objects are located within the possible collision range, one or more coordinate positions of the one or more objects are recorded in the memory register at the same time, and when one of the one or more objects which are originally located within the possible collision range moves out of the possible collision range, its data is removed from the memory register; a collision time prediction module configured to predict a collision time between the vehicle and each of the one or more objects; and a decision module configured to determine if a brake assist is activated in accordance with the collision time.

2 . The autonomous braking system of claim 1 , wherein the detecting module comprises:
a depth capturing unit configured to detect and obtain spatial information of each of the one or more objects; an image capturing unit configured to capture one or more images of each of the one or more objects and to perform recognition to obtain image feature information; and a composite processing unit configured to receive the spatial information and the image feature information, and to perform a scoring scheme to determine one or more kinds to which the objects belong.

3 . The autonomous braking system of claim 1 , wherein the detecting module comprises a Global Positioning System (GPS) and a Dedicated Short Range Communication (DSRC), wherein the GPS is used to obtain a latitude and longitude coordinates of the vehicle; the DSRC is used to transmit messages between the vehicle and each of the one or more objects, thereby obtaining a relative position, a relative distance, a relative angle and a relative speed between the vehicle and each of the one or more objects; and one or more kinds to which the one or more objects belong to are obtained through a recognition code.

4 . The autonomous braking system of claim 1 , when one of objects is originally located within the non-collision range, its data is not recorded.

5 . The autonomous braking system of claim 1 , wherein the tracing module traces the objects which are dynamically moving through an Extended Kalman Filter, and the Extended Kalman Filter is represented by the following formulas:

A
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where,
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yp i is a y coordinate of the one or more obje

Assignees

• Automotive Res & Testing Ct

Inventors

• Chen Shun-Hung
• Chen Jiun-Jie
• Chang Liang-Cheng

Classifications

• B60T7/22 Primary

  initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle} · CPC title

• B60T8/172

  Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters {(B60T8/17551 takes precedence)} · CPC title

• B60T2201/03

  Brake assistants · CPC title

• B60T2210/36

  Global Positioning System [GPS] · CPC title

• B60T2201/022

  Collision avoidance systems · CPC title