Collision prevention apparatus and collision preventing method

Patent metadata

Field	Value
Publication number	US-2017282915-A1
Application number	US-201715476707-A
Country	US
Kind code	A1
Filing date	Mar 31, 2017
Priority date	Apr 1, 2016
Publication date	Oct 5, 2017
Grant date	—

Abstract

Disclosed is an apparatus for preventing a collision. The apparatus includes: a detection unit configured to detect another vehicle located at a rear side of both lateral sides through a detection sensor including one or more radar sensors disposed at a rear side of a driver's vehicle to monitor the rear side of both lateral sides and one or more ultrasonic sensors disposed at the rear side of the driver's vehicle to monitor the rear side of both lateral sides; a determination unit configured to determine a movement direction of the other vehicle based on the location, select the other vehicle that moves in one direction including a transverse direction from the driver's vehicle as a target vehicle, and determine whether the target vehicle approaches or moves away from the driver's vehicle by tracking a driving trace of the target vehicle; and a controller configured to, when it is determined that the target vehicle approaches the driver's vehicle, select a fusion target vehicle based on track information of the other vehicle by output values of the radar sensors and distance information of the other vehicle by output values of the ultrasonic sensors, calculate a time of collision with the fusion target vehicle and, when the collision time is within a preset threshold time, make a control to operate one or more of a warning display device, an alarm output device, and a braking system.

First claim

What is claimed is:

1 . An apparatus for preventing a collision, the apparatus comprising:
a detection unit configured to detect another vehicle located at a rear side of both lateral sides through a detection sensor including one or more radar sensors disposed at a rear side of a driver's vehicle to monitor the rear side of both lateral sides and one or more ultrasonic sensors disposed at the rear side of the driver's vehicle to monitor the rear side of both lateral sides; a determination unit configured to determine a movement direction of the other vehicle based on the location, select the other vehicle that moves in one direction including a transverse direction from the driver's vehicle as a target vehicle, and determine whether the target vehicle approaches or moves away from the driver's vehicle by tracking a driving trace of the target vehicle; and a controller configured to, when it is determined that the target vehicle approaches the driver's vehicle, select a fusion target vehicle based on track information of the other vehicle by output values of the radar sensors and distance information of the other vehicle by output values of the ultrasonic sensors, calculate a time of collision with the fusion target vehicle and, when the collision time is within a preset threshold time, make a control to operate one or more of a warning display device, an alarm output device, and a braking system.

2 . The apparatus of claim 1 , wherein the controller calculates a time of collision with the fusion target vehicle with respect to a longitudinal direction and a time of collision with respect to a transverse direction from the driver's vehicle, and, when the time of collision with respect to the longitudinal direction is within a longitudinal threshold time and the time of collision with respect to the transverse direction is within a transverse threshold time, makes a control to operate one or more of the warning display device, the alarm output device, and the braking system.

3 . The apparatus of claim 1 , wherein the controller calculates a time of collision with respect to a longitudinal direction and a time of collision with respect to a transverse direction based on an acceleration of the fusion target vehicle with respect to the longitudinal direction of the driver's vehicle and an acceleration of the fusion target vehicle with respect to the transverse direction of the driver's vehicle.

4 . The apparatus of claim 3 , wherein the controller calculates the time of collision with respect to the longitudinal direction and the time of collision with respect to the transverse direction based on different equations when the acceleration of the fusion target vehicle with respect to the longitudinal direction of the driver's vehicle and the acceleration of the fusion target vehicle with respect to the transverse direction of the driver's vehicle are 0 and when the acceleration of the fusion target vehicle with respect to the longitudinal direction of the driver's vehicle and the acceleration of the fusion target vehicle with respect to the transverse direction of the driver's vehicle are not 0.

5 . The apparatus of claim 1 , wherein the controller makes a control to operate the warning display device when the time of collision is within a preset first threshold time, makes a control to operate the alarm output device when the time of collision is within a second threshold time shorter than the first threshold time, and makes a control to operate the braking system when the time of collision is within a third threshold time shorter than the second threshold time.

6 . The apparatus of claim 1 , wherein the detection unit detects a gear state of the driver's vehicle through a gear sensor and a speed of the driver's vehicle through a vehicle speed sensor and, when the gear state corresponds to a reverse gear state and the speed of the driver's vehicle is equal to or lower than a preset threshold speed, detects the other vehicle through the detection sensor.

7 . The apparatus of claim 1 , wherein the controller selects a target vehicle, of which track information of the other vehicle measured by the radar sensors corresponds to a direction toward the driver's vehicle and of which distance information of the other vehicle measured by the ultrasonic sensors is within a predetermined distance from the driver's vehicle, as a fusion target vehicle.

8 . The apparatus of claim 1 , wherein the determination unit determines whether the other vehicle approaches or moves away from the driver's vehicle based on a relative speed of the other vehicle calculated based on the location of the other vehicle.

9 . A method of preventing collision, the method comprising:
detecting another vehicle located at a rear side of both lateral sides through a detection sensor including one or more radar sensors disposed at a rear side of a driver's vehicle to monitor the rear side of both lateral sides and one or more ultrasonic sensors disposed at the rear side of the driver's vehicle to monitor the rear side of both lateral sides; determining a movement direction of the other vehicle based on the location; selecting the other vehicle that moves in one direction including a transverse direction from the driver's vehicle as a target vehicle and determining whether the target vehicle approaches or moves away from the driver's vehicle by tracking a driving trace of the target vehicle; when it is determined that the target vehicle approaches the driver's vehicle, selecting a fusion target vehicle based on track information of the other vehicle by output values of the radar sensors and distance information of the other vehicle by output values of the ultrasonic sensors, and calculating a time of collision with the fusion target vehicle; and when the collision time is within a preset threshold time, making a control to operate one or more of a warning display device, an alarm output device, and a braking system.

10 . The method of claim 9 , wherein the making the control comprises calculating a time of collision with the fusion target vehicle with respect to a longitudinal direction and a time of collision with respect to a transverse direction from the driver's vehicle and, when the time of collision with respect to the longitudinal direction is within a longitudinal threshold time and the time of collision with respect to the transverse direction is within a transverse threshold time, making a control to operate one or more of the warning display device, the alarm output device, and the braking system.

11 . The method of claim 9 , wherein the making the control comprises calculating a time of collision with respect to a longitudinal direction and a time of collision with respect to a transverse direction based on an acceleration of the fusion target vehicle with respect to the longitudinal direction of the driver's vehicle and an acceleration of the fusion target vehicle with respect to the transverse direction of the driver's vehicle.

12 . The method of claim 11 , wherein the making the control comprises calculating the time of collision with respect to the longitudinal direction and the time of collision with respect to the transverse direction based on different equations when the acceleration of the fusion target vehicle with respect to the longitudinal direction of the driver's vehicle and the acceleration of the fusion target vehicle with respect to the transverse direction of the driver's vehicle are and when the acceleration of the fusion target vehicle with respect to the longitudinal direction of the driver's vehicle and the acceleration of the fusion target vehicle with respect to the transverse dire

Assignees

• Mando Corp

Inventors

• Kim Jae Suk
• Noh Tae Bong

Classifications

• B60W10/18

  including control of braking systems · CPC title

• B60W50/14 Primary

  Means for informing the driver, warning the driver or prompting a driver intervention · CPC title

• B60W2050/146

  Display means · CPC title

• B60W2050/143

  Alarm means · CPC title

• B60W2420/54

  Audio sensitive means, e.g. ultrasound · CPC title