Collision prevention apparatus and method, and driving support apparatus

Patent metadata

Field	Value
Publication number	US-2020001839-A1
Application number	US-201916369689-A
Country	US
Kind code	A1
Filing date	Mar 29, 2019
Priority date	Jun 28, 2018
Publication date	Jan 2, 2020
Grant date	—

Abstract

The present embodiments relate to a collision prevention apparatus and method, and a driving support apparatus. The collision prevention apparatus may comprise: a collision risk determiner that determines a collision risk of a vehicle, a driving intervention determiner that determines driving intervention of a driver, and a collision prevention controller that controls a collision risk alert according to a result of determination on a collision risk of the vehicle, and adjusts a braking time point of the vehicle according to a result of determination on driving intervention of the driver.

First claim

1 . A collision prevention apparatus comprising:
a collision risk determiner configured to determine a collision risk of the vehicle; a driving intervention determiner configured to determine driving intervention of a driver; and a collision prevention controller configured to control a collision risk alert according to a result of determination on a collision risk of the vehicle and adjust a braking time point of the vehicle according to a result of determination on driving intervention of the driver, wherein the collision risk determiner performs comparison of at least one between speed values of forward vehicles and a predetermined reference speed value, and between acceleration values of the forward vehicles and a predetermined reference acceleration value, and determines the collision risk of the vehicle according to a comparison result, and adjusts at least one of the predetermined reference speed value and the predetermined reference acceleration value according to a vehicle driving time of the driver, wherein the collision prevention controller maintains the braking time point of the vehicle if the driver is intervened in driving, and advances the braking time point of the vehicle if the driver is not intervened in driving, and wherein, if the forward vehicles, detected by a radar sensor mounted to be oriented downwards from horizontal on the front of the vehicle, comprise a first forward vehicle located in front of the vehicle, a second forward vehicle located in front of the first forward vehicle, and a third forward vehicle located in front of the second forward vehicle, the collision risk determiner determines that there is a collision risk of the vehicle in at least one of a case where a speed value of the first forward vehicle is smaller than the predetermined reference speed value, a case where a speed value of the second forward vehicle is smaller than the predetermined reference speed value, a case where a speed value of the third forward vehicle is smaller than the predetermined reference speed value, a case where an acceleration value of the first forward vehicle is smaller than a predetermined acceleration value, a case where an acceleration value of the second forward vehicle is smaller than the predetermined acceleration value, and a case where an acceleration value of the third forward vehicle is smaller than the predetermined acceleration value.

2 . (canceled)

3 . The collision prevention apparatus of claim 1 , wherein the collision risk determiner determines the collision risk of the vehicle on the basis of speed reduction state information of forward vehicles.

4 . (canceled)

5 . (canceled)

6 . (canceled)

7 . The collision prevention apparatus of claim 1 , wherein the driving intervention determiner performs comparison of at least one between a steering angle value and a predetermined reference steering angle value, between a brake pedal pressure value and a predetermined reference brake pedal pressure value, and between an accelerator pedal change value and a predetermined reference accelerator pedal change value, and determines driving intervention of the driver according to a comparison result.

8 . The collision prevention apparatus of claim 1 , wherein the collision prevention controller performs control to cause a collision risk alert to be generated when there is a collision risk of the vehicle, and after the collision risk alert is generated, adjusts a braking time point of the vehicle according to a result of determination on driving intervention of the driver.

9 . The collision prevention apparatus of claim 8 , wherein the collision prevention controller adjusts, when the driver does not intervene in driving, the braking time point of the vehicle on the basis of at least one value among a value of a time to collision (TTC) between forward vehicles and a value of a distance between the forward vehicles.

10 . The collision prevention apparatus of claim 9 , wherein the collision prevention controller performs comparison of at least one between a value of time to collision between the forward vehicles and a predetermined reference value of time to collision, and between a value of the distance between the forward vehicles and a predetermined reference distance value, and adjusts the braking time point of the vehicle according to a comparison result.

11 . The collision prevention apparatus of claim 10 , wherein the collision prevention controller moves up the braking time point of the vehicle before a current braking time point of the vehicle in at least one of a case where the value of time to collision between the forward vehicles is smaller than the predetermined reference value of time to collision, and a case where the value of the distance between the forward vehicles is smaller than the predetermined reference distance value.

12 . The collision prevention apparatus of claim 10 , wherein, when the forward vehicles comprise a first forward vehicle located in front of the vehicle, a second forward vehicle located in front of the first forward vehicle, and a third forward vehicle located in front of the second forward vehicle, the collision prevention controller moves up the braking time point of the vehicle to control the vehicle, in at least one of a case where a value of time to collision (TTC) between the first and second forward vehicles is smaller than the predetermined value of time to collision, a case where a value of time to collision (TTC) between the second and third forward vehicles is smaller than the predetermined value of time to collision, a case where a value of a distance between the first and second forward vehicles is smaller than the predetermined distance value, and a case where a value of a distance between the second and third forward vehicles is smaller than the predetermined distance value.

13 . (canceled)

14 . A driving support apparatus comprising:
an information acquisition module configured to acquire at least one of state information of the vehicle and state information of nearby vehicles; an alert module configured to generate a collision risk alert; a collision prevention module configured to determines a collision risk of the vehicle on the basis of at least one piece of information among the state information of the vehicle and the state information of the nearby vehicles, controls operation of the alert module according to a result of determination on the collision risk of the vehicle, determines driving intervention of a driver, adjusts a braking time point of the vehicle according to a result of determination on driving intervention of the driver, and a control module configured to controls the vehicle to be braked based on the braking time point of the vehicle, wherein the collision prevention module further configured to: perform comparison of at least one between speed values of forward vehicles and a predetermined reference speed value, and between acceleration values of the forward vehicles and a predetermined reference acceleration value, and determine the collision risk of the vehicle according to a comparison result, adjust at least one of the predetermined reference speed value and the predetermined reference acceleration value according to a vehicle driving time of the driver, and maintain the braking time point of the vehicle if the driver is intervened in driving, and advance the braking time point of the vehicle if the driver is not intervened in driving, and wherein, if the forward vehicles, detected by a radar sensor mounted to be oriented downwards from horizontal on the front of the vehicle, comprise a first forward vehicle located in front of t

Assignees

• Mando Corp

Inventors

• Lee Sang Yeob

Classifications

• B60W30/09 Primary

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

• B60W2554/804

  Relative longitudinal speed · CPC title

• B60Q9/008

  for anti-collision purposes · CPC title

• B60T8/17558

  specially adapted for collision avoidance or collision mitigation (road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09) · CPC title

• 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