Driving assistance apparatus and driving assistance method

• US 10,035,506 B2
• Filed: 09/07/2016
• Issued: 07/31/2018
• Est. Priority Date: 09/14/2015
• Status: Active Grant

• Current Assignee: HL Klemove Corporation
• Original Assignee: Mando Corporation
• Inventors: Sim, Sang Kyun
• Primary Examiner(s): Patel, Shardul D
• Application Number:
  US15/257,916
• Publication Number:
  US 20170072950A1
• Time in Patent Office: 692 Days
• Field of Search: 701 41, 701 29, 701 23, 701 25, 701 46, 701 96, 340903, 34235725
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering

Abstract

A driving assistance apparatus including: a first detecting unit that monitors around areas of the vehicle to detect an object; an estimating unit that tracks objects detected in at least one area among the around areas, to estimate the movement of the object; a selecting unit that selects a target object from the objects based on the estimated movement condition; a determining unit that calculates the time to collision (TTC) with the target object, and determines a level of collision risk based on the TTC; a first controller that controls a braking device if the risk corresponds to Level 2; a second detecting unit that monitors the rear of the vehicle to detect a rear object if the risk corresponds to Level 3; and a second controller that controls the braking device or a steering device based on the rear object detection.

Claims

1. A driving assistance apparatus comprising:

a first detecting unit configured to monitor the front area of the vehicle, the left and right front areas of the vehicle, and both lateral areas of the vehicle in order to thereby detect an object by using one or more cameras and one or more radars;

an estimating unit configured to track one or more objects that are detected in at least one of the front area, the left and right front areas, or both of the lateral areas in order to thereby estimate a movement of each of the tracked objects;

a selecting unit configured to select a target object from the one or more objects based on conditions for estimating the movement of each of the tracked objects; and

a determining unit configured to

calculate the time to collision (TTC) with the target object, and

determine whether or not a risk of collision with a rear object is occurred based on the conditions and the calculated time to collision such that the vehicle is controlled considering the rear object, wherein the risk of collision is determined to be one of three separated levels based on the calculated time to collision;

wherein the driving assistance apparatus controls either or both of a braking device and a steering device of the vehicle based on the determination that the risk of collision with a rear object is occurred by further comprising;

a first controller configured to partially control the braking device of the vehicle when the risk of collision with the target object corresponds to Level 2;

a second detecting unit configured to monitor the rear of the vehicle in order to thereby detect the rear object when the risk of collision with the target object corresponds to Level 3, which is higher in risk than Level 2; and

a second controller configured to control the braking device or the steering device based on whether or not the rear object is detected.

2. The apparatus according to claim 1, wherein the selecting unit selects the target object by applying, to each of the one or more objects, a first condition in which the object is detected in the front area, a second condition in which the object is detected in a predetermined target area, a third condition in which the movement is made toward the target area, and a fourth condition in which the object is detected in a nearby position.

3. The apparatus according to claim 1, wherein the second controller controls the braking device if no rear object is detected.

4. The apparatus according to claim 1, wherein when the rear object is detected, the second controller determines the risk of collision with the rear object when operating the braking device, and when it is determined that there is no risk of collision, the second controller controls the braking device.

5. The apparatus according to claim 1, wherein when the rear object is detected, the second controller determines the risk of collision with the rear object when operating the braking device, and when it is determined that there is the risk of collision with the rear object, and when an object is detected in the left and right front areas, the second controller controls the braking device.

6. The apparatus according to claim 1, wherein when the rear object is detected, the second controller determines the risk of collision with the rear object when operating the braking device, and when it is determined that there is the risk of collision with the rear object, but when no object is detected in the left and right front areas, the second controller controls the steering device.

7. The apparatus according to claim 1, wherein when the rear object is detected, the second controller makes a further control to operate an air bag that is installed in the back seat.

8. The apparatus according to claim 7, wherein the operated air bag is recognized through a rear windshield from the rear.

9. The apparatus according to claim 7, wherein the operated air bag comes out, in part, through a window.

10. The apparatus according to claim 1, wherein when the rear object is detected, the second controller makes a further control to open a trunk.

11. The apparatus according to claim 10, wherein the trunk comprises a notification device corresponding to a light-emitting signal stick or a warning triangle, and the notification device is operated when the trunk is opened by the second controller.

12. The apparatus according to claim 1, wherein when the rear object is detected, the second controller makes a further control to operate taillights.

13. The apparatus according to claim 12, wherein the left and right taillights are alternately operated.

14. The apparatus according to claim 1, wherein when the rear object is detected, the second controller makes a further control to provide information on a risk of collision with the vehicle to the rear object by using communication.

15. The apparatus according to claim 1, wherein when the rear object is detected, and when the distance between the stopped vehicle and the target object exceeds a predetermined safety distance, the second controller further controls the stopped vehicle to move forward.

16. A driving assistance method comprising:

a first detecting operation of monitoring the front area of the vehicle, the left and right front areas of the vehicle, and both lateral areas of the vehicle in order to thereby detect an object by using one or more cameras and one or more radars;

an estimating operation of tracking one or more objects that are detected in at least one of the front area, the left and right front areas, or both of the lateral areas in order to thereby estimate a movement of each of the tracked objects;

a selecting operation of selecting a target object from the one or more objects based on conditions for estimating the movement of each of the tracked objects; and

a determining operation of

calculating the time to collision (TTC) with the target object and determining whether or not a risk of collision with a rear object is occurred based on the conditions and the calculated time to collision such that the vehicle is controlled considering the rear object, wherein the risk of collision is determined to be one of three separated levels based on the time to collision;

wherein the driving assistance method controls either or both of a braking device and a steering device of the vehicle based on the determination that the risk of collision with a rear object is occurred by further comprising;

a first control operation of partially controlling the braking device of the vehicle when the risk of collision with the target object corresponds to Level 2;

a second detecting operation of monitoring the rear area of the vehicle in order to thereby detect the rear object when the risk of collision with the target object corresponds to Level 3 in which the risk of collision with the target object is higher in risk than that of Level 2; and

a second control operation of controlling the braking device or the steering device based on whether or not the rear object is detected.

17. The method according to claim 16, wherein the second control operation comprises:

determining the risk of collision with the rear object while operating the braking device if a rear object is detected; and

controlling the braking device when it is determined that there is no risk of collision.

18. The method according to claim 16, wherein the second control operation comprises:

determining the risk of collision with the rear object while operating the braking device when the rear object is detected; and

controlling the braking device when it is determined that there is the risk of collision and when an object is detected in the left and right front areas.

19. The method according to claim 16, wherein the second control operation comprises:

determining the risk of collision with the rear object while operating the braking device when the rear object is detected; and

controlling the steering device when it is determined that there is the risk of collision but when no object is detected in the left and right front areas.