Driver assistance apparatus for vehicle and vehicle having the same

• US 10,071,741 B2
• Filed: 09/01/2016
• Issued: 09/11/2018
• Est. Priority Date: 09/03/2015
• Status: Active Grant

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: LG Electronics, Inc. (LG Corporation)
• Inventors: Lee, Jeihun, Lee, Hansung, Choi, Soohwan
• Primary Examiner(s): Shaawat, Mussa A
• Application Number:
  US15/254,299
• Publication Number:
  US 20170066449A1
• Time in Patent Office: 740 Days
• CPC Class Codes: B60G 17/019 characterised by the type of sensor or the arrangement thereof B60G17/01941 takes precedence
• CPC Class Codes: B60G 17/02 Spring characteristics , e.g. mechanical springs and mechanical adjusting meansB60G17/005, B60G17/015 take precedence
• CPC Class Codes: B60G 2401/142 Visual Display Camera, e.g. LCD
• CPC Class Codes: B60G 2500/30 Height or ground clearance
• CPC Class Codes: B60G 2800/222 during collision
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/22 including control of suspension systems
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/22 Suspension systems
• CPC Class Codes: B60W 40/04 Traffic conditions

Abstract

A driver assistance apparatus includes an object detection sensor configured to acquire data in a driving direction of a vehicle or around the vehicle. The driver assistance apparatus also includes a processor that is configured to detect an object based on the acquired data and determine, based on the acquired data, a portion of the detected object that is expected to be impacted by the vehicle. The processor is also configured to provide, based on the determined portion of the detected object that is expected to be impacted by the vehicle, a height control signal that controls a suspension of the vehicle to adjust a height of at least a portion of the vehicle.

Claims

1. A driver assistance apparatus comprising:

an object detection sensor configured to acquire data in a driving direction of a vehicle or around the vehicle; and

at least one processor configured to;

detect an object based on the acquired data;

determine, based on the acquired data, a portion of the detected object that is expected to be impacted by the vehicle; and

provide, based on the determined portion of the detected object that is expected to be impacted by the vehicle, a height control signal that controls a suspension of the vehicle to adjust a height of at least a portion of the vehicle,

wherein the object detection sensor includes at least one camera,

wherein the at least one processor is configured to;

detect, based on the acquired data, that the object is a pedestrian;

determine that the detected pedestrian is expected to be impacted by the vehicle in a primary collision and in a secondary collision after the primary collision; and

provide, based on the determination that that the detected pedestrian is expected to be impacted by the vehicle in the primary collision and in the secondary collision after the primary collision, the height control signal that controls the suspension of the vehicle such that the suspension of the vehicle absorbs a shock of the secondary collision with the pedestrian,

wherein the at least one processor is further configured to;

detect a height to which the pedestrian is lifted in a vehicle front view image from the camera; and

determine a time to lower the front wheel suspensions based on the lift height of the pedestrian,

wherein the primary collision is a collision between the pedestrian and a part of the bumper of the vehicle, and

wherein the secondary collision is a collision between the pedestrian and a hood, windshield, or roof of the vehicle.

2. The driver assistance apparatus according to claim 1, wherein the at least one processor is configured to:

determine that the pedestrian is expected to be impacted by the vehicle in a primary collision;

determine that, in a secondary collision after the primary collision, the head of the pedestrian is expected to be impacted by the hood of the vehicle; and

provide, based on the determination that the head of the pedestrian is expected to be impacted by the hood of the vehicle in the secondary collision, the height control signal that controls the suspension such that a first area of the hood of the vehicle is positioned to impact the head of the pedestrian in the secondary collision.

3. The driver assistance apparatus according to claim 2, wherein the at least one processor is configured to:

detect that the vehicle performs a braking operation related to the primary collision in which the pedestrian is expected to be impacted by the vehicle; and

provide the height control signal to control a front wheel suspension of the vehicle.

4. The driver assistance apparatus according to claim 2, wherein the at least one processor is configured to provide the height control signal that controls the suspension such that the first area of the hood of the vehicle is positioned to impact the head of the pedestrian in the secondary collision by:

determining a portion of the hood through which a pedestrian airbag is configured to inflate; and

setting the first area of the hood to be the portion of the hood through which the pedestrian airbag is configured to inflate.

5. The driver assistance apparatus according to claim 2, wherein the at least one processor is further configured to:

detect, based on the data acquired in the driving direction of the vehicle or around the vehicle, a height of the pedestrian; and

provide the height control signal to control the suspension of the vehicle based on the detected height of the pedestrian.

6. The driver assistance apparatus according to claim 5, wherein the at least one processor is further configured to:

determine that the detected height of the pedestrian is greater than or equal to a first reference value; and

provide, based on the determination that the detected height of the pedestrian is greater than or equal to a first reference value, the height control signal to control a front wheel suspension of the vehicle.

7. The driver assistance apparatus according to claim 6, wherein the at least one processor is further configured to provide, based on the determination that the detected height of the pedestrian is greater than or equal to the first reference value, the height control signal to control the front wheel suspension of the vehicle by:

providing the height control signal to control the front wheel suspension of the vehicle such that a portion of a front bumper of the vehicle is expected to make an initial contact with the pedestrian at a portion of the pedestrian corresponding to a location of at least one knee of the pedestrian.

8. The driver assistance apparatus according to claim 5, wherein the at least one processor is configured to provide the height control signal to control the suspension of the vehicle based on the detected height of the pedestrian by:

determining that the height of the pedestrian is less than or equal to a second reference value; and

providing the height control signal to lower a front wheel suspension of the vehicle.

9. The driver assistance apparatus according to claim 1, wherein the at least one processor is configured to provide the height control signal that controls the suspension of the vehicle such that the suspension of the vehicle absorbs the shock of the secondary collision with the pedestrian by:

providing the height control signal such that a front wheel suspension of the vehicle is lowered during the secondary collision with the pedestrian.

10. The driver assistance apparatus according to claim 9, wherein providing the height control signal such that the front wheel suspension of the vehicle is lowered during the secondary collision with the pedestrian comprises:

determining a lift direction of the detected pedestrian after the primary collision with the pedestrian; and

providing the height control signal based on the determined lift direction of the detected pedestrian after the primary collision with the pedestrian such that a height of a left wheel suspension of the vehicle differs from a height of a right wheel suspension of the vehicle.

11. The driver assistance apparatus according to claim 9, wherein providing the height control signal such that the front wheel suspension of the vehicle is lowered during the secondary collision with the pedestrian comprises:

determining a lift direction of the detected pedestrian after the primary collision with the pedestrian; and

providing the height control signal based on the determined lift direction of the detected pedestrian after the primary collision with the pedestrian such that a height of the front wheel suspension of the vehicle differs from a height of a rear wheel suspension of the vehicle.

12. The driver assistance apparatus according to claim 1, wherein the at least one processor is configured to provide the height control signal that controls the suspension of the vehicle such that the suspension of the vehicle absorbs a shock of the secondary collision with the pedestrian by:

providing the height control signal that controls the suspension of the vehicle such that a hood of the vehicle lifts up prior to the secondary collision and after the primary collision with the pedestrian.

13. The driver assistance apparatus according to claim 1, wherein the at least one processor is configured to provide the height control signal that controls the suspension of the vehicle such that the suspension of the vehicle absorbs a shock of the secondary collision with the pedestrian by:

determining a lift direction of the detected pedestrian after the primary collision with the pedestrian; and

providing, based on the determined lift direction of the detected pedestrian after the primary collision with the pedestrian, the height control signal to control a lift-up operation of a hood of the vehicle by operation of a first actuator disposed on a left side of the vehicle and a second actuator disposed on a right side of the vehicle such that a degree of operation of the first actuator differs from a degree of operation of the second actuator.

14. The driver assistance apparatus according to claim 1, wherein the at least one processor is further configured to:

detect, based on the data acquired in the driving direction of the vehicle, a curve in a road ahead of the vehicle; and

provide, based on detection of the curve in the road ahead of the vehicle, the height control signal to control a left wheel suspension of the vehicle or a right wheel suspension of the vehicle.

15. The driver assistance apparatus according to claim 1, further comprising:

an interface unit configured to receive, through a sensing unit, travel speed information of the vehicle,

wherein the at least one processor is further configured to;

detect a degree of curvature of a curve in a road ahead of the vehicle and a speed of the vehicle entering the curve in the road; and

provide the height control signal to control a height of a left wheel suspension of the vehicle or a right wheel suspension of the vehicle based on the detected degree of curvature of the curve in the road ahead of the vehicle and the detected speed of the vehicle entering the curve in the road.

16. The driver assistance apparatus according to claim 1, further comprising:

an interface unit configured to communicate with a power source drive unit that provides driving power to the vehicle,

wherein the at least one processor is further configured to;

detect a front collision or a rear-end collision with the detected object; and

provide a control signal to the power source drive unit to disable driving power to the vehicle.

17. The driver assistance apparatus according to claim 1, wherein the at least one processor is configured to:

detect, based on the data acquired in the driving direction of the vehicle, road surface condition information for a road ahead of the vehicle; and

provide the height control signal based on the detected road surface condition information.

18. The driver assistance apparatus according to claim 1, wherein the at least one processor is configured to:

determine that a trunk of the vehicle has opened; and

provide, based on the determination that the trunk of the vehicle has opened, the height control signal to lower a rear wheel suspension of the vehicle.

19. A vehicle comprising:

a driver assistance apparatus comprising;

an object detection sensor configured to acquire data in a driving direction of the vehicle or around the vehicle; and

at least one first processor configured to;

detect an object based on the acquired data;

determine, based on the acquired data, a portion of the detected object that is expected to be impacted by the vehicle;

provide, based on the determined portion of the detected object that is expected to be impacted by the vehicle, a height control signal that controls a suspension of the vehicle to adjust a height of at least a portion of the vehicle; and

a suspension apparatus comprising;

an interface unit configured to receive the height control signal; and

at least one second processor configured to control a height of the suspension of the vehicle according to the received height control signal,

wherein the object detection sensor includes at least one camera,

wherein the at least one first processor is configured to;

detect, based on the acquired data, that the object is a pedestrian;

determine that the detected pedestrian is expected to be impacted by the vehicle in a primary collision and in a secondary collision after the primary collision; and

provide, based on the determination that that the detected pedestrian is expected to be impacted by the vehicle in the primary collision and in the secondary collision after the primary collision, the height control signal that controls the suspension of the vehicle such that the suspension of the vehicle absorbs a shock of the secondary collision with the pedestrian,

wherein the at least one first processor is further configured to;

detect a height to which the pedestrian is lifted in a vehicle front view image from the camera; and

determine a time to lower the front wheel suspensions based on the lift height of the pedestrian,

wherein the primary collision is a collision between the pedestrian and a part of the bumper of the vehicle, and

wherein the secondary collision is a collision between the pedestrian and a hood, windshield, or roof of the vehicle.

20. A method performed by a driver assistance apparatus, the method comprising:

detecting an object based on data acquired by an object detection sensor including at least one camera, the data acquired in a driving direction of a vehicle or around the vehicle;

determining, based on the acquired data, a portion of the detected object that is expected to be impacted by the vehicle; and

providing, based on the determined portion of the detected object that is expected to be impacted by the vehicle, a height control signal that controls a suspension of the vehicle to adjust a height of at least a portion of the vehicle,

wherein the method further comprises;

detecting, based on the acquired data, that the object is a pedestrian;

determining that the detected pedestrian is expected to be impacted by the vehicle in a primary collision and in a secondary collision after the primary collision; and

providing, based on the determination that that the detected pedestrian is expected to be impacted by the vehicle in the primary collision and in the secondary collision after the primary collision, the height control signal that controls the suspension of the vehicle such that the suspension of the vehicle absorbs a shock of the secondary collision with the pedestrian,

wherein the method further comprises;

detecting a height to which the pedestrian is lifted in a vehicle front view image from the camera; and

determining a time to lower the front wheel suspensions based on the lift height of the pedestrian,

wherein the primary collision is a collision between the pedestrian and a part of the bumper of the vehicle, and

wherein the secondary collision is a collision between the pedestrian and a hood, windshield, or roof of the vehicle.