Vehicle and method for collision avoidance assistance
First Claim
1. A vehicle comprising:
- a camera configured to obtain an image of an object behind the vehicle, and obtain coordinates of at least one feature point spaced a predetermined distance from the object;
a controller configured to;
establish an estimated value of a vector indicating a state of the vehicle based on coordinates of the vehicle, coordinates of the object, and the coordinates of the at least one feature point,determine a differential value of the estimated value of the vector based on a backing up speed of the vehicle, a yaw, a distance of an axle of a wheel, and a steering angle,determine a predicted value of the estimated value of the vector based on the differential value of the estimated value of the vector,correct the predicted value of the estimated value of the vector based on the coordinates of the object and the coordinates of the at least one feature point obtained by the camera,determine the estimated value of the vector based on the corrected predicted value of the estimated value of the vector,calculate a distance between the camera and the object based on the determined estimated value of the vector,determine the predicted value of the estimated value of the vector and a predicted value of a covariance matrix indicating the state of the vehicle based on the determined differential value, andtransmit a collision warning signal based on the calculated distance; and
a notification unit configured to output a collision warning based on the transmitted collision warning signal.
1 Assignment
0 Petitions
Accused Products
Abstract
A vehicle for collision avoidance assistance may include: a camera to obtain an image of an object behind the vehicle, and obtain coordinates of a feature point spaced apart from the object, a controller, and a notification unit to output a collision warning. In particular, the controller sets an estimated value of a vector indicating a state of the vehicle based on coordinates of the vehicle, coordinates of the object, and the coordinates of the feature point, determine a predicted value of the estimated value of the vector based on a result of differentiating the estimated value of the vector with respect to time, correct the predicted value, determine the estimated value of the vector, and calculate a distance between the camera and the object to transmit a collision warning signal to the notification unit.
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Citations
17 Claims
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1. A vehicle comprising:
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a camera configured to obtain an image of an object behind the vehicle, and obtain coordinates of at least one feature point spaced a predetermined distance from the object; a controller configured to; establish an estimated value of a vector indicating a state of the vehicle based on coordinates of the vehicle, coordinates of the object, and the coordinates of the at least one feature point, determine a differential value of the estimated value of the vector based on a backing up speed of the vehicle, a yaw, a distance of an axle of a wheel, and a steering angle, determine a predicted value of the estimated value of the vector based on the differential value of the estimated value of the vector, correct the predicted value of the estimated value of the vector based on the coordinates of the object and the coordinates of the at least one feature point obtained by the camera, determine the estimated value of the vector based on the corrected predicted value of the estimated value of the vector, calculate a distance between the camera and the object based on the determined estimated value of the vector, determine the predicted value of the estimated value of the vector and a predicted value of a covariance matrix indicating the state of the vehicle based on the determined differential value, and transmit a collision warning signal based on the calculated distance; and a notification unit configured to output a collision warning based on the transmitted collision warning signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method of controlling a vehicle, comprising:
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obtaining, by a rear camera, an image of an object behind a vehicle which is backing up by photographing the object; obtaining, by the camera, coordinates of at least one feature point spaced a predetermined distance from the object; establishing, by a controller, an estimated value of a vector representing a state of the vehicle based on coordinates of the vehicle, coordinates of the object, and the coordinates of the at least one feature point; determining a differential value of the estimated value of the vector based on a backing up speed of the vehicle, a yaw, a distance of an axle of a wheel, and a steering angle; determining, by the controller, a predicted value of the estimated value of the vector and a predicted value of a covariance matrix indicating the state of the vehicle based on the differential value of the estimated value of the vector; correcting, by the controller, the predicted value of the estimated value of the vector based on the coordinates of the object and the coordinates of the at least one feature point obtained by the rear camera; determining, by the controller, the estimated value of the vector based on the corrected predicted value of the estimated value of the vector based, and calculating a distance between the rear camera and the object based on the determined estimated value of the vector; and transmitting, by the controller, a collision warning signal when the calculated distance is less than a predetermined value; and outputting, by a notification unit, a collision warning based on the transmitted collision warning signal.
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Specification