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Vehicle and method for collision avoidance assistance

  • US 10,643,473 B2
  • Filed: 08/29/2017
  • Issued: 05/05/2020
  • Est. Priority Date: 04/11/2017
  • Status: Active Grant
First Claim
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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.

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