APPARATUS AND METHOD FOR DETECTING MOVING-OBJECT AROUND VEHICLE

• US 20130325311A1
• Filed: 11/30/2012
• Published: 12/05/2013
• Est. Priority Date: 05/31/2012
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Yoo, Kyung Ho, Lee, Hui Sung, Kwon, Hyoung Geun
• Granted Patent: US 9,251,705 B2
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

An apparatus including a processor configured to: detect a position of a vehicle and a plurality of positions of fixed objects located around the vehicle based on map coordinates; detect objects based on information measured using a distance measurement sensor disposed in the vehicle; detect a moving object among the detected objects; estimate a plurality of positions of the vehicle and the moving object after a fixed period of time based on a position, a speed, and a movement direction of the moving object; and calculate a degree of proximity risk for the moving object with respect to the vehicle based on a distance and a speed between the vehicle and the moving object.

Claims

1. An apparatus for detecting a moving object around a vehicle, the apparatus comprising:

a processor configured to;

detect a position of a vehicle and a plurality of positions of fixed-objects located around the vehicle based on map coordinates;

detect a plurality of objects based on information measured using a distance measurement sensor disposed in the vehicle;

detect a moving object among the plurality of detected objects;

estimate a plurality of positions of the vehicle and the moving object after a fixed period of time based on a position, a speed, and a movement direction of the moving object; and

calculate a degree of proximity risk of the moving object with respect to the vehicle based on a distance and a speed between the vehicle and the moving object.

2. The apparatus of claim 1, wherein the processor is further configured to display the moving object and the calculated degree of proximity risk corresponding to the moving object on a display screen disposed in the vehicle.

3. The apparatus of claim 1, wherein the processor is further configured to convert the position information of the detected objects measured by the distance measurement sensor into a plurality of map coordinates.

4. The apparatus of claim 1, wherein the processor is further configured to:

compare the plurality of position coordinates of the detected objects with the plurality of position coordinates of the fixed objects; and

exclude detected objects including position coordinates corresponding the plurality of position coordinates of the fixed objects.

5. A method of detecting a moving object around a vehicle, the method comprising:

detecting, by a processor, a position of a vehicle and a plurality of positions of a plurality of fixed objects around the vehicle based on map coordinates;

detecting, by the processor a plurality of objects based on information measured using a distance measurement sensor disposed in the vehicle;

detecting, by the processor, a moving object among the detected objects;

estimating, by the processor, a plurality of positions of the vehicle and the moving object after a fixed period of time based a position, a speed, and a movement direction of the moving object; and

calculating, by the processor, a degree of proximity risk of the moving object with respect to the vehicle based on a distance and a speed between the vehicle and the moving object.

6. The method of claim 5, further comprising displaying, by the processor, the moving object and the degree of proximity risk calculated corresponding to the moving object on a display screen disposed in the vehicle.

7. The method of claim 5, further comprising converting, by the processor, a position information of each detected object measured by the distance measurement sensor into map coordinates.

8. The method of claim 7, wherein the detecting a moving object further includes:

comparing, by the processor, a plurality of position coordinates of the detected objects with a plurality of position coordinates of the fixed objects; and

excluding, by the processor, detected objects including position coordinates corresponding to the plurality of position coordinates of the fixed objects.

9. A non-transitory computer readable medium containing program instructions executed by a processor, the computer readable medium comprising:

program instructions that detect a position of a vehicle and a plurality of positions of fixed-objects located around the vehicle based on map coordinates;

program instructions that detect a plurality of objects based on information measured using a distance measurement sensor disposed in the vehicle;

program instructions that detect a moving object among the plurality of detected objects;

program instructions that estimate a plurality of positions of the vehicle and the moving object after a fixed period of time based on a position, a speed, and a movement direction of the moving object; and

program instructions that calculate a degree of proximity risk of the moving object with respect to the vehicle based on a distance and a speed between the vehicle and the moving object.

10. The computer readable medium of claim 9, further comprising program instructions that display the moving object and the calculated degree of proximity risk corresponding to the moving object on a display screen disposed in the vehicle.

11. The computer readable medium of claim 9, further comprising program instructions that convert the position information of the detected objects measured by the distance measurement sensor into a plurality of map coordinates.

12. The computer readable medium of claim 9, further comprising:

program instructions that compare the plurality of position coordinates of the detected objects with the plurality of position coordinates of the fixed objects; and

program instructions that exclude detected objects including position coordinates corresponding the plurality of position coordinates of the fixed objects.