METHOD AND APPARATUS OF PREDICTING COLLISION FOR OMNIDIRECTIONAL APPLICATION WITHIN EMERGENCY BRAKE SYSTEM

• US 20160052515A1
• Filed: 11/25/2014
• Published: 02/25/2016
• Est. Priority Date: 08/21/2014
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Park, Kwang Jin, Choi, Jae Woong
• Granted Patent: US 9,290,179 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 40/105 Speed
• CPC Class Codes: B60W 40/114 Yaw movement

Abstract

A method and an apparatus for predicting a collision are provided. The method includes calculating, by a controller, a driving trajectory of the subject vehicle based on a yaw rate using driving information of the subject vehicle. In addition, the controller is configured to calculate a driving trajectory of a target vehicle for a predetermined period of time that uses driving information of the target vehicle that includes information from an imaging device, configured to obtain a front image, and radar sensors installed on a plurality of locations. Further, the method also includes predicting classified collision types by analyzing a collision possibility between the subject vehicle and the target vehicle based on the driving trajectory of the subject vehicle and the driving trajectory of the target vehicle.

Claims

1. A method for predicting a collision with a target vehicle by a subject vehicle, comprising:

calculating, by a controller, a driving trajectory of the subject vehicle based on a yaw rate using driving information of the subject vehicle;

calculating, by the controller, a driving trajectory of a target vehicle for a predetermined period of time using driving information of the target vehicle including information from an imaging device mounted on the subject vehicle for obtaining a front image and information from a plurality of radar sensors mounted on the subject vehicle; and

predicting, by the controller, classified collision types by analyzing a collision possibility between the subject vehicle and the target vehicle based on the driving trajectory of the subject vehicle and the driving trajectory of the target vehicle,

wherein the calculating of the driving trajectory of the target vehicle includes;

analyzing, by the controller, the driving information of the target vehicle as the driving trajectory of the target vehicle;

estimating, by the controller, a velocity, an acceleration, and a yaw rate of the target vehicle; and

calculating, by the controller, locations of the target vehicle at a predetermined time unit based on the velocity, the acceleration, and the yaw rate of the target vehicle.

2. The method according to claim 1, wherein the method further includes predicting, by the controller, a collision with the target vehicle in an omni-direction.

3. The method according to claim 1, wherein the target vehicle includes at least one selected from the group consisting of:

a front vehicle, a crossing vehicle, an oncoming vehicle, and a rear vehicle.

5. The method according to claim 1, wherein the predicting of the collision types includes:

calculating, by the controller, tracking information (TTX) which is related to a time in which the target vehicle intersects with or exits from the driving trajectory of the subject vehicle during the predetermined period of time;

determining, by the controller, collision flags based on conditions that use the TTX; and

determining, by the controller, at least one of a plurality of collision types for the target vehicle.

6. The method according to claim 5, wherein the TTX includes:

a time when a portion of the target vehicle intersects with a path of the driving trajectory of the subject vehicle (TTI);

a time when the entire target vehicle exits from the path of the driving trajectory of the subject vehicle (TTE);

a time when the portion of the target vehicle angularly-intersects with a path of a circular trajectory of the subject vehicle based on a substantial center point of a curvature radius of the driving trajectory of the subject vehicle (TTAI);

a time when a target vehicle angularly-exits from the path of the circular trajectory of the subject vehicle based on the center point of the curvature radius of the driving trajectory of the subject vehicle (TTAE);

a time when a portion of the target vehicle intersects with the path of the driving trajectory of the subject vehicle (TTIj); and

a time when the target vehicle exits from the path of the driving trajectory of the subject vehicle (TTE_a).

7. The method according to claim 6, wherein in the determining of at least one of a plurality of collision types for the target vehicle, the collision types for collision flags are based on a time difference between the TTI and the TTAE and a time difference between the TTAI and the TTE.

8. The method according to claim 5, wherein the plurality of collision types includes at least one selected from the group consisting of:

a non-collision,

a first rear collision when the subject vehicle collides into a rear side of the target vehicle,

a collision between a front of the subject vehicle and a side rear of the target vehicle,

a collision between the front of the subject vehicle and a front of the target vehicle,

a collision between the front of the subject vehicle and a front of the target vehicle,

a collision between a side rear of the subject vehicle and the front of the target vehicle, and

a second rear collision when the target vehicle collides into a rear side of the subject vehicle.

4. (canceled)

9. An apparatus for predicting a collision with a target vehicle by a subject vehicle, comprising:

a memory configured to store program instructions; and

a controller configured to execute the program instructions, the program instructions when executed configured to;

calculate a driving trajectory of the subject vehicle based on a yaw rate using driving information of the subject vehicle using a subject vehicle path predicting unit;

calculate a driving trajectory of a target vehicle for a predetermined period of time using driving information of the target vehicle using a situation awareness unit, the driving information of the target vehicle including information from an imaging device mounted on the subject vehicle for obtaining a front image and information from a plurality of radar sensors mounted on the subject vehicle;

analyze the driving information of the target vehicle using a target path predicting unit;

estimate a velocity, an acceleration, and a yaw rate of the target vehicle using the target path predicting unit;

calculate locations of the target vehicle at a predetermined time unit based on the velocity, the acceleration, and the yaw rate of the target vehicle using the target patch predicting unit; and

predict classified collision types by analyzing a collision possibility between the subject vehicle and the target vehicle using the situation awareness unit.

10. The apparatus according to claim 9, wherein the controller is further configured to predict the collision emergency with the target vehicle in an omni-direction.

11. The apparatus according to claim 9, wherein the target vehicle includes at least one selected from the group consisting of:

a front vehicle, a crossing vehicle, an oncoming vehicle, or a rear vehicle.

13. The apparatus according to claim 9, wherein the controller is further configured to:

calculate tracking information (TTX), which is related to a time in which the target vehicle intersects with or exits from the driving trajectory of the subject vehicle during the predetermined period of time, using a tracking information calculating unit;

determine collision flags based on conditions that use the TTX, using a collision determining unit; and

determine at least one of a plurality of collision types for the target vehicle, using the collision determining unit.

14. The apparatus according to claim 13, wherein the TTX includes:

a time when a portion of the target vehicle intersects with a path of the driving trajectory of the subject vehicle (TTI);

a time when the entire target vehicle exits from the path of the driving trajectory of the subject vehicle (TTE);

a time when the portion of the target vehicle angularly-intersects with a path of a circular trajectory of the subject vehicle based on a substantial center point of a curvature radius of the driving trajectory of the subject vehicle (TTAI);

a time when a target vehicle angularly exits from the path of the circular trajectory of the subject vehicle based on the center point of the curvature radius of the driving trajectory of the subject vehicle (TTAE);

a time when a portion of the target vehicle intersects with the path of the driving trajectory of the subject vehicle (TTI_d); and

a time when the target vehicle exits from the path of the driving trajectory of the subject vehicle (TTE_a).

15. The apparatus according to claim 14, wherein the controller is further configured to:

determine at least one of a plurality of collision types for the target vehicle, the collision types for collision flags based on a time difference between the TTI and the TTAE and a time difference between the TTAI and the TTE.

16. The apparatus according to claim 13, wherein the plurality of collision types include at least one selected from the group consisting of:

a non-collision,

a first rear collision when the subject vehicle collides into a rear side of the target vehicle,

a collision between a front of the subject vehicle and a side rear of the target vehicle,

a collision between the front of the subject vehicle and a front of the target vehicle,

a collision between the front of the subject vehicle and a front of the target vehicle,

a collision between a side rear of the subject vehicle and the front of the target vehicle, and

a second rear collision when the target vehicle collides into a rear side of the subject vehicle.

12. (canceled)

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

program instructions that calculate a driving trajectory of the subject vehicle based on a yaw rate using driving information of the subject vehicle;

program instructions that calculate a driving trajectory of a target vehicle for a predetermined period of time using driving information of the target vehicle including information from an imaging device mounted on the subject vehicle for obtaining a front image and information from a plurality of radar sensors mounted on the subject vehicle;

program instructions that analyze the driving information of the target vehicle as the driving trajectory of the target vehicle;

program instructions that estimate a velocity, an acceleration, and a yaw rate of the target vehicle;

program instructions that calculate locations of the target vehicle at a predetermined time unit based on the velocity, the acceleration, and the yaw rate of the target vehicle; and

program instructions that predict classified collision types by analyzing a collision possibility between the subject vehicle and the target vehicle based on the driving trajectory of the subject vehicle and the driving trajectory of the target vehicle.

19. The non-transitory computer readable medium of claim 17, further comprising:

program instructions that calculate tracking information (TTX), which is related to a time in which the target vehicle intersects with or exits from the driving trajectory of the subject vehicle during the predetermined period of time;

program instructions that determine collision flags based on conditions that use the TTX; and

program instructions that determine at least one of a plurality of collision types for the target vehicle.

18. (canceled)