VEHICLE COLLISION AVOIDANCE CONTROL DEVICE AND METHOD FOR CONTROLLING SAME

• US 20190329762A1
• Filed: 12/11/2018
• Published: 10/31/2019
• Est. Priority Date: 04/25/2018
• Status: Active Grant

• Current Assignee: HL Klemove Corporation
• Original Assignee: Mando Corporation (Halla Holdings Corporation)
• Inventors: KWON, Young Ju
• Granted Patent: US 11,214,244 B2
• Time in Patent Office: Days
• CPC Class Codes: B60Q 1/535 to prevent rear-end collisions, e.g. by indicating safety distance at the rear of the vehicle
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2260/02 Active Steering, Steer-by-Wire
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60T 8/17558 specially adapted for collision avoidance or collision mitigation road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

The present disclosure provides a vehicle collision avoidance control device including: at least one first sensor configured to sense a first direction of a driver vehicle and to sense a first target vehicle in the first direction of the driver vehicle; at least one second sensor configured to sense a second direction that is opposite to the first direction of the driver vehicle and to sense a second target vehicle in the second direction of the driver vehicle; and a controller configured to output a vehicle control signal at least partially on the basis of processing of the first sensor and the second sensor, wherein the controller is configured to generate a primary vehicle control signal for avoiding a primary collision when a primary collision with the first target vehicle is predicted according to a first direction sensing result by the at least one first sensor, to modify the primary vehicle control signal into a secondary vehicle control signal on the basis of a result of sensing the second target vehicle by the at least one second sensor, and to output the secondary vehicle control signal.

Claims

1. A vehicle collision avoidance control device comprising:

a first sensor configured to sense objects in a first direction of a driver vehicle;

a second sensor configured to sense objects in a second direction of the driver vehicle, the second direction being opposite to the first direction; and

a controller configured to

receive sensing data from the first and second sensors;

determine a probability of a primary collision with a first object based on sensing data from the first sensor;

generate, if the determined probability of the primary collision is greater than a first threshold, a primary control signal for reducing a speed of the driver vehicle to avoid a primary collision,

modify, in response to a detection of a second object in the second direction based on sensing data from the second sensor and a probability of a second collision with the second object if the driver vehicle is controlled according to the primary control signal is greater than a second threshold, the primary control signal into a secondary control signal, and

output the secondary control signal to control the driver vehicle.

2. The vehicle collision avoidance control device of claim 1, wherein at least one sensor selected from the first sensor and the second sensor is an image sensor mounted to the driver vehicle and configured to capture and process image data outside the vehicle in a respective direction.

3. The vehicle collision avoidance control device of claim 1, wherein at least one sensor selected from the first sensor and the second sensor is a non-image sensor mounted to the driver vehicle and configured to capture and process sensing data outside the driver vehicle in a respective direction.

4. The vehicle collision avoidance control device of claim 1, wherein the secondary control signal comprises a steering control signal for changing a travel path of the driver vehicle.

5. The vehicle collision avoidance control device of claim 1, wherein the first sensor is further configured to sense a first peripheral object traveling in a first adjacent travel path that is adjacent to the travel path of the driver vehicle, and

the controller is configured to further modify the secondary control signal in response to a determination that the first peripheral object is present in the first adjacent travel path and output the modified secondary control signal.

6. The vehicle collision avoidance control device of claim 5, wherein the modified secondary control signal comprises a steering control signal for moving the driver vehicle from the travel path to a second adjacent travel path which is different from the first adjacent travel path.

7. The vehicle collision avoidance control device of claim 5, wherein the modified secondary control signal comprises a steering control signal for moving the driver vehicle from the travel path to the first adjacent travel path and a speed control signal for changing a speed of the driver vehicle to a speed for avoiding a collision with the first peripheral object.

8. The vehicle collision avoidance control device of claim 1, wherein the second sensor is further configured to sense a second peripheral object traveling in a first adjacent travel path that is adjacent to the travel path of the driver vehicle, and

the controller is configured to further modify the secondary control signal in response to a determination that the second peripheral object is present in the first adjacent travel path and output the modified secondary control signal.

9. The vehicle collision avoidance control device of claim 8, wherein the modified secondary control signal comprises a steering control signal for moving the driver vehicle from the travel path to a second adjacent travel path which is different from the first adjacent travel path.

10. The vehicle collision avoidance control device of claim 8, wherein the modified secondary control signal comprises a steering control signal for moving the driver vehicle from the travel path to first adjacent travel path and a speed control signal for changing a speed of the driver vehicle to a speed for avoiding a collision with the second peripheral object.

11. The vehicle collision avoidance control device of claim 1, wherein the controller is configured to search for an adjacent travel path to which the driver vehicle can move without collision in response to a determination that the probability of a second collision with the second object if the driver vehicle is controlled according to the primary control signal is greater than a second threshold, and

the controller is configured to further modify the secondary control signal to a modified secondary control signal comprising a steering control signal for moving the driver vehicle to the adjacent travel path and output the modified secondary control signal.

12. The vehicle collision avoidance control device of claim 11, wherein the controller is configured to further modify the secondary control signal to a modified control signal comprising a control signal for turning on hazard lights of the driver vehicle if no adjacent lane to which the driver vehicle can move without collision is found and output the modified secondary control signal.

13. The vehicle collision avoidance control device of claim 1, wherein a time at which the primary control signal is output is determined based on a first reference time-to-collision,

the secondary control signal comprises a speed control signal for reducing the speed of the driver vehicle,

a time at which the velocity control signal is output is determined based on a second reference time-to-collision, and

the first reference time-to-collision and the second reference time-to-collision are set to have different values.

14. The vehicle collision avoidance control device of claim 13, wherein the first reference time-to-collision value is set to be longer than the second reference time-to-collision value.

19. The vehicle collision avoidance control device of claim 1, further comprising:

a third sensor configured to sense a third direction of the driver vehicle, the third direction being perpendicular to the first direction and the second direction,

wherein the controller is configured to;

output the primary control signal based on sensing data from the first sensor, the second sensor and the third sensor,

modify the primary control signal into the secondary control signal based on sensing data from the second and third sensors, and

output the secondary control signal to control the driver vehicle.

15. A vehicle collision avoidance control method comprising:

sensing, by a first sensor, a first object in a first direction of a driver vehicle;

generating, by a processor, a primary control signal for avoiding a primary collision with the first object and outputting the primary control signal to a vehicle controller;

sensing, by a second sensor, a second object in a second direction that is opposite to the first direction; and

modifying, by the processor, the primary control signal into a secondary control signal for avoiding a secondary collision with the second object; and

outputting, by the processor, the secondary vehicle control signal to the vehicle controller.

16. A vehicle collision avoidance control system comprising:

a first sensor configured to sense a first object in a first direction of a driver vehicle;

a second sensor configured to sense a second object in a second direction that is opposite to the first direction;

and

a controller configured to process sensing results by the first sensor and the second sensor and configured to control at least one driver assist system module provided in the driver vehicle,

perform a collision avoidance operation when the driver vehicle is predicted to collide with the different vehicle,

control the at least one driver assist system module to generate a primary control signal for reducing the speed of the driver vehicle to avoid a primary collision when a primary collision with the first object is predicted according to a first sensing result by the first sensor,

modify the primary control signal into a secondary control signal when a secondary collision with the second object is predicted if the driver vehicle is controlled according to the primary control signal, and

output the secondary control signal.

17. The vehicle collision avoidance control system of claim 16, wherein the secondary control signal comprises a steering control signal for changing a travel path of the driver vehicle.

18. The vehicle collision avoidance control system of claim 16, wherein a time at which the primary control signal is output is determined based on a first reference time-to-collision;

the secondary control signal comprises a speed control signal for reducing the speed of the driver vehicle,

a time at which the secondary control signal is output is determined based on a second reference time-to-collision;

and the first reference time-to-collision and the second reference time-to-collision are set to have different values.

20. A vehicle collision avoidance system, comprising:

a first sensor mounted to a vehicle and configured to sense objects in front of the vehicle;

a second sensor configured to sense objects behind the vehicle;

a controller configured to;

determine a probability of a primary collision with an object in front of the vehicle based on sensing data received from the first sensor;

generate, if the determined probability of the primary collision is greater than a first threshold, a primary control signal including a speed control signal for reducing a speed of the vehicle to avoid the primary collision,

following the generation of the primary control signal, determine a probability of a secondary collision with an object from behind the vehicle if the vehicle continues traveling according to the primary control signal based on sensing data received from the second sensor,

modify, if the probability of the secondary collision is greater than a second threshold, the primary control signal into a secondary control signal including a steering control signal for steering the vehicle in a direction different from an original direction of travel before the primary collision signal was generated, and

output the secondary control signal to control the vehicle.

21. The vehicle collision avoidance system of claim 20, wherein the controller is configured to further modify the secondary control signal to a modified control signal for turning hazard lights of the driver vehicle if no adjacent lane to which the driver vehicle can move without collision is found, and output the modified secondary control signal.

22. The vehicle collision avoidance system of claim 20, wherein the controller is configured to further modify the secondary control signal in response to a determination that the first peripheral object is present in the first adjacent travel path and output the modified secondary control signal.

23. The vehicle collision avoidance system of claim 20, the modified secondary control signal comprises a steering control signal for moving the driver vehicle from the travel path to a second adjacent travel path which is different from the first adjacent travel path.

24. The vehicle collision avoidance system of claim 20, wherein the modified secondary control signal comprises a steering control signal for moving the driver vehicle from the travel path to first adjacent travel path and a speed control signal for changing a speed of the driver vehicle to a speed for avoiding a collision with the second peripheral object.