Apparatus and method for detecting moving-object around vehicle

• US 9,251,705 B2
• Filed: 11/30/2012
• Issued: 02/02/2016
• 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
• Primary Examiner(s): Algahaim, Helal A
• Assistant Examiner(s): SMITH, JELANI A
• Application Number:
  US13/691,555
• Publication Number:
  US 20130325311A1
• Time in Patent Office: 1,159 Days
• Field of Search: 701/1, 701/117, 701/23, 701/300, 701/301, 701/45, 701/46, 340/435, 340/436
• US Class Current: 1/1
• 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 using a global positioning system (GPS);

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

detect moving objects among the plurality of detected objects;

generate a detected object list detected by the distance measurement sensor;

remove fixed-objects detected by the GPS from the detected object list;

detect remaining objects on the detected object list as moving objects;

convert position information of the plurality of detected objects measured by the distance measurement sensor from relative coordinates based on the vehicle position into a plurality of map coordinates;

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

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

display the moving objects and the calculated degree of proximity risk corresponding to the moving objects on a display screen disposed in the vehicle,

wherein a shape of each moving object is displayed differently based on the degree of proximity risk or the degree of proximity risk is displayed around each moving object, in order for a driver to recognize the moving object having a high degree of proximity risk.

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

compare a plurality of position coordinates of detected objects with a 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.

3. 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 using a global positioning system (GPS);

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, moving objects among the plurality of detected objects;

generating, by the processor, a detected object list detected by the distances measurement sensor;

removing, by the processor, fixed-objects detected by the GPS from the detected object list;

detecting, by the processor, remaining objects on the detected object list as moving objects;

converting, by the processor, position information of the plurality of detected objects measured by the distance measurement sensor from relative coordinates based on the vehicle position into a plurality of map coordinates;

estimating, by the processor, a plurality of positions of the vehicle and the moving objects after a fixed period of time based a position, a speed, and a movement direction of the moving objects, in order for a driver to recognize the moving object having a high degree of proximity risk;

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

displaying, by the processor, the moving objects and the calculated degree of proximity risk corresponding to the moving objects on a display screen disposed in the vehicle,

wherein a shape of each moving object is displayed differently based on the degree of proximity risk or the degree of proximity risk is displayed around each moving object.

4. The method of claim 3, wherein the detecting a moving object further includes:

comparing, by the processor, a plurality of position coordinates of 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.

5. 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 using a global positioning system (GPS);

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 moving objects among the plurality of detected objects;

program instructions that generate a detected object list detected by the distance measurement sensor;

program instructions that exclude fixed-objects detected by the GPS from the detected object list;

program instructions that detect remaining objects on the detected object list as moving objects;

program instructions that convert position information of the plurality of detected objects measured by the distance measurement sensor from relative coordinates based on the vehicle position into a plurality of map coordinates;

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

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

program instructions that display the moving objects and the calculated degree of proximity risk corresponding to the moving objects on a display screen disposed in the vehicle,

wherein a shape of each moving object is displayed differently based on the degree of proximity risk or the degree of proximity risk is displayed around each moving object, in order for a driver to recognize the moving object having a high degree of proximity risk.

6. The computer readable medium of claim 5, further comprising:

program instructions that compare a plurality of position coordinates of detected objects with a 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.