System for preventing vehicle collision using yaw rate and method of preventing vehicle collision using the same

• US 9,254,845 B2
• Filed: 06/18/2014
• Issued: 02/09/2016
• Est. Priority Date: 06/19/2013
• Status: Active Grant

• Current Assignee: HL Klemove Corporation
• Original Assignee: Mando Corporation
• Inventors: Park, Man Bok
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): SMITH-STEWART, DEMETRA R
• Application Number:
  US14/308,497
• Publication Number:
  US 20140379216A1
• Time in Patent Office: 601 Days
• US Class Current: 1/1
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• 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 30/18163 Lane change; Overtaking manoeuvres

Abstract

A system for preventing vehicle collision according to the present invention includes a steering detection part configured to detect collision with an object, a calculation part configured to calculate a yaw rate of a vehicle and to calculate a target steering angle, a brake control part configured to control a steering operation of the vehicle according to the target steering angle, and a wheel control part interlocked with the brake control part and configured to control the steering operation of the vehicle according to the target steering angle.

And a method of preventing vehicle collision according to the present invention includes estimating collision with an object at a steering detection part of a vehicle, calculating a yaw rate of the vehicle at a calculation part, calculating a target steering angle according to the yaw rate calculated by the calculation part, and performing a steering operation for returning the vehicle according to the target steering angle by at least one of a wheel control part and a brake control part.

Claims

1. A method of preventing vehicle collision, comprising steps of:

estimating collision with an object at a steering detector of a vehicle;

calculating a yaw rate of the vehicle at a calculator when the collision with the object is estimated to occur;

calculating a target steering angle according to the yaw rate calculated by the calculator;

comparing the calculated yaw rate with a threshold value by the calculator; and

performing a steering operation for returning the vehicle according to the target steering angle by at least one of a wheel controller and a brake controller.

2. The method of claim 1, wherein, in the step of performing the steering operation for returning the vehicle, the brake controller performs the steering operation for returning the vehicle according to the target steering angle, when the calculated yaw rate is less than the threshold value.

3. The method of claim 2, wherein, in the step of performing the steering operation for returning the vehicle, the wheel controller subsidiarily performs the steering operation of the vehicle, when a slip greater than or equal to a preset reference value is generated at a wheel controlled while the brake controller performs the steering operation.

4. The method of claim 1, wherein, in the step of performing the steering operation for returning the vehicle, the brake controller and the wheel controller simultaneously perform the steering operation of the vehicle, when the calculated yaw rate is greater than or equal to the threshold value.

5. The method of claim 4, wherein, in the step of performing the steering operation for returning the vehicle, the brake controller performs the steering operation of the vehicle by the threshold value, and the wheel controller performs the steering operation of the vehicle by a difference between the target steering angle and the threshold value, when the calculated yaw rate is greater than or equal to the threshold value.

6. A method of preventing vehicle collision, comprising steps of:

estimating collision with an object at a steering detector of a vehicle;

calculating a yaw rate of the vehicle at a calculator when the collision with the object is estimated to occur;

calculating a target steering angle according to the yaw rate calculated by the calculator; and

performing a steering operation for returning the vehicle according to the target steering angle by at least one of a wheel controller and a brake controller,

wherein in the step of performing the steering operation, when the calculated yaw rate is greater than or equal to the threshold value, the brake controller performs the steering operation of the vehicle by a threshold value and the wheel controller performs the steering operation of the vehicle by a difference between the target steering angle and a threshold value.

7. A system for preventing vehicle collision, comprising:

a steering detector configured to detect collision with an object;

a calculator configured to calculate a yaw rate of a vehicle and to calculate a target steering angle when the collision with the object is to occur;

a brake controller configured to control a steering operation of the vehicle according to the target steering angle; and

a wheel controller interlocked with the brake controller and configured to control the steering operation of the vehicle according to the target steering angle,

wherein when the calculated yaw rate is greater than or equal to a threshold value, the brake controller performs the steering operation of the vehicle by the threshold value, and the wheel controller performs the steering operation of the vehicle by a difference between the target steering angle and a threshold value.