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Steering risk decision system and method for driving narrow roads

  • US 9,522,701 B2
  • Filed: 05/15/2014
  • Issued: 12/20/2016
  • Est. Priority Date: 11/15/2013
  • Status: Active Grant
First Claim
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1. A steering risk decision system, comprising:

  • an obstacle sensor configured to sense an obstacle to generate first sensor data;

    a driving state sensor configured to sense a driving state of a vehicle to generate second sensor data; and

    a processor configured to;

    extract feature points from the first sensor data to indicate the obstacle in point and line shapes;

    predict a driving region of the vehicle using the second sensor data;

    calculate a relationship between the vehicle and the obstacle using information for the obstacle indicated in the point and line shapes and information for the driving region;

    determine a steering risk of the vehicle based on the calculated results;

    wherein the processor is configured to set a region between two circular arcs formed by a trace generated by an inner wheel of a rotational direction of the vehicle and a trace generated by an outer wheel front corner of the rotational direction to the risk region;

    wherein the processor is configured to;

    classify front and side regions of the vehicle into a risk region, a warning region, and a safety region using information for the driving region; and

    compare the classified regions and information for the obstacle to determine a steering risk; and

    wherein the processor is configured to;

    divide the risk region and the warning region into a left region and a right region based on the center of a rear wheel shaft of the vehicle; and

    compare the divided regions and information for the obstacle to determine the steering risk for each of the left and right regions of the vehicle.

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