Driver assistance system

• US 10,569,770 B1
• Filed: 12/11/2018
• Issued: 02/25/2020
• Est. Priority Date: 12/11/2018
• Status: Active Grant

• Current Assignee: HL Klemove Corporation
• Original Assignee: Mando Corporation
• Inventors: You, Kwan Sun
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US16/216,574
• Time in Patent Office: 441 Days
• Field of Search: 701301
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/802 Longitudinal 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

Abstract

A driver assistance system (DAS) for a vehicle avoids collision between a vehicle and a preceding object using emergency steering of the vehicle. The DAS includes forward-view sensors and a corner sensor mounted to a vehicle. A controller is provided with a processor to process the forward-view image data, the forward-view sensing data, and the side-view sensing data. The controller detects both a preceding object located in a region forward of the vehicle and a side object located in a region on the side of the vehicle in response to a result of processing the forward-view image data, the forward-view sensing data, and the side-view sensing data. In response to a collision between the vehicle and the preceding object being predicted and the region on the side of the vehicle being free of the side object, the controller outputs a steering signal to a steering device of the vehicle.

Claims

1. A driver assistance system (DAS) comprising:

a first forward-view sensor comprising an image sensor mounted to a vehicle, having a field of view (FOV) including a region forward of the vehicle, and configured to acquire forward-view image data;

a second forward-view sensor comprising at least one of a radar sensor or a Light Detection And Ranging (LiDAR) sensor mounted to the vehicle, having a field of sensing (FOS) including the region forward of the vehicle, and configured to acquire forward-view sensing data;

a corner sensor comprising at least one of a radar sensor or a LiDAR sensor, mounted to the vehicle, having a field of sensing (FOS) including a region on a side of the vehicle, and configured to acquire side-view sensing data; and

a controller provided with a processor configured to process the forward-view image data, the forward-view sensing data, and the side-view sensing data,

wherein the controller detects both a preceding object located in the region forward of the vehicle and a side object located in the region on the side of the vehicle in response to a result of processing the forward-view image data, the forward-view sensing data, and the side-view sensing data, and

in response to a collision between the vehicle and the preceding object being predicted and the region on the side of the vehicle being free of the side object, the controller outputs a steering signal to a steering device of the vehicle.

2. The driver assistance system (DAS) according to claim 1 wherein:

in response to the collision between the vehicle and the preceding object being predicted after outputting the steering signal, the controller outputs a brake signal to a brake device of the vehicle.

3. The driver assistance system (DAS) according to claim 1, wherein:

in response to the collision between the vehicle and the preceding object being predicted and the side object being detected, the controller outputs a brake signal to a brake device of the vehicle.

4. The driver assistance system (DAS) according to claim 1, wherein:

in response to the collision between the vehicle and the preceding object being predicted and collision between the vehicle and the side object being predicted, the controller outputs a brake signal to a brake device of the vehicle.

5. The driver assistance system (DAS) according to claim 1, wherein:

in response to the collision between the vehicle and the preceding object being predicted and the region on the side of the vehicle being free of the side object, the controller outputs the steering signal to the steering device of the vehicle to change a traveling direction of the vehicle to another direction that is free of the side object.

6. The driver assistance system (DAS) according to claim 1, wherein:

in response to the result of processing the forward-view image data, the forward-view sensing data, and the side-view sensing data, the controller determines both a distance between the vehicle and the preceding object and a relative speed of the preceding object with respect to the vehicle.

7. The driver assistance system (DAS) according to claim 6, wherein the controller predicts a possibility of collision between the vehicle and the preceding object based on the distance between the vehicle and the preceding object and the relative speed of the preceding object with respect to the vehicle.

8. The driver assistance system (DAS) according to claim 1, wherein the controller is configured to determine whether the region on the side of the vehicle is free of the side object, and to output the steering signal to the steering device of the vehicle only when the region on the side of the vehicle is determined to be free of the side object.

9. The driver assistance system (DAS) according to claim 1, wherein the controller is configured to determine whether at least one of a right side region of the vehicle and a left side region of the vehicle is free of objects and to output the steering signal to the steering device of the vehicle to change the traveling direction of the vehicle towards the at least one side region of the vehicle determined to be free of objects.

10. A driver assistance method comprising:

acquiring forward-view image data of a vehicle by a camera mounted to the vehicle and having a field of view (FOV) including a region forward of the vehicle;

acquiring forward-view sensing data of the vehicle by at least one of a forward-view radar or a forward-view Light Detection And Ranging (LiDAR) sensor mounted to the vehicle and having a field of sensing (FOS) including the region forward of the vehicle;

acquiring side-view sensing data of the vehicle by at least one of a corner radar or a corner LiDAR mounted to the vehicle and having a field of sensing (FOS) including a region on a side of the vehicle;

processing the forward-view image data, the forward-view sensing data, and the side-view sensing data to detect both a preceding object located in the region forward of the vehicle and a side object located in the region on the side of the vehicle; and

in response to a collision between the vehicle and the preceding object being predicted and the region on the side of the vehicle being free of the side object, changing a traveling direction of the vehicle to another direction.

11. The driver assistance method according to claim 10, further comprising:

in response to the collision between the vehicle and the preceding object being predicted after changing the traveling direction of the vehicle to the other direction, performing braking of the vehicle.

12. The driver assistance method according to claim 10, further comprising:

in response to the collision between the vehicle and the preceding object being predicted and the side object being detected, performing braking of the vehicle.

13. The driver assistance method according to claim 10, further comprising:

in response to the collision between the vehicle and the preceding object being predicted and a collision between the vehicle and the side object being predicted, performing braking of the vehicle.

14. The driver assistance method according to claim 10, wherein the changing the traveling direction of the vehicle includes:

changing the traveling direction of the vehicle towards a side direction that is free of the side object.

15. The driver assistance method according to claim 10, wherein the predicting of the collision between the vehicle and the preceding object includes:

determining a distance between the vehicle and the preceding object and a relative speed of the preceding object with respect to the vehicle.

16. The driver assistance method according to claim 15, wherein the predicting of the collision between the vehicle and the preceding object further includes:

predicting a possibility of collision between the vehicle and the preceding object based on the distance between the vehicle and the preceding object and the relative speed of the preceding object with respect to the vehicle.

17. A driver assistance system (DAS) comprising:

a first forward-view sensor including an image sensor mounted to a vehicle, having a field of view (FOV) including a forward direction of the vehicle, and configured to acquire forward-view image data;

a second forward-view sensor comprising at least one of a radar sensor or a Light Detection And Ranging (LiDAR) sensor, mounted to the vehicle, having a field of sensing (FOS) including the forward direction of the vehicle, and configured to acquire forward-view sensing data;

a corner sensor comprising at least one of a radar sensor or a LiDAR sensor, mounted to the vehicle, having a field of sensing (FOS) including a side direction of the vehicle, and configured to acquire side-view sensing data; and

a controller provided with a processor configured to process the forward-view image data, the forward-view sensing data, and the side-view sensing data,

wherein the controller is configured to detect both a preceding object located in the forward direction of the vehicle and a side object located in the side direction of the vehicle based on processing of the forward-view image data, the forward-view sensing data, and the side-view sensing data, and

in response to a collision between the vehicle and the preceding object being predicted and no collision between the vehicle and the side object being predicted, the controller outputs a steering signal to a steering device of the vehicle.

18. The driver assistance system (DAS) according to claim 17, wherein:

in response to the collision between the vehicle and the preceding object being predicted and a collision between the vehicle and the side object being predicted, the controller outputs a brake signal to a brake device of the vehicle.

19. The driver assistance system (DAS) according to claim 17 wherein:

in response to the collision between the vehicle and the preceding object being predicted and no side object being detected in the side direction of the vehicle, the controller outputs to a steering device of the vehicle a steering signal to change a traveling direction of the vehicle to another direction in which no side object is detected.

20. The driver assistance system (DAS) according to claim 17, wherein:

in response to a result of processing the forward-view image data, the forward-view sensing data, and the side-view sensing data, the controller determines a distance between the vehicle and the preceding object and a relative speed of the preceding object with respect to the vehicle, and predicts a possibility of collision between the vehicle and the preceding object based on the distance between the vehicle and the preceding object and the relative speed of the preceding object.

21. A driver assistance system (DAS) for a vehicle having a steering system, comprising:

a forward-view sensor mounted to the vehicle and configured to sense a region forward of the vehicle and provide forward-view sensing data;

a side-view sensor mounted to the vehicle and configured to sense a region on a side of the vehicle and provide side-view sensing data; and

a processor communicatively connected to the forward-view sensor and the side-view sensor to receive both the forward-view sensing data and the side-view sensing data,

wherein the processor is configured to output a steering signal for the steering system of the vehicle in response to detecting a preceding object in the region forward of the vehicle based on the forward-view sensing data and detecting an area free of a side object in the region on the side of the vehicle based on the side-view sensing data.

22. The driver assistance system (DAS) of claim 21, wherein:

the forward-view sensor mounted to the vehicle comprises at least one of an image sensor, a radar sensor, or a Light Detection And Ranging (LiDAR) sensor configured to sense the region forward of the vehicle and provide the forward-view sensing data, and

the side-view sensor mounted to the vehicle comprises at least one of a radar sensor or a Light Detection And Ranging (LiDAR) sensor configured to sense the region on the side of the vehicle and provide the side-view sensing data.

23. The driver assistance system (DAS) of claim 22, wherein:

the forward-view sensor mounted to the vehicle comprises the image sensor and at least one of the radar sensor or the Light Detection And Ranging (LiDAR) sensor, and the forward-view sensor is configured to sense the region forward of the vehicle and provide both image sensing data and radar or LiDAR sensing data as the forward-view sensing data, and

the processor is configured to detect the preceding object in the region forward of the vehicle based on the image sensing data and the radar or LiDAR sensing data.

24. The driver assistance system (DAS) of claim 22, wherein the processor is further configured to output a braking signal for a braking system of the vehicle to decelerate the vehicle in response to detecting the preceding object in the region forward of the vehicle based on the forward-view sensing data and detecting a side object in the region on the side of the vehicle based on the side-view sensing data.

25. The driver assistance system (DAS) of claim 22, wherein the processor is further configured to determine a time to collision (TTC) or a distance to collision (DTC) measure relative to the detected preceding object based on the forward-view sensing data, and to output the steering signal for the steering system of the vehicle in response to determining that the TTC or the DTC falls below a predetermined value.