Autonomous emergency braking system and method for vehicle at crossroad

• US 10,752,223 B2
• Filed: 12/12/2018
• Issued: 08/25/2020
• Est. Priority Date: 02/27/2018
• Status: Active Grant

• Current Assignee: HL Klemove Corporation
• Original Assignee: Mando Corporation
• Inventors: You, Kwan Sun
• Primary Examiner(s): Refai, Ramsey
• Application Number:
  US16/217,880
• Publication Number:
  US 20190263367A1
• Time in Patent Office: 622 Days
• CPC Class Codes: B60T 2250/04 Vehicle reference speed; Vehicle body speed
• 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 8/171 Detecting parameters used in the regulation; Measuring values used in the regulation
• CPC Class Codes: B60T 8/58 responsive to speed and another condition or to plural speed conditions
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

An autonomous emergency braking (AEB) system includes a vehicle dynamics sensor and an around-view monitoring (AVM) sensor. The AVM sensor detects a distance and relative speed between the host vehicle and a peripheral object, or transmits an image of a peripheral region of the host vehicle to the ECU. The ECU receives detection signals from the sensors, determines the presence or absence of a moving object approaching in a direction transverse to a traveling direction of the host vehicle at crossroads during driving of the host vehicle, selects the detected moving object as a control object using the detected moving object detection information if the presence of the approaching moving object is determined, and warns a driver of the host vehicle about a high possibility of collision with the selected control object or performs autonomous emergency braking (AEB) of the host vehicle.

Claims

1. An autonomous emergency braking (AEB) system comprising:

a monitoring sensor configured to obtain detection information for calculating a distance between a host vehicle and a peripheral object and a relative speed of the peripheral object and transmit the information to an electronic control unit (ECU); and

the electronic control unit (ECU) configured to;

receive detection information from the monitoring sensor,

determine a presence of a moving object, among peripheral objects, moving toward the host vehicle in a direction transverse to a current traveling direction of the host vehicle at crossroads during driving of the host vehicle,

estimate, if the presence of the moving object is determined, a time to collision (TTC) between the host vehicle and the moving object,

select the moving object as a control object using the detection information and

if the TTC between the control object and the host vehicle is lower than a threshold, warn a driver of the host vehicle or perform autonomous emergency braking (AEB) of the host vehicle based on the TTC between the host vehicle and the selected control object.

2. The autonomous emergency braking (AEB) system according to claim 1, wherein ECU is configured to estimate the TTC between the host vehicle and the moving object by:

establishing a collision boundary according to a driving speed of the host vehicle,

estimating a position of the detected moving object based on the detection information, and

determining the time to collision based on the estimate position of the moving object and the collision boundary.

3. The autonomous emergency braking (AEB) system according to claim 1, wherein, if a presence of a second moving object is determined, the ECU is configured to:

determine a first TTC with the control object by establishing a boundary according to a driving speed of the host vehicle,

determine a second TTC with the second object by estimating a position of the second object,

compare the first TTC and the second TTC, and

warn the driver of the host vehicle or performs autonomous emergency braking (AEB) with respect to a lower one of the first TTC and the second TTC.

4. The autonomous emergency braking (AEB) system according to claim 2, wherein, if a presence of second objects is determined, the ECU is configured to:

determine a first TTC with the control object,

determine a second TTC with each of the second objects by estimating the position of each second object,

compare the first TTC with each of the second TTC,

determine priorities for the second objects based on the second TTCs,

select an object with a lowest TTC among the second objects as the control object from among the second objects, and

warn the driver or perform autonomous emergency braking (AEB) based on the determined priorities.

5. The autonomous emergency braking (AEB) system according to claim 3, wherein the electronic control unit (ECU) is configured to determine a specific time at which the host vehicle meets the second object at a traveling direction position of the host vehicle, and estimates the position of the second object at a transverse-direction position with respect to the traveling direction of the host vehicle.

6. An autonomous emergency braking (AEB) method comprising:

detecting moving objects moving toward a host vehicle in a direction transverse to a current traveling direction of the host vehicle at crossroads during driving of the host vehicle,

receiving a driving speed of a host vehicle;

receiving a distance, and a relative speed between the host vehicle and each of the moving objects or peripheral images, from one or more sensors;

establishing a collision boundary based on the driving speed of the host vehicle;

estimating positions of detected the moving objects;

determining a time to collision (TTC) between the host vehicle and each of the moving objects based on the estimated positions of each of the moving objects and the collision boundary;

selecting a control object among the detected moving objects based on the ITC; and

warning a driver of the host vehicle or performing autonomous emergency braking (AEB) of the host vehicle.

7. The autonomous emergency braking (AEB) method according to claim 6, wherein the selecting the control object includes:

selecting one of the moving objects having a lowest TTC as the control object.

8. The autonomous emergency braking (AEB) method according to claim 6, wherein the determining the TTC includes:

determining a specific time at which the host vehicle meets the vehicle given moving object at a traveling-direction position of the host vehicle; and

estimating the position of the each moving object at a transverse-direction position with respect to the traveling direction of the host vehicle.

9. An autonomous emergency braking (AEB) system comprising:

a monitoring sensor configured to obtain detection information for calculating a distance between the host vehicle and moving objects and a relative speed of the moving objects, and transmit the information to the ECU; and

the ECU configured to;

determine a time to collision (TTC) of the host vehicle with each detected moving object moving toward the host vehicle in a direction transverse to a current traveling direction of the host vehicle;

select an object among the detected moving objects having a smallest TTC as a control object; and

provide a warning signal to a driver of the host vehicle or perform AEB of the host vehicle based on the TTC between the host vehicle and the control object.

10. The autonomous emergency braking (AEB) system of claim 9, wherein the TTC is determined by:

establishing a collision boundary based on a driving speed of the host vehicle,

estimating positions of the detected moving objects based on the detection information, and

determining the TTC with each of the detected moving objects based on an estimated position of a corresponding moving object and the collision boundary.

11. The autonomous emergency braking (AEB) system of claim 9, wherein the ECU is further configured to assign a priority to each of the detected moving objects based of a corresponding TTC relative to that of the control object.

12. The autonomous emergency braking (AEB) system of claim 9, wherein the ECU is further configured to

determine the TTC continuously as the host vehicle approaches a crossroad, and

select, if another detected object has a TTC smaller than that of the control object, the other object as a new control object.

13. The autonomous emergency braking (AEB) system of claim 12, wherein the ECU is further configured to reassign a priority to each of the detected moving objects based on a corresponding TTC relative to that of the new control object.

14. The autonomous emergency braking (AEB) system of claim 9, wherein the ECU is configured to

determine a specific time at which the host vehicle meets each of the detected moving objects at a traveling-direction position of the host vehicle, and

estimate a position of each of the detected moving object at a transverse direction position with respect to the traveling direction of the host vehicle.