System and method for collision prevention

• US 10,832,578 B2
• Filed: 12/07/2018
• Issued: 11/10/2020
• Est. Priority Date: 02/28/2017
• Status: Active Grant

• Current Assignee: HL Klemove Corporation
• Original Assignee: Mando Corporation
• Inventors: Baek, Hyun Woo
• Primary Examiner(s): Wallace, Donald J
• Application Number:
  US16/213,541
• Publication Number:
  US 20190108754A1
• Time in Patent Office: 704 Days
• 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 30/0953 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 30/18154 Approaching an intersection
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A system for collision prevention of a host vehicle includes a camera sensor and/or a radar sensor mounted to the host vehicle and having a field of view outside of the host vehicle. A controller communicatively connected to the camera or radar sensor is configured to determine a first lateral distance between a preceding vehicle running in a same direction as the host vehicle and one of a roadway center line or an oncoming vehicle located in the opposite lane with respect to the host vehicle. The controller compares the first lateral distance to a second lateral distance to determine a danger of collision, and controls a danger warning device to generating a warning signal according to a result of the comparison. A method for collision prevention is also provided.

Claims

1. A collision monitoring system of a host vehicle comprising:

at least one of a camera sensor or a radar sensor mounted to the host vehicle and having a field of view outside of the host vehicle; and

a controller communicatively connected to the at least one of the camera sensor or the radar sensor and configured to perform functions to;

determine a first lateral distance between a preceding vehicle running in a same direction as the host vehicle and a roadway center line apparent on a roadway surface;

compare the first lateral distance to a predetermined second lateral distance to determine a danger of collision; and

control a danger warning device to generate a warning signal according to a result of the comparison.

2. The collision monitoring system of claim 1, wherein the at least one of the camera sensor or the radar sensor is configured to sense areas around the host vehicle and generate image data or radar sensing data, and

the controller determines the first lateral distance between the preceding vehicle and the roadway center line on the basis of the image data or the radar sensing data.

3. The collision monitoring system of claim 2, wherein the controller recognizes, from the image data, a lane disconnection or at least one of a “

go straight”

or “

turn left”

marker in the sense areas around the host vehicle and determines whether the host vehicle enters an intersection.

4. The collision monitoring system of claim 3, wherein the controller generates a predicted route for the host vehicle on the basis of a lane in which the host vehicle is to run after passing through the intersection, and determines the first lateral distance on the basis of a lateral distance between the predicted route and the roadway center line and a lateral distance between the predicted route and the preceding vehicle.

5. The collision monitoring system of claim 1, wherein when the controller determines that there is a danger of collision, the controller controls a braking controller of the host vehicle to generate a brake force according to the result of the comparison.

6. The collision monitoring system of claim 1, wherein when the controller determines that the first lateral distance is greater than the second lateral distance, the controller controls a steering controller so that a center position of the host vehicle is to pass through a center of the first lateral distance.

7. The collision monitoring system of claim 1, wherein the controller determines the danger of collision by using a width of the host vehicle, a width of the preceding vehicle, and a center position in the preceding vehicle.

8. The collision monitoring system of claim 1, wherein the controller determines the danger of collision based on the comparison between the predetermined second lateral distance and the first lateral distance,

wherein the predetermined second lateral distance is determined according to a width of the host vehicle, and the first lateral distance is determined according to a position of the roadway center line, a width of the preceding vehicle, and a center position in the preceding vehicle.

9. A collision monitoring method comprising:

determining, based on sensing data captured by a sensor mounted to a host vehicle, a first lateral distance between a preceding vehicle running in a same direction as the host vehicle and a roadway center line apparent on a roadway surface;

comparing, in a processor coupled to the sensor mounted to the host vehicle, the first lateral distance to a predetermined second lateral distance to determine a danger of collision; and

controlling a danger warning device communicatively connected to the processor to generate a warning signal according to a result of the comparison.

10. The collision monitoring method of claim 9, further comprising, before the determining of the first lateral distance, at least one of:

capturing, by a camera sensor mounted to the host vehicle, images of areas around the host vehicle and generating image data;

or

sensing, by a radar sensor mounted to the host vehicle, the areas around the host vehicle and generating radar sensing data,

wherein the determining the first lateral distance comprises determining the first lateral distance between the preceding vehicle and the roadway center line on the basis of at least one of the image data or the radar sensing data.

11. The collision monitoring method of claim 10, wherein the determining the first lateral distance comprises:

recognizing, from the image data, a lane disconnection or at least one of a “

go straight”

or “

turn left”

marker in the areas around the host vehicle;

determining whether the host vehicle enters an intersection; and

determining the first lateral distance in response to determining that the host vehicle enters the intersection.

12. The collision monitoring method of claim 11, wherein in response to determining that the host vehicle enters the intersection, the determining the first lateral distance comprises:

generating a predicted route for the host vehicle on the basis of a lane in which the host vehicle is to run after passing through the intersection; and

determining the first lateral distance on the basis of a lateral distance between the predicted route and the roadway center line and a lateral distance between the predicted route and the preceding vehicle.

13. The collision monitoring method of claim 9, further comprising, before the controlling the danger warning device to generate the warning signal, controlling a braking controller to apply brakes of the host vehicle in response to determining the danger of collision.

14. The collision monitoring method of claim 9, further comprising, before the controlling the danger warning device to generate the warning signal, controlling a steering controller to steer the host vehicle so that a center position of the host vehicle is directed to pass through a center of the first lateral distance in response to determining that the first lateral distance is greater than the predetermined second lateral distance.

15. The collision monitoring method of claim 9, wherein the first lateral distance is determined by using a width of the host vehicle, a width of the preceding vehicle, and a center position in the preceding vehicle.

16. The collision monitoring method of claim 9, wherein the danger of collision is determined based on the comparison between the predetermined second lateral distance and the first lateral distance,

wherein the predetermined second lateral distance is determined according to a width of the host vehicle, and the first lateral distance is determined according to a position of the roadway center line, a width of the preceding vehicle, and a center position in the preceding vehicle.

17. A collision monitoring method for a host vehicle comprising:

sensing, using at least one of a camera sensor or a radar sensor mounted to the host vehicle, an area around the host vehicle to generate image data or radar sensing data;

determining, by a processor communicatively connected to the at least one of the camera sensor or the radar sensor, based on the image data or radar sensing data, a first distance orthogonal to a route of the host vehicle and between a preceding vehicle running in a same direction as the host vehicle and a roadway center line apparent on a roadway surface; and

selectively controlling, by the processor, at least one of a braking controller or a steering controller of the host vehicle based on the result of the determined first distance.

18. The collision monitoring method of claim 17, further comprising, before the determining of the first distance, at least one of:

capturing, by a camera sensor mounted to the host vehicle, images of areas around the host vehicle and generating image data;

or

sensing, by a radar sensor mounted to the host vehicle, the areas around the host vehicle and generating radar sensing data,

wherein the determining the first distance comprises determining the first distance between the preceding vehicle and the roadway center line on the basis of at least one of the image data or the radar sensing data.

19. The collision monitoring method of claim 17, wherein the processor selectively activates the braking controller to apply brakes of the host vehicle in response to determining that the first distance is less than a predetermined second distance.

20. The collision monitoring method of claim 17, wherein the processor selectively activates the steering controller to steer the host vehicle through a center of a first space between the preceding vehicle and the roadway center line.

21. The collision monitoring method of claim 17, further comprising:

determining a predicted route of the host vehicle through an intersection,

wherein the first distance is determined based on the determined predicted route.

22. The collision monitoring method of claim 21, wherein the processor determines the predicted route of the host vehicle on the basis of a current lane of the host vehicle and a lane in which the host vehicle is to run after passing through the intersection.