Apparatus and method for correcting sensing of surrounding obstacle on curved road

• US 9,580,011 B2
• Filed: 09/18/2014
• Issued: 02/28/2017
• Est. Priority Date: 03/18/2014
• Status: Active Grant

• Current Assignee: Electronics and Telecommunications Research Institute
• Original Assignee: Electronics and Telecommunications Research Institute
• Inventors: Bang, Joon Hak, Kwon, Kee Koo, Lee, Soo In
• Primary Examiner(s): CHEUNG, CALVIN K
• Application Number:
  US14/489,606
• Publication Number:
  US 20150266510A1
• Time in Patent Office: 894 Days
• US Class Current: 1/1
• CPC Class Codes: B60Q 9/00 Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 , e.g. haptic signalling
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

Provided are an apparatus and method for correcting sensing of a surrounding obstacle on a curved road. The apparatus includes an acquisition unit configured to acquire curvature information of a curved road on which a vehicle is traveling using a steering angle value indicating a degree of rotation of a steering wheel of the vehicle, a sensing unit configured to sense another vehicle traveling behind the vehicle, and a correction unit configured to correct sensing information of the other vehicle sensed by the sensing unit using the curvature information acquired by the acquisition unit.

Claims

1. An apparatus for correcting sensing information between a vehicle traveling in a lane of a curved road and an obstacle sensed around the vehicle, the apparatus comprising:

a processor configured to

acquire, by an acquisition unit, a steering angle value indicating a degree of rotation of a steering wheel of a vehicle and curvature information of the curved road;

generate, by a sensing unit, the sensing information between the vehicle and the obstacle by measuring at least one of an angle value between the vehicle and the obstacle, a distance between the vehicle and the obstacle, and a speed value between the vehicle and the obstacle;

correct, by a correction unit, the sensing information using at least one of the steering angle value and the curvature information to generate a corrected sensing information,

wherein the correction unit corrects the sensing information when the steering angle value is a previously set threshold value or more,

wherein the corrected sensing information is used to determine whether or not the obstacle is in a lane adjacent to the lane of the curved road, and

wherein the correction unit corrects the relative speed value between the vehicle and the obstacle by multiplying the relative speed value between the vehicle and the obstacle and a ratio between the distance value between the vehicle and the obstacle and a corrected distance value between the vehicle and the obstacle; and

perform control of the vehicle.

2. The apparatus of claim 1, wherein the correction unit corrects the angle value between the vehicle and the obstacle by adding or subtracting the steering angle value to/from the angle value between the vehicle and the obstacle.

3. The apparatus of claim 1, wherein the correction unit corrects at least one of the distance value and the relative speed value between the vehicle and the obstacle using the curvature information.

4. The apparatus of claim 1, wherein the correction unit corrects the distance value between the vehicle and the obstacle using the following equation employing the curvature information:

5. A method for correcting sensing information between a vehicle traveling in a lane of a curved road and an obstacle sensed around the vehicle to provide a corrected sensing information to control the vehicle to prevent collision between the vehicle and the obstacle, the method comprising:

selectively acquiring at least one of a steering angle value indicating a degree of rotation of a steering wheel of the vehicle and curvature information of the curved road, through a steering angle sensor of the vehicle;

generating the sensing information between the vehicle and the obstacle by measuring at least one of an angle value, a distance value, and a relative speed value between the vehicle and the obstacle;

correcting the sensing information, by a processor, using at least one of the steering angle value and the curvature information to generate the corrected sensing information,

wherein the correcting of the sensing information includes correcting the angle value between the vehicle and the obstacle by adding or subtracting the steering angle value to/from the angle value between the vehicle and the obstacle,

wherein the corrected sensing information is used to determine whether or not the obstacle is in a lane adjacent to the lane of the curved road, and

wherein the correcting of the sensing information includes correcting the relative speed value between the vehicle and the obstacle by multiplying the relative speed value between the vehicle and the obstacle and a ratio between the distance value between the vehicle and the obstacle and a corrected distance value between the vehicle and the obstacle; and

performing the control of the vehicle.

6. The method of claim 5, wherein the correcting of the sensing information includes correcting the sensing information when the steering angle value is a previously set threshold value or more.

7. The method of claim 5, wherein the correcting of the sensing information includes correcting the distance value between the vehicle and the obstacle using the following equation employing the curvature information:

8. A method for determining a driving lane in a curved road in which a vehicle is travelling and an adjacent lane in the curved road in which an obstacle sensed around the vehicle is located using a sensing information to control the vehicle to prevent collision between the vehicle and the obstacle, the method comprising:

measuring a steering angle value indicating a degree of rotation of a steering wheel of the vehicle by measuring a central axis of tire rotation of the vehicle;

measuring an angle value between the vehicle and the obstacle;

correcting the angle value by using the steering angle to output a corrected angle value;

measuring a distance value between the vehicle and the obstacle;

measuring a curvature radius of the curved road by using the steering angle value;

correcting the distance value by using the curvature radius to output a corrected distance value;

measuring a speed value between the vehicle and the obstacle;

correcting the speed value by using the corrected distance value and the distance value to output a corrected speed value;

correcting the sensing information by using the corrected angle value, the corrected distance value, and the corrected speed value to output a corrected sensing information,

wherein the correcting of the sensing information includes correcting the relative speed value between the vehicle and the obstacle by multiplying the relative speed value between the vehicle and the obstacle and a ratio between the distance value between the vehicle and the obstacle and a corrected distance value between the vehicle and the obstacle;

determining the driving lane and the adjacent lane by using the corrected sensing information; and

performing the control of the vehicle.