Autonomous emergency braking system and method of controlling the same
AssigneeMando Corporation
InventorHyung-Jik Lee
Life of this patent
Estimating the term…
Abstract
An autonomous emergency braking system includes a vehicle speed detector, a pedestrian position detector, a pedestrian information storage portion and an electronic control unit which receives the vehicle speed and information of the position of the pedestrian detected by the pedestrian position detector, calculates a time to collision (TTC), predicts a relative position of the pedestrian compared with the vehicle at a point in time after the calculated TTC passes by tracking a moving trajectory of the pedestrian from a time series change in the position of the pedestrian stored in the pedestrian information storage portion, and performs autonomous emergency braking control depending on the predicted relative position of the pedestrian.
Claims7
An autonomous emergency braking system which performs autonomous emergency braking control including at least one of warning of a risk of collision and emergency braking, comprising:
- a vehicle speed detector which detects a vehicle speed of a vehicle;
- a pedestrian position detector which detects a position of a pedestrian;
- a pedestrian information storage portion which stores the position of the pedestrian detected by the pedestrian position detector in time series;
- and
- an electronic control unit which receives the vehicle speed detected by the vehicle speed detector and information of the position of the pedestrian detected by the pedestrian position detector, calculates a time to collision (TTC) according to a relative distance between the vehicle and the pedestrian and the vehicle speed, predicts a relative position of the pedestrian compared with the vehicle at a point in time after the calculated TTC passes by tracking a moving trajectory of the pedestrian from a time series change in the position of the pedestrian stored in the pedestrian information storage portion, and performs the autonomous emergency braking control depending on the predicted relative position of the pedestrian,
- wherein the electronic control unit estimates a future position of the pedestrian and a future position of the vehicle at the point in time the calculated TTC passes, respectively, compares the estimated future position of the pedestrian and the estimated future position of the vehicle, and predicts a lateral distance of the pedestrian from the vehicle according to a lateral separation between the estimated future position of the pedestrian and the estimated future position of the vehicle, and
- wherein the electronic control unit performs the emergency braking when the detected position of the pedestrian is in a braking area and the predicted lateral distance of the pedestrian is closer than a preset distance which is a distance away from an edge of the vehicle in a lateral direction, and postpones the emergency braking when the predicted lateral distance of the pedestrian is farther than the preset distance.
A method of controlling an autonomous emergency braking system which performs autonomous emergency braking control including at least one of warning of a risk of collision and emergency braking, the method comprising:
- detecting a position of a pedestrian;
- calculating a time to collision (TTC) according to a relative distance between a vehicle and the pedestrian and a vehicle speed;
- predicting a relative position of the pedestrian compared with the vehicle at a point in time after the calculated TTC passes by tracking a moving trajectory of the pedestrian from a time series change in the position of the pedestrian;
- and
- performing or postponing the autonomous emergency braking control depending on the predicted relative position of the pedestrian,
- wherein when the detected position of the pedestrian is in a warning area or a braking area and the predicted relative position of the pedestrian is within a preset distance which is a distance away from an edge of the vehicle in a lateral direction of the vehicle, a corresponding autonomous emergency braking control for the warning area or the braking area is performed, and when otherwise, the corresponding autonomous emergency braking control is postponed.
An autonomous emergency braking system which performs autonomous emergency braking control including at least one of warning of a risk of collision and emergency braking, comprising:
- a vehicle speed detector which detects a vehicle speed of a vehicle;
- a pedestrian position detector which detects a position of a pedestrian;
- a pedestrian information storage portion which stores the position of the pedestrian detected by the pedestrian position detector in time series;
- and
- an electronic control unit which receives the vehicle speed detected by the vehicle speed detector and information of the position of the pedestrian detected by the pedestrian position detector, calculates a time to collision (TTC) according to a relative distance between the vehicle and the pedestrian and the vehicle speed, predicts a relative position of the pedestrian compared with the vehicle at a point in time after the calculated TTC passes by tracking a moving trajectory of the pedestrian from a time series change in the position of the pedestrian stored in the pedestrian information storage portion, and performs the autonomous emergency braking control depending on the predicted relative position of the pedestrian,
- wherein the electronic control unit estimates a future position of the pedestrian and a future position of the vehicle at the point in time the calculated TTC passes, respectively, compares the estimated future position of the pedestrian and the estimated future position of the vehicle, and predicts a lateral distance of the pedestrian from the vehicle according to a lateral separation between the estimated future position of the pedestrian and the estimated future position of the vehicle, and
- wherein the electronic control unit gives the warning when the detected position of the pedestrian is in a warning area and the predicted lateral distance of the pedestrian is closer than a preset distance which is a distance away from an edge of the vehicle in a lateral direction, and postpones the warning when the predicted lateral distance of the pedestrian is farther than the preset distance.
Dependencies are inferred from the claim text.