# US 10,370,031 B2 · Assistant system and assistant method for backward driving of vehicle

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- Number: US 10,370,031 B2
- Document ID: US10370031B2
- Status: Granted
- Kind: B2
- Application number: 15/370,474
- Filed: 2016-12-06
- Published: 2017-06-08
- Granted: 2019-08-06
- Earliest claimed: 2015-12-08
- Assignees: Hyundai Mobis Co., Ltd.
- Applicants: Hyundai Mobis Co., Ltd.
- Inventors: Jeong Ku Kim
- Web page: https://patentgrep.com/patent/US10370031B2

## CPC

- B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)}
- B62D 6/003: {in order to control vehicle yaw movement, i.e. around a vertical axis (B62D6/007 takes precedence)}
- B62D 6/10: characterised by means for sensing {or determining} torque
- B62D 15/0285: {Parking performed automatically}
- G05D 1/0219: {ensuring the processing of the whole working surface}
- G05D 1/0238: {using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93)}
- G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08)
- B60R 2300/105: using multiple cameras
- B60R 2300/8086: for vehicle path indication
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR

## Abstract

Provided are an assistant system and assistant method for a backward driving of a vehicle, wherein the assistant system includes an input unit configured to receive a backward driving assistant command, a position tracking unit configured to track real-time positions of the vehicle, an obstacle sensing unit configured to generate an obstacle sensing signal, a steering device manipulation unit configured to adjust a steering angle of a steering device of the vehicle, a primary backward path generation unit configured to generate a primary backward path, a secondary backward path generation unit configured to generate a secondary backward path for the vehicle to drive backward, and a control unit configured to match the real-time positions of the vehicle to the secondary backward path, and at the time of a backward driving, to control the steering device manipulation unit.

## Claims

### Claim 1

An assistant system for a backward driving of a vehicle, the assistant system comprising:
an input unit of at least one processor configured to receive a backward driving assistant command;
a position tracking unit of at least one processor configured to track real-time positions of the vehicle;
an obstacle sensing unit of at least one processor configured to sense an obstacle existing at front, rear, left and right sides of the vehicle and generate an obstacle sensing signal;
a steering device manipulation unit of at least one processor configured to adjust a steering angle of a steering device of the vehicle;
a primary backward path generation unit of at least one processor configured to generate a primary backward path based on the real-time positions of the vehicle on map information that is previously stored;
a secondary backward path generation unit of at least one processor configured to generate a secondary backward path for the vehicle to drive backward while avoiding the obstacle behind the vehicle within the primary backward path based on the obstacle sensing signal; and
a control unit of at least one processor configured to match the real-time positions of the vehicle to the secondary backward path, and at the time of a backward driving, to control the steering device manipulation unit according to the secondary backward path which matched the real-time positions of the vehicle,
wherein:
when a wheel mark left on a road by a different vehicle passing the road is present, the obstacle sensing unit further generates a wheel mark sensing signal by sensing the wheel mark, and the secondary backward path generation unit generates the secondary backward path based on the obstacle sensing signal and the wheel mark sensing signal; and
the wheel mark includes a recess having a predetermined width on an unpaved road surface or a bare area having a predetermined width on a grass-covered road surface.

### Claim 2 (depends on 1)

The assistant system of claim 1, further comprising a drive trace storage unit configured to store a movement trace according to the real-time positions of the vehicle,
wherein the primary backward path generation unit generates the primary backward path based on spatial coordinates corresponding to a movement trace in a forward direction.

### Claim 3 (depends on 1)

The assistant system of claim 1, further comprising a vehicle internal information detection unit configured to detect vehicle internal information including turning direction information of a vehicle body with respect to a driving direction, steering angle information, and rotation speed information of a wheel,
wherein, in the control of the steering device manipulation unit according to the secondary backward path, the control unit controls the steering device manipulation unit such that a steering angle of the steering device is adjusted to correspond to a dynamic movement occurring at the time of a backward driving of the vehicle using the vehicle internal information.

### Claim 4 (depends on 1)

The assistant system of claim 1, wherein when the backward driving assistant command is input through the input unit, the control unit is configured to, before controlling the steering device manipulation unit, determine whether the vehicle satisfies a vehicle state criterion for performing a backward operation and determine whether the vehicle allows the backward driving to be perform based on the obstacle sensing signal.

### Claim 5 (depends on 1)

The assistant system of claim 1, wherein the secondary backward path generation unit updates the secondary backward path at equal intervals.

### Claim 6 (depends on 4)

The assistant system of claim 4, further comprising an output unit configured to output at least one of information indicating whether the vehicle state criterion is satisfied, information indicating whether the backward driving is performable, obstacle sensing signal information, and driver guidance information.

### Claim 7

An assistant method of a backward driving of a vehicle, the assistant method comprising:
receiving a backward driving assistant command;
determining whether the vehicle satisfies a vehicle state criterion for performing a backward operation;
determining whether the vehicle allows a backward driving to be performed based on an obstacle sensing signal;
generating a primary backward path based on real-time positions of the vehicle on map information that is previously stored;
generating a secondary backward path based on the obstacle sensing signal to drive backward while avoiding an obstacle behind the vehicle within the primary backward path;
matching the real-time positions of the vehicle to the secondary backward path; and
controlling a steering angle of a steering device by manipulating a steering device manipulation unit at the time of the backward driving according to the secondary backward path which matched the real-time positions of the vehicle,
wherein, when a wheel mark left on a road by a different vehicle passing the road is present:
the assistant method further comprises sensing the wheel mark to generate a wheel mark sensing signal;
the generating of the secondary backward path is based on the obstacle sensing signal and the wheel mark sensing signal; and
the wheel mark includes a recess having a predetermined width on an unpaved road surface or a bare area having a predetermined width on a grass-covered road surface.

### Claim 8 (depends on 7)

The assistant method of claim 7, wherein the determining of whether the vehicle satisfies a vehicle state criterion comprises determining whether the vehicle state criterion is satisfied when the vehicle is stopped by a brake manipulation of a driver under a condition that a shift lever is in a position of a reverse gear.

### Claim 9 (depends on 7)

The assistant method of claim 7, wherein the determining of whether the vehicle allows the backward driving to be performed based on the obstacle sensing signal comprises determining whether the vehicle allows the backward driving to be performed by detecting obstacles existing at left and right sides of the vehicle with respect to a backward driving direction of the vehicle on the basis of image information and position information of the obstacle sensing signal, and comparing a minimum lateral gap between the obstacles with a crosswise width of the vehicle.

### Claim 10 (depends on 7)

The assistant method of claim 7, wherein the generating of the secondary backward path based on the obstacle sensing signal comprises updating the secondary backward path periodically or at equal intervals according to the obstacle sensing signal that is newly sensed at the time of a backward driving of the vehicle.

### Claim 11 (depends on 7)

The assistant method of claim 7, wherein the controlling of the steering angle of the steering device comprises controlling the steering device manipulation unit so that the steering angle of the steering device is adjusted to suit a reverse speed of the vehicle using vehicle internal information including turning direction information of a vehicle body with respect to a backward driving direction, steering angle information, and rotation speed information of a wheel.