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US 10,766,467 B2Granted
Collision prevention apparatus and method, and driving support apparatus
AssigneeMando Corporation
InventorSang Yeob Lee
Life of this patent
Estimating the term…
Abstract
The present embodiments relate to a collision prevention apparatus and method, and a driving support apparatus. The collision prevention apparatus may comprise: a collision risk determiner that determines a collision risk of a vehicle, a driving intervention determiner that determines driving intervention of a driver, and a collision prevention controller that controls a collision risk alert according to a result of determination on a collision risk of the vehicle, and adjusts a braking time point of the vehicle according to a result of determination on driving intervention of the driver.
Claims14
A collision prevention apparatus comprising:
- at least one in-vehicle sensor configured to sense state information of a vehicle;
- and
- a controller communicatively coupled to the at least one in-vehicle sensor and configured to:
- determine a collision risk of the vehicle;
- determine driving intervention of a driver based on the sensed state information of the vehicle;
- control a collision risk alert according to a result of determination on the collision risk of the vehicle and adjust a braking time point of the vehicle according to a result of determination on driving intervention of the driver;
- perform comparison of at least one of speed values, including speed values of forward vehicles and a predetermined reference speed value, or acceleration values, including acceleration values of the forward vehicles and a predetermined reference acceleration value;
- determine the collision risk of the vehicle according to a comparison result;
- and
- adjust at least one of the predetermined reference speed value or the predetermined reference acceleration value according to a vehicle driving time of the driver,
- wherein the controller maintains the braking time point of the vehicle if the driver is intervened in driving, and advances the braking time point of the vehicle if the driver is not intervened in driving, and
- wherein, if the forward vehicles, detected by a radar sensor mounted to be oriented downwards from horizontal on the front of the vehicle, comprise a first forward vehicle located in front of the vehicle, a second forward vehicle located in front of the first forward vehicle, and a third forward vehicle located in front of the second forward vehicle, the controller determines that there is the collision risk of the vehicle in at least one of a case where a speed value of the first forward vehicle is smaller than the predetermined reference speed value, a case where a speed value of the second forward vehicle is smaller than the predetermined reference speed value, a case where a speed value of the third forward vehicle is smaller than the predetermined reference speed value, a case where an acceleration value of the first forward vehicle is smaller than a predetermined acceleration value, a case where an acceleration value of the second forward vehicle is smaller than the predetermined acceleration value, or a case where an acceleration value of the third forward vehicle is smaller than the predetermined acceleration value.
9 more elements
A driving support apparatus comprising:
- an information acquisition module configured to acquire at least one of state information of a vehicle or state information of nearby vehicles;
- an alert module configured to generate a collision risk alert;
- and
- a controller communicatively connected to the information acquisition module and the alert module and configured to:
- determine a collision risk of the vehicle on the basis of at least one piece of information among the state information of the vehicle and the state information of the nearby vehicles,
- control operation of the alert module according to a result of determination on the collision risk of the vehicle,
- determine driving intervention of a driver,
- adjust a braking time point of the vehicle according to a result of determination on driving intervention of the driver, and
- control the vehicle to brake based on the braking time point of the vehicle,
- perform comparison of at least one of speed values, including speed values of forward vehicles and a predetermined reference speed value, or acceleration values, including acceleration values of the forward vehicles and a predetermined reference acceleration value, and determine the collision risk of the vehicle according to a comparison result,
- adjust at least one of the predetermined reference speed value or the predetermined reference acceleration value according to a vehicle driving time of the driver, and
- maintain the braking time point of the vehicle if the driver is intervened in driving, and advance the braking time point of the vehicle if the driver is not intervened in driving,
- wherein, if the forward vehicles, detected by a radar sensor mounted to be oriented downwards from horizontal on the front of the vehicle, comprise a first forward vehicle located in front of the vehicle, a second forward vehicle located in front of the first forward vehicle, and a third forward vehicle located in front of the second forward vehicle, the controller determines that there is the collision risk of the vehicle in at least one of a case where a speed value of the first forward vehicle is smaller than the predetermined reference speed value, a case where a speed value of the second forward vehicle is smaller than the predetermined reference speed value, a case where a speed value of the third forward vehicle is smaller than the predetermined reference speed value, a case where an acceleration value of the first forward vehicle is smaller than a predetermined acceleration value, a case where an acceleration value of the second forward vehicle is smaller than the predetermined acceleration value, or a case where an acceleration value of the third forward vehicle is smaller than the predetermined acceleration value.
10 more elements
A collision prevention method comprising:
- determining a collision risk of a vehicle;
- controlling a collision risk alert according to a result of determination on the collision risk of the vehicle;
- determining driving intervention of a driver;
- and
- adjusting a braking time point of the vehicle according to a result of determination on driving intervention of the driver,
- wherein the determining driving intervention comprising:
- performing comparison of at least one of speed values, including speed values of forward vehicles and a predetermined reference speed value, or acceleration values, including acceleration values of the forward vehicles and a predetermined reference acceleration value, and determining the collision risk of the vehicle according to a comparison result, and
- adjusting at least one of the predetermined reference speed value or the predetermined reference acceleration value according to a vehicle driving time of the driver, and
- wherein the adjusting the braking time point comprising maintaining the braking time point of the vehicle if the driver is intervened in driving, and advance the braking time point of the vehicle if the driver is not intervened in driving, and
- wherein, if the forward vehicles, detected by a radar sensor mounted to be oriented downwards from horizontal on the front of the vehicle, comprise a first forward vehicle located in front of the vehicle, a second forward vehicle located in front of the first forward vehicle, and a third forward vehicle located in front of the second forward vehicle, the determining driving intervention comprising determining that there is a collision risk of the vehicle in at least one of a case where a speed value of the first forward vehicle is smaller than the predetermined reference speed value, a case where a speed value of the second forward vehicle is smaller than the predetermined reference speed value, a case where a speed value of the third forward vehicle is smaller than the predetermined reference speed value, a case where an acceleration value of the first forward vehicle is smaller than a predetermined acceleration value, a case where an acceleration value of the second forward vehicle is smaller than the predetermined acceleration value, or a case where an acceleration value of the third forward vehicle is smaller than the predetermined acceleration value.
7 more elements
Dependencies are inferred from the claim text.