# US 10,766,467 B2 · Collision prevention apparatus and method, and driving support apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,766,467 B2 - Document ID: US10766467B2 - Status: Granted - Kind: B2 - Application number: 16/369,689 - Filed: 2019-03-29 - Published: 2020-01-02 - Granted: 2020-09-08 - Earliest claimed: 2018-06-28 - Assignees: Mando Corporation - Applicants: Mando Corporation - Inventors: Sang Yeob Lee - Web page: https://patentgrep.com/patent/US10766467B2 ## CPC - B60T 7/22: initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle} - B60Q 9/008: {for anti-collision purposes} - B60T 8/17: Using electrical or electronic regulation means to control braking {(detecting or indicating faulty operation B60T8/885)} - B60T 8/172: Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters {(B60T8/17551 takes precedence)} - B60T 8/17558: {specially adapted for collision avoidance or collision mitigation (road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09)} - B60T 8/321: {deceleration (B60T8/34, B60T8/52, B60T8/54, B60T8/56, B60T8/58, B60T8/72, B60T8/86, B60T8/88 take precedence)} - B60T 8/58: responsive to speed and another condition or to plural speed conditions - B60T 8/72: responsive to a difference between a speed condition, e.g. deceleration, and a fixed reference - B60T 8/74: sensing a rate of change of velocity - B60T 2201/022: Collision avoidance systems - B60T 2230/00: Monitoring, detecting special vehicle behaviour; Counteracting thereof - B60T 2250/00: Monitoring, detecting, estimating vehicle conditions - B60T 2250/04: Vehicle reference speed; Vehicle body speed - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The collision prevention apparatus of claim 1, wherein the controller determines the collision risk of the vehicle on the basis of speed reduction state information of forward vehicles. ### Claim 3 (depends on 1) The collision prevention apparatus of claim 1, wherein the controller performs comparison of at least one of steering angle values, including a steering angle value of the vehicle and a predetermined reference steering angle value, brake pedal pressure values, including a brake pedal pressure value of the vehicle and a predetermined reference brake pedal pressure value, or accelerator pedal change values, including an accelerator pedal change value of the vehicle and a predetermined reference accelerator pedal change value, and determines driving intervention of the driver according to a comparison result. ### Claim 4 (depends on 1) The collision prevention apparatus of claim 1, wherein the controller performs control to cause the collision risk alert to be generated when there is the collision risk of the vehicle, and after the collision risk alert is generated, adjusts the braking time point of the vehicle according to the result of determination on driving intervention of the driver. ### Claim 5 (depends on 4) The collision prevention apparatus of claim 4, wherein the controller adjusts, when the driver does not intervene in driving, the braking time point of the vehicle on the basis of at least one value among a value of a time to collision (TTC) between forward vehicles and a value of a distance between the forward vehicles. ### Claim 6 (depends on 5) The collision prevention apparatus of claim 5, wherein the controller performs comparison of at least one of time to collision values, including a value of time to collision between the forward vehicles and a predetermined reference value of time to collision, or distance values, including a value of the distance between the forward vehicles and a predetermined reference distance value, and adjusts the braking time point of the vehicle according to a comparison result. ### Claim 7 (depends on 6) The collision prevention apparatus of claim 6, wherein the controller moves up the braking time point of the vehicle before a current braking time point of the vehicle in at least one of a case where the value of time to collision between the forward vehicles is smaller than the predetermined reference value of time to collision, or a case where the value of the distance between the forward vehicles is smaller than the predetermined reference distance value. ### Claim 8 (depends on 6) The collision prevention apparatus of claim 6, wherein, when the forward vehicles comprise the first, second, and third forward vehicles, the controller moves up the braking time point of the vehicle to control the vehicle, in at least one of a case where a value of time to collision (TTC) between the first and second forward vehicles is smaller than the predetermined value of time to collision, a case where a value of time to collision (TTC) between the second and third forward vehicles is smaller than the predetermined value of time to collision, a case where a value of a distance between the first and second forward vehicles is smaller than the predetermined distance value, or a case where a value of a distance between the second and third forward vehicles is smaller than the predetermined distance value. ### Claim 9 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. ### Claim 10 (depends on 9) The driving support apparatus of claim 9, wherein the controller performs comparison of at least one of steering angle values, including a steering angle value of the vehicle and a predetermined reference steering angle value, brake pedal pressure values, including a brake pedal pressure value of the vehicle and a predetermined reference brake pedal pressure value, or accelerator pedal change values, including an accelerator pedal change value of the vehicle and a predetermined reference accelerator pedal change value, and determines driving intervention of the driver according to a comparison result. ### Claim 11 (depends on 9) The driving support apparatus of claim 9, wherein the controller controls operation of the alert module to cause the collision risk alert to be generated when there is the collision risk of the vehicle, and after the collision risk alert is generated, determines driving intervention of the driver, and adjusts the braking time point of the vehicle according to the result of determination on driving intervention of the driver. ### Claim 12 (depends on 11) The driving support apparatus of claim 11, wherein the controller adjusts, when the driver does not intervene in driving, the braking time point of the vehicle on the basis of at least one value among a value of time to collision (TTC) between forward vehicles and a value of a distance between the forward vehicles. ### Claim 13 (depends on 11) The collision prevention method of claim 11, wherein the determining driving intervention comprising: performing comparison of at least one of steering angle values, including a steering angle value of the vehicle and a predetermined reference steering angle value, brake pedal pressure values, including a brake pedal pressure value of the vehicle and a predetermined reference brake pedal pressure value, or accelerator pedal change values, including an accelerator pedal change value of the vehicle and a predetermined reference accelerator pedal change value, and determining driving intervention of the driver according to a comparison result. ### Claim 14 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.