# US 10,870,429 B2 · Posture information based pedestrian detection and pedestrian collision prevention apparatus and method

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- Number: US 10,870,429 B2
- Document ID: US10870429B2
- Status: Granted
- Kind: B2
- Application number: 16/559,071
- Filed: 2019-09-03
- Published: 2019-12-26
- Granted: 2020-12-22
- Earliest claimed: 2016-12-30
- Assignees: Hyundai Motor Company; Kia Motors Corporation
- Applicants: Hyundai Motor Company; Kia Motors Corporation
- Inventors: Yoon Soo Kim; Eung Seo Kim; Suk Ki Min; Dong Hyun Sung; Seung Wook Park; Yong Seok Kwon; Sang Min Lee; Tae Young Lee; Min Byeong Lee; Ho Choul Jung; In Yong Jung
- Web page: https://patentgrep.com/patent/US10870429B2

## CPC

- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- 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}
- B60W 30/0953: {the prediction being responsive to vehicle dynamic parameters}
- B60W 30/0956: {the prediction being responsive to traffic or environmental parameters}
- G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V 40/103: {Static body considered as a whole, e.g. static pedestrian or occupant recognition}
- G06V 40/168: {Feature extraction; Face representation}
- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- B60T 2201/022: Collision avoidance systems
- B60W 2050/143: {Alarm means}
- B60W 2050/146: {Display means}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2520/10: Longitudinal speed
- B60W 2554/00: Input parameters relating to objects
- B60W 2555/20: Ambient conditions, e.g. wind or rain
- B60W 2710/182: Brake pressure, e.g. of fluid or between pad and disc
- B60W 2720/10: Longitudinal speed
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- 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})

## Abstract

An apparatus for activating a pedestrian detection and collision mitigation system (PDCMS) of a vehicle includes: a front detection sensor detecting a presence of a pedestrian on a driving lane of the vehicle, gaze information of the pedestrian, and a distance and a relative speed between the pedestrian and the vehicle; a vehicle sensor detecting at least any one of a speed, an acceleration, a steering angle, a steering angular velocity, or a pressure of a master cylinder of the vehicle; an electronic control unit activating a PDCMS function based on information detected by the front detection sensor and the vehicle sensor; and a warning unit operated to inform a driver of a collision of the pedestrian with the vehicle by a control of the electronic control unit.

## Claims

### Claim 1

An apparatus for activating a pedestrian detection and collision mitigation system (PDCMS) of a vehicle, the apparatus comprising:
a front detection sensor configured to detect a presence of a pedestrian, gaze information of the pedestrian, and a distance and a relative speed between the pedestrian and the vehicle;
a vehicle sensor configured to detect a speed of the vehicle;
a controller configured to determine the vehicle is in a PDCMS activation state and to operate a PDCMS function based on information detected by the front detection sensor and the vehicle sensor when the vehicle is in the PDCMS activation state; and
an output device configured to provide a warning of a collision of the pedestrian with the vehicle by a control of the controller,
wherein the PDCMS function includes at least one of an operation of the output device or an operation of a brake regardless of whether the driver operates the brake,
wherein the controller determines a time of activation of the PDCMS based on the gaze information of the pedestrian, and
wherein the controller determines that the vehicle is in the PDCMS activation state if a speed of the pedestrian and the speed of the vehicle are in an area in which the PDCMS function is essentially operated at the time of determining whether the PDCMS function is operated.

### Claim 2 (depends on 1)

The apparatus of claim 1, wherein the front detection sensor tracks the pedestrian when the presence of the pedestrian is detected.

### Claim 3 (depends on 2)

The apparatus of claim 2, wherein the front detection sensor tracks the pedestrian based on a number of feature points of the pedestrian in an acquired image.

### Claim 4 (depends on 1)

The apparatus of claim 1,
wherein when a horizontal length of the entire face of the pedestrian is defined as x, a horizontal length from a left face contour to a left eye of the pedestrian is defined as x1, a horizontal length from a right face contour to a right eye of the pedestrian is defined as x2, and a horizontal length between the left eye and the right eye of the pedestrian is defined as x3, the gaze information of the pedestrian corresponds to a front or a diagonal if |(x1−x2)/x|<a, a rear if x1=x2=x3=0, and a side if |(x1−x2)/x|≥a or x1=0 or x2=0, and the a is selected in a range between 0.65 and 0.95.

### Claim 5 (depends on 4)

The apparatus of claim 4, wherein the controller performs the operation of the output device and the operation of the brake by delaying the operation of the output device and the operation of the brake by a predetermined time when the gaze information of the pedestrian is the front or the diagonal, compared to when the gaze information of the pedestrian is the rear or the side.

### Claim 6 (depends on 1)

The apparatus of claim 1, wherein the vehicle sensor further includes at least any one of a rain sensor, a temperature sensor, and an illumination sensor.

### Claim 7 (depends on 1)

The apparatus of claim 1, wherein the controller performs the operation of the brake so that the speed of the vehicle is reduced to at least a predetermined speed or more from time when the operation of the brake is activated to time when the collision of the pedestrian with the vehicle occurs.

### Claim 8 (depends on 1)

The apparatus of claim 1, wherein the controller permits the driver to operate the brake for a maximum possible deceleration even after the activation of the operation of the brake starts.

### Claim 9 (depends on 1)

The apparatus of claim 1, wherein the controller controls the output device to provide an alarm indicating that the PDCMS function is in an available state.

### Claim 10 (depends on 1)

The apparatus of claim 1, wherein the output device includes a display visually providing the warning of the collision of the pedestrian with the vehicle or a speaker audibly providing the warning of the collision of the pedestrian with the vehicle.

### Claim 11 (depends on 1)

The apparatus of claim 1, wherein the PDCMS function further includes an operation of a rear brake lamp.

### Claim 12 (depends on 1)

The apparatus of claim 1, wherein the PDCMS function further includes an operation of an electrical stability control (ESC).

### Claim 13

A method for activating a pedestrian detection and collision mitigation system (PDCMS) of a vehicle, the method comprising:
acquiring, by a front detection sensor, an image in front of the vehicle;
detecting, by the front detection sensor, presence of a pedestrian, a gaze information of the pedestrian and a distance and a relative speed between the pedestrian and the vehicle;
detecting, by a vehicle sensor, a speed of the vehicle;
determining, by a controller, the vehicle is in a PDCMS activation state; and
operating, by the controller, a PDCMS function based on information detected by the front detection sensor and the vehicle sensor when the vehicle is in the PDCMS activation state,
wherein the PDCMS function includes an operation of an output device to provide a driver a warning of a collision of the pedestrian with the vehicle and an operation of a brake regardless of whether the driver operates the brake, and
wherein the method further includes
determining, by the controller, a time of activation of the PDCMS based on the gaze information of the pedestrian
determining, by the controller, that the vehicle is in the PDCMS activation state if a speed of the pedestrian and the speed of the vehicle are in an area in which the PDCMS function is essentially operated at the time of determining whether the PDCMS function is operated.

### Claim 14 (depends on 1)

The apparatus of claim 1, wherein the controller determines that the vehicle is in the PDCMS activation state if the speed of the vehicle is within a first speed range and the speed of the pedestrian is within a second speed range.

### Claim 15 (depends on 13)

The method of claim 13, wherein the method further includes:
determining, by the controller, that vehicle is in the PDCMS activation state, if the speed of the vehicle is within a first speed rage and the speed of the pedestrian is within a second speed range.