# US 11,027,653 B2 · Apparatus, system and method for preventing collision

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- Number: US 11,027,653 B2
- Document ID: US11027653B2
- Status: Granted
- Kind: B2
- Application number: 16/696,602
- Filed: 2019-11-26
- Published: 2020-07-30
- Granted: 2021-06-08
- Earliest claimed: 2019-01-28
- Assignees: Mando Corporation
- Applicants: Mando Corporation
- Inventors: Tak Gen Kim; Jae Suk Kim
- Web page: https://patentgrep.com/patent/US11027653B2

## CPC

- B60Q 9/008: {for anti-collision purposes}
- B60W 10/18: including control of braking systems
- B60W 10/20: including control of steering systems
- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention
- G01S 13/589: {measuring the velocity vector}
- G01S 13/867: {Combination of radar systems with cameras}
- G01S 13/87: Combinations of radar systems, e.g. primary radar and secondary radar
- G01S 13/931: of land vehicles
- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2420/54: Audio sensitive means, e.g. ultrasound
- B60W 2554/00: Input parameters relating to objects
- B60W 2554/80: Spatial relation or speed relative to objects
- G01S 2013/9315: {Monitoring blind spots}
- G01S 2013/93271: {in the front of the vehicles}
- G01S 2013/93272: {in the back of the vehicles}
- G01S 2013/93274: {on the side of the vehicles}
- B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- 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
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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

The present disclosure is provided to a collision avoidance apparatus, system and method, configured to calculate a velocity vector of a following vehicle located behind the vehicle in the driving lane in which the vehicle is driving based on at least one of the image data and the sensing data, calculate a collision risk range between the vehicle with the following vehicle based on the driving data and the velocity vector, calculate a time to collision within the collision risk range, and output a warning based on the time to collision. According to the present disclosure, warning and control may be performed according to the collision risk range and the time to collision calculated using the velocity vector of the following vehicle, thereby preventing collision with an adjacent following vehicle.

## Claims

### Claim 1

A collision avoidance apparatus, comprising:
a camera module disposed in a vehicle so as to have a view to an outside of the vehicle, and configured to acquire image data;
at least one non-image sensor module disposed in the vehicle so as to have a sensing area with respect to the outside of the vehicle, and configured to acquire sensing data;
a vehicle interior sensor module configured to detect driving data of the vehicle; and
a controller configured to include at least one processor for processing the image data and the sensing data,
wherein the controller is configured to:
calculate a velocity vector of a following vehicle located behind the vehicle in a driving lane in which the vehicle is driving based on at least one of the image data or the sensing data,
determine whether the following vehicle has a horizontal movement when calculating the velocity vector,
upon determining that the horizontal movement is greater than zero, calculate a collision risk range between the vehicle with the following vehicle based on the driving data and the velocity vector,
calculate a time to collision (TTC) within the collision risk range, and
output a warning based on the TTC,
wherein the controller detects a stationary object on the left or right side of the vehicle based on the image data and the sensing data, determines an inclination between the moving direction of the vehicle and the stationary object based on the driving data, and outputs the warning when the inclination is greater than or equal to a predetermined angle.

### Claim 2 (depends on 1)

The collision avoidance apparatus of claim 1, wherein the controller predicts a moving path of the following vehicle moving to the left or the right of the vehicle based on the velocity vector, and determines the collision risk range according to the moving path.

### Claim 3 (depends on 1)

The collision avoidance apparatus of claim 1, wherein the controller outputs the warning when the TTC is determined to be within a predetermined time.

### Claim 4 (depends on 1)

The collision avoidance apparatus of claim 1, wherein the controller, when the lane change attempt of the vehicle is detected in the collision risk range, controls at least one of a steering device or a braking device of the vehicle to prevent lane departure.

### Claim 5 (depends on 4)

The collision avoidance apparatus of claim 4, wherein the controller detects a lane change attempt of the vehicle in the collision risk range by using lane information detected according to at least one of the image data or the sensing data.

### Claim 6 (depends on 1)

The collision avoidance apparatus of claim 1, wherein the controller determines a relative velocity and distance between the stationary object and the vehicle, determines the TTC based on the relative velocity and the distance, and controls at least one of the steering device or the braking device of the vehicle when the TTC is determined to be within a predetermined time.

### Claim 7

A collision avoidance system, comprising:
a camera module disposed in a vehicle so as to have a view to an outside of the vehicle, and configured to acquire image data;
at least one non-image sensor module disposed in the vehicle so as to have a sensing area with respect to the outside of the vehicle, and configured to acquire sensing data;
a vehicle interior sensor module configured to detect driving data of the vehicle; and
a domain control unit configured to include at least one processor for processing image data and sensing data, and control at least one driver assistance system module provided in the vehicle,
wherein the domain control unit is operable to:
calculate a velocity vector of a following vehicle located behind the vehicle in a driving lane in which the vehicle is driving based at least one of the image data or the sensing data,
determine whether the following vehicle has a horizontal movement when calculating the velocity vector,
upon determining that the horizontal movement is greater than zero, calculate a collision risk range between the vehicle with the following vehicle based on the driving data and the velocity vector,
calculate a time to collision (TTC) within the collision risk range, and
output a warning based on the TTC,
wherein the domain control unit detects a stationary object on the left or right side of the vehicle based on the image data and the sensing data, determines an inclination between the moving direction of the vehicle and the stationary object based on the driving data, and outputs the warning when the inclination is greater than or equal to a predetermined angle.

### Claim 8 (depends on 7)

The collision avoidance system of claim 7, wherein the domain control unit predicts a moving path of the following vehicle moving to the left or the right of the vehicle based on the velocity vector, and determines the collision risk range according to the moving path.

### Claim 9 (depends on 7)

The collision avoidance system of claim 7, wherein the domain control unit outputs the warning when the TTC is determined to be within a predetermined time.

### Claim 10 (depends on 7)

The collision avoidance system of claim 7, wherein the domain control unit, when the lane change attempt of the vehicle is detected in the collision risk range, controls at least one of a steering device or a braking device of the vehicle to prevent lane departure.

### Claim 11 (depends on 10)

The collision avoidance system of claim 10, wherein the domain control unit detects a lane change attempt of the vehicle in the collision risk range by using lane information detected according to at least one of the image data or the sensing data.

### Claim 12 (depends on 7)

The collision avoidance system of claim 7, wherein the domain control unit determines a relative velocity and distance between the stationary object and the vehicle, determines the TTC based on the relative velocity and the distance, and controls at least one of the steering device or the braking device of the vehicle when the TTC is determined to be within a predetermined time.

### Claim 13

A collision avoidance method, comprising:
acquiring image data and sensing data of an outside of a vehicle and driving data of the vehicle;
calculating a velocity vector of a following vehicle located behind the vehicle in a driving lane in which the vehicle is driving, based on at least one of the image data or the sensing data;
determining whether the following vehicle has a horizontal movement when calculating the velocity vector,
upon determining that the horizontal movement is greater than zero, calculating a collision risk range between the vehicle and the following vehicle based on the driving data and the velocity vector;
calculating a time to collision (TTC) within the collision risk range;
outputting a warning based on the TTC;
detecting a stationary object on the left or right side of the vehicle based on the image data and the sensing data,
determining an inclination between the moving direction of the vehicle and the stationary object based on the driving data, and
outputting the warning when the inclination is greater than or equal to a predetermined angle.

### Claim 14 (depends on 13)

The collision avoidance method of claim 13, wherein the calculating a collision risk range includes predicting a moving path of the following vehicle moving to the left or the right of the vehicle based on the velocity vector, and determining the collision risk range according to the moving path.

### Claim 15 (depends on 13)

The collision avoidance method of claim 13, further comprising outputting the warning when the TTC is determined to be within a predetermined time.

### Claim 16 (depends on 13)

The collision avoidance method of claim 13, further comprising: controlling at least one of a steering device or a braking device of the vehicle to prevent lane departure when a lane change attempt of the vehicle is detected in the collision risk range.

### Claim 17 (depends on 16)

The collision avoidance method of claim 16, further comprising: detecting a lane change attempt of the vehicle in the collision risk range by using lane information detected according to at least one of the image data or the sensing data.