# US 12,600,349 B2 · Method and apparatus for assisting forward collision avoidance based on driving environment

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- Number: US 12,600,349 B2
- Document ID: US12600349B2
- Status: Granted
- Kind: B2
- Application number: 18/087,942
- Filed: 2022-12-23
- Published: 2023-12-21
- Granted: 2026-04-14
- Earliest claimed: 2022-06-21
- Assignees: Hyundai Mobis Co., Ltd.
- Applicants: Hyundai Mobis Co., Ltd.
- Inventors: Jun Yung Lee
- Web page: https://patentgrep.com/patent/US12600349B2

## CPC

- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 10/18: including control of braking systems
- B60W 30/0956: {the prediction being responsive to traffic or environmental parameters}
- B60W 40/06: Road conditions
- B60W 40/105: Speed
- B60W 40/114: Yaw movement
- B60W 50/0205: {Diagnosing or detecting failures; Failure detection models}
- B60W 2050/021: {Means for detecting failure or malfunction}
- B60W 2050/0215: {Sensor drifts or sensor failures}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2520/10: Longitudinal speed
- B60W 2520/14: Yaw
- B60W 2540/18: Steering angle
- B60W 2552/05: Type of road, e.g. motorways, local streets, paved or unpaved roads
- B60W 2554/402: Type
- B60W 2554/404: Characteristics
- B60W 2554/4041: Position
- B60W 2554/80: Spatial relation or speed relative to objects
- B60W 2554/802: Longitudinal distance
- B60W 2554/804: Relative longitudinal speed
- B60W 2556/45: External transmission of data to or from the vehicle
- B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data
- 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

## Abstract

A method for forward collision avoidance assist includes: collecting driving environment information of a vehicle; detecting at least one front object positioned in front of the vehicle and acquiring front object information of the front object; generating a driving trajectory of the vehicle based on motion information of the vehicle; selecting a candidate object from the front object based on the driving environment information and the front object information; determining a target object based on information of the candidate object and the driving trajectory of the vehicle; and controlling a brake system included in the vehicle based on a risk of collision between the vehicle and the target object.

## Claims

### Claim 1

A method for forward collision avoidance assist, the method comprising:
collecting driving environment information of a vehicle;
detecting at least one front object positioned in front of the vehicle and acquiring front object information of the at least one front object;
generating a driving trajectory of the vehicle based on motion information of the vehicle;
selecting a candidate object from the at least one front object based on the driving environment information and the front object information;
determining a target object based on information of the candidate object and the driving trajectory of the vehicle; and
controlling a brake system included in the vehicle based on a risk of collision between the vehicle and the target object,
wherein the driving environment information comprises a type of road on which the vehicle is traveling,
wherein the selecting comprises:
acquiring an expected object type suitable for the type of road on which the vehicle is traveling from a reference table, the reference table includes information on at least one expected object type corresponding to each road type among a plurality of road types;
selecting, from the reference table, an object corresponding to the expected object type as the candidate object; and
identifying a front object that is not selected as the candidate object, as a possibly misrecognized object;
cross-checking again whether a sensor has misrecognized the possibly misrecognized object; and
determining whether to select the possibly misrecognized object as the candidate object according to a result of the cross-checking,
wherein the determining a target object comprises:
classifying a plurality of candidate objects by each object type; and
determining multiple target objects by each object type by determining each candidate object for each object type positioned in the driving trajectory of the vehicle.

### Claim 2 (depends on 1)

The method of claim 1,
wherein the front object information comprises at least one of a type of the front object, a position of the front object, a relative speed between the vehicle and the front object, or a relative distance between the vehicle and the front object; and
wherein the motion information comprises at least one of a position, a speed, a yaw rate, or a steering angle of the vehicle.

### Claim 3 (depends on 2)

The method of claim 2,
wherein the selecting further comprises selecting the candidate object suitable for the driving environment information of the vehicle from the front object based on the type of road on which the vehicle is traveling and the type of the front object.

### Claim 4 (depends on 1)

The method of claim 1,
wherein the selecting further comprises:
determining whether the driving environment information is valid; and
selecting the front object as the candidate object upon determining that the driving environment information is invalid.

### Claim 5 (depends on 1)

The method of claim 1,
wherein the determining of the target object comprises determining the candidate object as the target object when the candidate object is positioned within the driving trajectory of the vehicle.

### Claim 6

An apparatus for forward collision avoiding assist, the apparatus comprising:
a driving environment information collector configured to collect driving environment information of a vehicle by using at least one of GPS or V2X communication;
a front object information acquirer configured to detect at least one front object positioned in front of the vehicle and acquire front object information of the at least one front object using at least one of a camera or a radar;
a driving trajectory generator configured to generate a driving trajectory of the vehicle based on motion information on the vehicle, the motion information obtained from at least one sensor mounted on the vehicle;
a candidate object selector configured to select a candidate object from the at least one front object based on the driving environment information and the front object information;
a target object determiner configured to determine a target object based on information of the candidate object and the driving trajectory of the vehicle; and
a controller configured to control a brake system included in the vehicle based on a risk of collision between the vehicle and the target object,
wherein the driving environment information comprises a type of road on which the vehicle is traveling,
wherein the candidate object selector is further configured to acquire an expected object type suitable for the type of road on which the vehicle is traveling from a reference table, the reference table includes information on at least one expected object type corresponding to each road type among a plurality of road types road, and to select, from the reference table, an object corresponding to the expected object type as the candidate object,
wherein the candidate object selector is further configured to identify a front object that is not selected as the candidate object, as a possibly misrecognized object, to cross-check again whether the at least one sensor has misrecognized the possibly misrecognized object, and to determine whether to select the possibly misrecognized object as the candidate object according to a result of the cross-checking, and
wherein the target object determiner is further configured to classify a plurality of candidate objects by each object type, and to determine multiple target objects by each object type by determining each candidate object for each object type positioned in the driving trajectory of the vehicle.

### Claim 7 (depends on 6)

The apparatus of claim 6,
wherein the front object information comprises at least one of a type of the front object, a position of the front object, a relative speed between the vehicle and the front object, or a relative distance between the vehicle and the front object; and
wherein the motion information comprises at least one of a position, a speed, a yaw rate, or a steering angle of the vehicle.

### Claim 8 (depends on 7)

The apparatus of claim 7,
wherein the candidate object selector is further configured to select the candidate object suitable for the driving environment information of the vehicle from the front object based on the type of road on which the vehicle is traveling and the type of the front object.

### Claim 9 (depends on 6)

The apparatus of claim 6,
wherein the candidate object selector is further configured to determine whether the driving environment information is valid, and select the front object as the candidate object upon determining that the driving environment information is invalid.

### Claim 10 (depends on 6)

The apparatus of claim 6,
wherein the target object determiner is configured to determine the candidate object as the target object when the candidate object is positioned within the driving trajectory of the vehicle.

### Claim 11

A non-transitory computer-readable recording medium having instructions stored therein, wherein the instructions, when executed by a computer, cause the computer to execute the following operations:
collecting driving environment information of a vehicle;
detecting at least one front object positioned in front of the vehicle and acquiring front object information of the at least one front object;
generating a driving trajectory of the vehicle based on motion information of the vehicle;
selecting a candidate object from the at least one front object based on the driving environment information and the front object information;
determining a target object based on information of the candidate object and the driving trajectory of the vehicle; and
controlling a brake system included in the vehicle based on a risk of collision between the vehicle and the target object,
wherein the driving environment information comprises a type of road on which the vehicle is traveling,
wherein the selecting comprises:
acquiring an expected object type suitable for the type of road on which the vehicle is traveling from a reference table, the reference table includes information on at least one expected object type corresponding to each road type among a plurality of road types;
selecting, from the reference table, an object corresponding to the expected object type as the candidate object; and
identifying a front object that is not selected as the candidate object, as a possibly misrecognized object,
cross-checking again whether a sensor has misrecognized the possibly misrecognized object; and
determining whether to select the possibly misrecognized object as the candidate object according to a result of the cross-checking, and
wherein the determining a target object comprises:
classifying a plurality of candidate objects by each object type; and
determining multiple target objects by each object type by determining each candidate object for each object type positioned in the driving trajectory of the vehicle.

### Claim 12 (depends on 11)

The recording medium of claim 11,
wherein the front object information comprises at least one of a type of the front object, a position of the front object, a relative speed between the vehicle and the front object, or a relative distance between the vehicle and the front object; and
wherein the motion information comprises at least one of a position, a speed, a yaw rate, or a steering angle of the vehicle.

### Claim 13 (depends on 12)

The recording medium of claim 12,
wherein the selecting further comprises selecting the candidate object suitable for the driving environment information of the vehicle from the front object based on the type of road on which the vehicle is traveling and the type of the front object.

### Claim 14 (depends on 11)

The recording medium of claim 11,
wherein the selecting further comprises:
determining whether the driving environment information is valid; and
selecting the front object as the candidate object upon determining that the driving environment information is invalid.

### Claim 15 (depends on 11)

The recording medium of claim 11,
wherein the determining of the target object comprises determining the candidate object as the target object when the candidate object is positioned within the driving trajectory of the vehicle.