# US 12,769,637 B2 · Simulation system for accident analysis of autonomous emergency braking device and simulation method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,769,637 B2 - Document ID: US12769637B2 - Status: Granted - Kind: B2 - Application number: 17/937,812 - Filed: 2022-10-04 - Published: 2023-11-02 - Granted: 2026-10-20 - Earliest claimed: 2022-04-28 - Assignees: National Forensic Service Director Ministry of Public Administration and Security - Applicants: Republic of Korea (National Forensic Service Director Ministry of Public Administration and Security - Inventors: Jonghyuk Kim; Jihun Choi; Hyunseo Han; Songhui Kim; Hasun Park - Web page: https://patentgrep.com/patent/US12769637B2 ## CPC - G06F 11/3457: {Performance evaluation by simulation} - G06F 11/261: {by simulating additional hardware, e.g. fault simulation} - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract Provided is a simulation system for accident analysis of an autonomous emergency braking device, the simulation system including a data input unit configured to receive virtual driving data including state data about a virtual driving vehicle, a target, and a driving environment; a radar driving logic unit configured to calculate a relative speed, a relative distance, and an azimuth between the virtual driving vehicle and the target based on the virtual driving data; and an autonomous emergency braking driving logic unit configured to output a warning signal or apply a braking pressure to the virtual driving vehicle according to a sequence of the autonomous emergency braking device, and to calculate collision data including a final stopping distance and a collision speed. ## Claims ### Claim 1 A simulation system for accident analysis of an autonomous emergency braking device, the simulation system comprising: a data input unit configured to receive virtual driving data including state data about a virtual driving vehicle, a target, and a driving environment; a radar driving logic unit configured to calculate a relative speed, a relative distance, and an azimuth between the virtual driving vehicle and the target based on the virtual driving data; and an autonomous emergency braking driving logic unit configured to output a warning signal or apply a braking pressure to the virtual driving vehicle according to a sequence of the autonomous emergency braking device, and to calculate collision data including a final stopping distance and a collision speed, wherein the autonomous emergency braking driving logic unit is further configured to calculate a time to collision based on the relative speed, the relative distance, and the azimuth, and compare the relative speed and the time to collision with actual test data about the autonomous emergency braking device. ### Claim 2 (depends on 1) The simulation system of claim 1, wherein the radar driving logic unit is further configured to acquire a first radar sensor signal, a second radar sensor signal, and a camera sensor signal from the virtual driving data, obtain first fusion data by combining the first radar sensor signal and the camera sensor signal, obtain second fusion data by combining the second radar sensor signal and the camera sensor signal, and calculate a relative speed, a relative distance, and an azimuth between the virtual driving vehicle and the target based on the first fusion data and the second fusion data. ### Claim 3 (depends on 2) The simulation system of claim 2, wherein the radar driving logic unit is configured to store radar sensor characteristic data according to a vehicle model of the virtual driving vehicle. ### Claim 4 (depends on 1) The simulation system of claim 1, wherein the autonomous emergency braking driving logic unit is further configured to store actual test data about the autonomous emergency braking device for a plurality of vehicle models, and select actual test data about the autonomous emergency braking device corresponding to the vehicle model of the virtual driving vehicle, wherein the actual test data about the autonomous emergency braking device includes a value of time to collision according to a relative speed at which a warning operation, a partial braking operation, and a full braking operation start, the value of time being obtained through an actual test. ### Claim 5 (depends on 1) The simulation system of claim 1, wherein the actual test data about the autonomous emergency braking device includes performance requirements for a warning operation, a partial braking operation, and a full braking operation according to a relative speed obtained in an experimental operation of a stop target autonomous emergency braking device of a test vehicle equipped with a differential global positioning system (DGPS) and an inertial measurement unit (IMU). ### Claim 6 (depends on 5) The simulation system of claim 5, wherein the autonomous emergency braking driving logic unit is configured to output the warning signal when the virtual driving vehicle satisfies the performance requirement for the warning operation, apply a partial braking pressure to the virtual driving vehicle when the performance requirement for the partial braking operation is satisfied, and apply a full braking pressure to the virtual driving vehicle when the performance requirement for the full braking operation is satisfied. ### Claim 7 A simulation method for accident analysis of an autonomous emergency braking device, the simulation method comprising: inputting virtual driving data including state data about a virtual driving vehicle, a target, and a driving environment to a computing device; calculating a relative speed, a relative distance, and an azimuth between the virtual driving vehicle and the target based on the virtual driving data; outputting a warning signal or applying a braking pressure to the virtual driving vehicle according to a sequence of the autonomous emergency braking device; and calculating collision data including a final stopping distance and a collision speed of the virtual driving vehicle, wherein the calculating of the relative speed, the relative distance, and, the azimuth includes: obtaining a first radar sensor signal, a second radar sensor signal, and a camera sensor signal from the virtual driving data; obtaining first fusion data by combining the first radar sensor signal and the camera sensor signal; obtaining second fusion data by combining the second radar sensor signal and the camera sensor signal; and calculating a relative speed, a relative distance, and an azimuth between the virtual driving vehicle and the target based on the first fusion data and the second fusion data. ### Claim 8 (depends on 7) The simulation method of claim 7, wherein the first radar sensor signal and the second radar sensor signal are each obtained according to a characteristic logic of a radar sensor according to a vehicle model of the virtual driving vehicle. ### Claim 9 (depends on 7) The simulation method of claim 7, wherein the applying of the braking pressure includes calculating a time to collision from the relative speed, the relative distance, and the azimuth, and wherein the step of outputting the warning signal or the applying the braking pressure to the virtual driving vehicle includes comparing the relative speed and the time to collision with performance requirements for a warning operation, a partial braking operation, and a full braking operation included in actual test data about the autonomous emergency braking device. ### Claim 10 (depends on 9) The simulation method of claim 9, wherein, in the outputting the warming signal or the applying the braking pressure, the computing device is configured to output the warning signal when the virtual driving vehicle satisfies the performance requirement for the warning operation, apply a partial braking pressure to the virtual driving vehicle when the performance requirement for the partial braking operation is satisfied, and apply a full braking pressure to the virtual driving vehicle when the performance requirement for the full braking operation is satisfied. ### Claim 11 (depends on 7) The simulation method of claim 7, wherein the applying of the braking pressure further includes selecting actual test data about the autonomous emergency braking device according to a vehicle model of the virtual driving vehicle from among actual test data about the autonomous emergency braking device for a plurality of vehicle models. ### Claim 12 (depends on 11) The simulation method of claim 11, wherein the actual test data about the autonomous emergency braking device includes performance requirements for a warning operation, a partial braking operation, and a full braking operation according to a relative speed obtained in an experimental operation of the autonomous emergency braking device of a test vehicle equipped with a differential global positioning system (DGPS) and an inertial measurement unit (IMU).