# US 2017/0282915 A1 · Collision prevention apparatus and collision preventing method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2017/0282915 A1 - Document ID: US20170282915A1 - Status: Published application - Kind: A1 - Application number: 15/476,707 - Filed: 2017-03-31 - Published: 2017-10-05 - Earliest claimed: 2016-04-01 - Assignees: Mando Corporation - Applicants: Mando Corporation - Inventors: Jae Suk KIM; Tae Bong NOH - Web page: https://patentgrep.com/patent/US20170282915A1 ## CPC - B60W 30/08: {Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences} - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 10/18: including control of braking systems - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - G01S 13/72: for two-dimensional [2D] tracking, e.g. combination of angle and range tracking, track-while-scan radar - G01S 13/931: of land vehicles - B60W 2050/143: {Alarm means} - B60W 2050/146: {Display means} - 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 2013/93272: {in the back of the vehicles} - 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 ## Abstract Disclosed is an apparatus for preventing a collision. The apparatus includes: a detection unit configured to detect another vehicle located at a rear side of both lateral sides through a detection sensor including one or more radar sensors disposed at a rear side of a driver's vehicle to monitor the rear side of both lateral sides and one or more ultrasonic sensors disposed at the rear side of the driver's vehicle to monitor the rear side of both lateral sides; a determination unit configured to determine a movement direction of the other vehicle based on the location, select the other vehicle that moves in one direction including a transverse direction from the driver's vehicle as a target vehicle, and determine whether the target vehicle approaches or moves away from the driver's vehicle by tracking a driving trace of the target vehicle; and a controller configured to, when it is determined that the target vehicle approaches the driver's vehicle, select a fusion target vehicle based on track information of the other vehicle by output values of the radar sensors and distance information of the other vehicle by output values of the ultrasonic sensors, calculate a time of collision with the fusion target vehicle and, when the collision time is within a preset threshold time, make a control to operate one or more of a warning display device, an alarm output device, and a braking system. ## Claims ### Claim 1 An apparatus for preventing a collision, the apparatus comprising: a detection unit configured to detect another vehicle located at a rear side of both lateral sides through a detection sensor including one or more radar sensors disposed at a rear side of a driver's vehicle to monitor the rear side of both lateral sides and one or more ultrasonic sensors disposed at the rear side of the driver's vehicle to monitor the rear side of both lateral sides; a determination unit configured to determine a movement direction of the other vehicle based on the location, select the other vehicle that moves in one direction including a transverse direction from the driver's vehicle as a target vehicle, and determine whether the target vehicle approaches or moves away from the driver's vehicle by tracking a driving trace of the target vehicle; and a controller configured to, when it is determined that the target vehicle approaches the driver's vehicle, select a fusion target vehicle based on track information of the other vehicle by output values of the radar sensors and distance information of the other vehicle by output values of the ultrasonic sensors, calculate a time of collision with the fusion target vehicle and, when the collision time is within a preset threshold time, make a control to operate one or more of a warning display device, an alarm output device, and a braking system. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the controller calculates a time of collision with the fusion target vehicle with respect to a longitudinal direction and a time of collision with respect to a transverse direction from the driver's vehicle, and, when the time of collision with respect to the longitudinal direction is within a longitudinal threshold time and the time of collision with respect to the transverse direction is within a transverse threshold time, makes a control to operate one or more of the warning display device, the alarm output device, and the braking system. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the controller calculates a time of collision with respect to a longitudinal direction and a time of collision with respect to a transverse direction based on an acceleration of the fusion target vehicle with respect to the longitudinal direction of the driver's vehicle and an acceleration of the fusion target vehicle with respect to the transverse direction of the driver's vehicle. ### Claim 4 (depends on 3) The apparatus of claim 3, wherein the controller calculates the time of collision with respect to the longitudinal direction and the time of collision with respect to the transverse direction based on different equations when the acceleration of the fusion target vehicle with respect to the longitudinal direction of the driver's vehicle and the acceleration of the fusion target vehicle with respect to the transverse direction of the driver's vehicle are 0 and when the acceleration of the fusion target vehicle with respect to the longitudinal direction of the driver's vehicle and the acceleration of the fusion target vehicle with respect to the transverse direction of the driver's vehicle are not 0. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein the controller makes a control to operate the warning display device when the time of collision is within a preset first threshold time, makes a control to operate the alarm output device when the time of collision is within a second threshold time shorter than the first threshold time, and makes a control to operate the braking system when the time of collision is within a third threshold time shorter than the second threshold time. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the detection unit detects a gear state of the driver's vehicle through a gear sensor and a speed of the driver's vehicle through a vehicle speed sensor and, when the gear state corresponds to a reverse gear state and the speed of the driver's vehicle is equal to or lower than a preset threshold speed, detects the other vehicle through the detection sensor. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein the controller selects a target vehicle, of which track information of the other vehicle measured by the radar sensors corresponds to a direction toward the driver's vehicle and of which distance information of the other vehicle measured by the ultrasonic sensors is within a predetermined distance from the driver's vehicle, as a fusion target vehicle. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein the determination unit determines whether the other vehicle approaches or moves away from the driver's vehicle based on a relative speed of the other vehicle calculated based on the location of the other vehicle. ### Claim 9 A method of preventing collision, the method comprising: detecting another vehicle located at a rear side of both lateral sides through a detection sensor including one or more radar sensors disposed at a rear side of a driver's vehicle to monitor the rear side of both lateral sides and one or more ultrasonic sensors disposed at the rear side of the driver's vehicle to monitor the rear side of both lateral sides; determining a movement direction of the other vehicle based on the location; selecting the other vehicle that moves in one direction including a transverse direction from the driver's vehicle as a target vehicle and determining whether the target vehicle approaches or moves away from the driver's vehicle by tracking a driving trace of the target vehicle; when it is determined that the target vehicle approaches the driver's vehicle, selecting a fusion target vehicle based on track information of the other vehicle by output values of the radar sensors and distance information of the other vehicle by output values of the ultrasonic sensors, and calculating a time of collision with the fusion target vehicle; and when the collision time is within a preset threshold time, making a control to operate one or more of a warning display device, an alarm output device, and a braking system. ### Claim 10 (depends on 9) The method of claim 9, wherein the making the control comprises calculating a time of collision with the fusion target vehicle with respect to a longitudinal direction and a time of collision with respect to a transverse direction from the driver's vehicle and, when the time of collision with respect to the longitudinal direction is within a longitudinal threshold time and the time of collision with respect to the transverse direction is within a transverse threshold time, making a control to operate one or more of the warning display device, the alarm output device, and the braking system. ### Claim 11 (depends on 9) The method of claim 9, wherein the making the control comprises calculating a time of collision with respect to a longitudinal direction and a time of collision with respect to a transverse direction based on an acceleration of the fusion target vehicle with respect to the longitudinal direction of the driver's vehicle and an acceleration of the fusion target vehicle with respect to the transverse direction of the driver's vehicle. ### Claim 12 (depends on 11) The method of claim 11, wherein the making the control comprises calculating the time of collision with respect to the longitudinal direction and the time of collision with respect to the transverse direction based on different equations when the acceleration of the fusion target vehicle with respect to the longitudinal direction of the driver's vehicle and the acceleration of the fusion target vehicle with respect to the transverse direction of the driver's vehicle are and when the acceleration of the fusion target vehicle with respect to the longitudinal direction of the driver's vehicle and the acceleration of the fusion target vehicle with respect to the transverse direction of the driver's vehicle are not 0. ### Claim 13 (depends on 9) The method of claim 9, wherein the making the control comprises making a control to operate the warning display device when the time of collision is within a preset first threshold time, making a control to operate the alarm output device when the time of collision is within a second threshold time shorter than the first threshold time, and making a control to operate the braking system when the time of collision is within a third threshold time shorter than the second threshold time. ### Claim 14 (depends on 9) The method of claim 9, wherein the detecting of the other vehicle comprises detecting a gear state of the driver's vehicle through a gear sensor and a speed of the driver's vehicle through a vehicle speed sensor and, when the gear state corresponds to a reverse gear state and the speed of the driver's vehicle is equal to or lower than a preset threshold speed, detecting the other vehicle through the detection sensor. ### Claim 15 (depends on 9) The method of claim 9, wherein the making the control comprises selecting a target vehicle, of which track information of the other vehicle measured by the radar sensors corresponds to a direction toward the driver's vehicle and of which distance information of the other vehicle measured by the ultrasonic sensors is within a predetermined distance from the driver's vehicle, as a fusion target vehicle.