# US 2018/0293893 A1 · Vehicle and method for collision avoidance assistance > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0293893 A1 - Document ID: US20180293893A1 - Status: Published application - Kind: A1 - Application number: 15/689,684 - Filed: 2017-08-29 - Published: 2018-10-11 - Earliest claimed: 2017-04-11 - Assignees: Hyundai Motor Company; Kia Motors Corporation - Applicants: Hyundai Motor Company; Kia Motors Corporation - Inventors: Junho YANG; DongHun YANG - Web page: https://patentgrep.com/patent/US20180293893A1 ## CPC - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/0953: {the prediction being responsive to vehicle dynamic parameters} - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 30/18036: {Reversing} - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - G08G 1/163: {involving continuous checking} - G08G 1/165: {for passive traffic, e.g. including static obstacles, trees} - G08G 1/168: {Driving aids for parking, e.g. acoustic or visual feedback on parking space} - B60T 2201/022: Collision avoidance systems - B60W 2050/143: {Alarm means} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2520/10: Longitudinal speed - B60W 2554/4029: Pedestrians - B60W 2554/4042: Longitudinal speed - B60W 2554/4044: Direction of movement, e.g. backwards - B60W 2554/801: Lateral distance - B60W 2554/805: Azimuth angle - G01S 2013/9317: {Driving backwards} - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - 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}) - 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 - 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 - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A vehicle for collision avoidance assistance may include: a camera to obtain an image of an object behind the vehicle, and obtain coordinates of a feature point spaced apart from the object, a controller, and a notification unit to output a collision warning. In particular, the controller sets an estimated value of a vector indicating a state of the vehicle based on coordinates of the vehicle, coordinates of the object, and the coordinates of the feature point, determine a predicted value of the estimated value of the vector based on a result of differentiating the estimated value of the vector with respect to time, correct the predicted value, determine the estimated value of the vector, and calculate a distance between the camera and the object to transmit a collision warning signal to the notification unit. ## Claims ### Claim 1 A vehicle comprising: a camera configured to obtain an image of an object behind the vehicle, and obtain coordinates of at least one feature point spaced a predetermined distance from the object; a controller configured to: establish an estimated value of a vector indicating a state of the vehicle based on coordinates of the vehicle, coordinates of the object, and the coordinates of the at least one feature point, determine a predicted value of the estimated value of the vector based on a result of differentiating the estimated value of the vector with respect to time, correct the predicted value of the estimated value of the vector based on the coordinates of the object and the coordinates of the at least one feature point obtained by the camera, determine the estimated value of the vector based on the corrected predicted value of the estimated value of the vector, calculate a distance between the camera and the object based on the determined estimated value of the vector, and transmit a collision warning signal based on the calculated distance; and a notification unit configured to output a collision warning based on the transmitted collision warning signal. ### Claim 2 (depends on 1) The vehicle according to claim 1, wherein the camera is configured to obtain coordinates of a road on which the object is located and coordinates of at least one feature point spaced a predetermined distance from the coordinates of the road. ### Claim 3 (depends on 1) The vehicle according to claim 1, wherein the controller is configured to establish a first coordinate system with a center which is the same as a center of an axle of a wheel of the vehicle at a position at which the camera starts sensing the object behind the vehicle when the vehicle moves backward, establish a second coordinate system with a center, and establish a third coordinate system relative to the first coordinate system and based on a position of the camera, and wherein the center of the second coordinate system is established at a position where the center of the wheel is located close to the object with a predetermined distance after the vehicle moves backward. ### Claim 4 (depends on 3) The vehicle according to claim 3, wherein the controller is configured to determine the coordinates of the object and the coordinates of the at least one feature point with respect to the first coordinate system of the vehicle. ### Claim 5 (depends on 3) The vehicle according to claim 3, wherein the controller is configured to determine a roll, a pitch, and a yaw of the vehicle with respect to the first coordinate system of the vehicle. ### Claim 6 (depends on 3) The vehicle according to claim 3, wherein the controller is configured to determine a differential value of the estimated value of the vector based on a backing up speed of the vehicle, a yaw, a distance of the axle of the wheel, and a steering angle. ### Claim 7 (depends on 6) The vehicle according to claim 6, wherein the controller is configured to determine the predicted value of the estimated value of the vector and a predicted value of a covariance matrix indicating the state of the vehicle based on the determined differential value. ### Claim 8 (depends on 7) The vehicle according to claim 7, wherein the controller is configured to: determine a measured value of a position vector of the object based on the coordinates of the object obtained by the camera, determine a measured value of a position vector of the at least one feature point based on the coordinates of the at least one feature point obtained by the camera, and determine a measured value of a height of a road on which the object is located based on an average value of height components of the coordinates of the at least one feature point obtained by the camera. ### Claim 9 (depends on 8) The vehicle according to claim 8, wherein the controller is configured to determine the measured value of the position vector of the object with respect to the third coordinate system of the vehicle. ### Claim 10 (depends on 8) The vehicle according to claim 8, wherein the controller is configured to determine the measured value of the position vector of the at least one feature point with respect to the third coordinate system of the vehicle. ### Claim 11 (depends on 8) The vehicle according to claim 8, wherein the controller is configured to determine the measured value of the height of the road on which the object is located based on the average value of the height components of the coordinates of the at least one feature point with respect to the first coordinate system of the vehicle. ### Claim 12 (depends on 8) The vehicle according to claim 8, wherein the controller is configured to correct an error of the predicted value of the estimated value of the vector and an error of the predicted value of the covariance matrix indicating the state of the vehicle based on the measured value of the position vector of the object, the measured value of the position vector of the at least one feature point, and the measured value of the height of the road on which the object is located. ### Claim 13 (depends on 3) The vehicle according to claim 3, wherein the controller is configured to determine the coordinates of the object with respect to the second coordinate system, based on the determined estimated value of the vector. ### Claim 14 (depends on 13) The vehicle according to claim 13, wherein the controller is configured to determine the coordinates of the object with respect to the third coordinate system based on the coordinates of the object determined with respect to the second coordinate system and coordinates of the camera. ### Claim 15 (depends on 14) The vehicle according to claim 14, wherein the controller is configured to calculate the distance between the camera and the object from an inner product of the coordinates of the object determined with respect to the third coordinate system. ### Claim 16 (depends on 1) The vehicle according to claim 1, wherein the controller is configured to transmit the collision warning signal when the calculated distance between the camera and the object is less than a predetermined value. ### Claim 17 (depends on 1) The vehicle according to claim 1, wherein the controller is configured to transmit a control signal for decreasing a backing up speed of the vehicle when the calculated distance between the camera and the object is less than a predetermined value. ### Claim 18 (depends on 1) The vehicle according to claim 1, wherein the camera is a rear camera configured to obtain coordinates of at least four feature points spaced a predetermined distance apart from the object, and the controller is configured to: determine the estimated value of the vector indicating the state of the vehicle based on the coordinates of the vehicle, the coordinates of the object, and the coordinates of the at least four feature points, determine the predicted value of the estimated value of the vector based on a result of differentiating the estimated value of the vector with respect to time, correct the predicted value of the estimated value of the vector based on the coordinates of the object and the coordinates of the at least four feature point obtained by the rear camera, determine the estimated value of the vector based on the corrected predicted value of the estimated value of the vector, calculate a distance between the rear camera and the object based on the determined estimated value of the vector, and transmit the collision warning signal on the basis of the calculated distance. ### Claim 19 A method of controlling a vehicle, comprising: obtaining, by a rear camera, an image of an object behind a vehicle which is backing up by photographing the object; obtaining, by the camera, coordinates of at least one feature point spaced a predetermined distance from the object; establishing, by a controller, an estimated value of a vector representing a state of the vehicle based on coordinates of the vehicle, coordinates of the object, and the coordinates of the at least one feature point; determining, by the controller, a predicted value of the estimated value of the vector based on a result of differentiating the estimated value of the vector with respect to time; correcting, by the controller, the predicted value of the estimated value of the vector based on the coordinates of the object and the coordinates of the at least one feature point obtained by the rear camera; determining, by the controller, the estimated value of the vector based on the corrected predicted value of the estimated value of the vector based, and calculating a distance between the rear camera and the object based on the determined estimated value of the vector; and transmitting, by the controller, a collision warning signal when the calculated distance is less than a predetermined value; and outputting, by a notification unit, a collision warning based on the transmitted collision warning signal.