# US 9,517,755 B1 · Autonomous braking system and autonomous braking method

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- Number: US 9,517,755 B1
- Document ID: US9517755B1
- Status: Granted
- Kind: B1
- Application number: 14/720,843
- Filed: 2015-05-25
- Published: 2016-12-01
- Granted: 2016-12-13
- Earliest claimed: 2015-05-25
- Assignees: Automotive Research & Testing Center
- Applicants: Automotive Research & Testing Center
- Inventors: Shun-Hung Chen; Jiun-Jie Chen; Liang-Cheng Chang
- Web page: https://patentgrep.com/patent/US9517755B1

## CPC

- B60T 7/22: initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle}
- B60T 8/172: Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters {(B60T8/17551 takes precedence)}
- B60T 2201/022: Collision avoidance systems
- B60T 2201/03: Brake assistants
- B60T 2210/32: Vehicle surroundings
- B60T 2210/36: Global Positioning System [GPS]
- 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

## Abstract

An autonomous braking system includes a detecting module, a tracing module, a collision path prediction module, a memory register, a collision time prediction module and a decision module. The detecting module recognizes multiple objects located ahead of a vehicle, and then the tracing module traces the moving objects. The collision path prediction module is used to obtain a possible collision range and a non-collision range. The memory register records the coordinate of the objects located within the possible collision range. When one of the objects moves out of the possible collision range, its data is instantaneously removed from the memory register. The collision time prediction module predicts a collision time between the vehicle and each of the objects. The decision module determines if a brake assist is activated in accordance with the collision time.

## Claims

### Claim 1

An autonomous braking system, comprising:
a detecting module configured to detect and recognize one or more objects located ahead of a vehicle;
a tracing module configured to trace the one or more objects which are dynamically moving;
a collision path prediction module configured to predict a collision path between the vehicle and the one or more objects in accordance with a vehicle dynamic message, and to define a possible collision range and a non-collision range in accordance with the collision path and a position of each of the one or more objects;
a memory register configured to record one or more coordinate positions of the one or more objects which are located within the possible collision range, wherein when multiple objects are located within the possible collision range, one or more coordinate positions of the one or more objects are recorded in the memory register at the same time, and when one of the one or more objects which are originally located within the possible collision range moves out of the possible collision range, its data is removed from the memory register;
a collision time prediction module configured to predict a collision time between the vehicle and each of the one or more objects; and
a decision module configured to determine if a brake assist is activated in accordance with the collision time.

### Claim 2 (depends on 1)

The autonomous braking system of claim 1, wherein the detecting module comprises:
a depth capturing unit configured to detect and obtain spatial information of each of the one or more objects;
an image capturing unit configured to capture one or more images of each of the one or more objects and to perform recognition to obtain image feature information; and
a composite processing unit configured to receive the spatial information and the image feature information, and to perform a scoring scheme to determine one or more kinds to which the objects belong.

### Claim 3 (depends on 1)

The autonomous braking system of claim 1, wherein the detecting module comprises a Global Positioning System (GPS) and a Dedicated Short Range Communication (DSRC), wherein the GPS is used to obtain a latitude and longitude coordinates of the vehicle; the DSRC is used to transmit messages between the vehicle and each of the one or more objects, thereby obtaining a relative position, a relative distance, a relative angle and a relative speed between the vehicle and each of the one or more objects; and one or more kinds to which the one or more objects belong to are obtained through a recognition code.

### Claim 4 (depends on 1)

The autonomous braking system of claim 1, when one of objects is originally located within the non-collision range, its data is not recorded.

### Claim 5 (depends on 1)

The autonomous braking system of claim 1, wherein the tracing module traces the objects which are dynamically moving through an Extended Kalman Filter, and the Extended Kalman Filter is represented by the following formulas:
A
=
[
1
0
0
cos
⁡
(
φ
)
×
Δ
⁢
⁢
t
0
1
0
sin
⁡
(
φ
)
×
Δ
⁢
⁢
t
0
0
1
0
0
0
0
1
]
;
x
^
i
-
1
=
[
x
⁢
⁢
p
i
y
⁢
⁢
p
i
φ
i
v
i
]
;
and
⁢
⁢
x
^
k
-
=
A
⁢
x
^
i
=
1
;
where,
xpi is an x coordinate of the one or more objects which are dynamically moving;
ypi is a y coordinate of the one or more objects which are dynamically moving;
vi is a speed of the one or more objects which are dynamically moving;
φi is a moving direction of the one or more objects which are dynamically moving;
Δt is sampling time of a continuous relative position between the vehicle and the one or more objects which are dynamically moving; and
A is a state transformation model of the one or more objects which are dynamically moving.

### Claim 6 (depends on 5)

The autonomous braking system of claim 5, wherein the collision range is represented by the following formula:
yobs(i)>yl(t)∩yobs(i)>yr(t)∩xobs(i)>xl∩xobs(i)<xr;
where x(i)obs and y(i)obs are a horizontal position and a vertical position of each of the one or more objects respectively; and
i=1, 2, . . . is the ith object.

### Claim 7 (depends on 1)

The autonomous braking system of claim 1, wherein the vehicle dynamic message comprises a lateral speed and a later acceleration speed of the vehicle.

### Claim 8 (depends on 1)

The autonomous braking system of claim 1, wherein the collision path located at right side or left side of the vehicle is represent by the following formulas:
yl(t)=αlxl2(t)+βlxl(t)+εl+yl0; and
yr(t)=αrxr2(t)+βrxr(t)+εr+yr0;
where,
xi, i=l, is a horizontal position at left side of the vehicle;
xi, i=r, is a horizontal position at right side of the vehicle;
yi, i=l, is a vertical position at left side of the vehicle;
yi, i=r, is a vertical position at right side of the vehicle;
αi, i=1, is a lateral speed at left side of the vehicle;
αi, i=r is a lateral speed at right side of the vehicle;
βi, i=l, is a lateral acceleration speed at left side of the vehicle; and
βi, i=r is a lateral acceleration speed at right side of the vehicle.

### Claim 9

An autonomous braking method, comprising:
detecting and recognizing one or more objects located ahead a vehicle;
tracing one or more objects by a tracing module;
defining a collision path in accordance with a vehicle dynamic message by a collision path prediction module;
defining a possible collision range and a non-collision range in accordance with the collision path and a position of each of the one or more objects;
if one or more object are located within the possible collision range, using a memory register to record the coordinate of each object, and predicting a collision time by a collision time prediction module; if one object is originally located within the possible collision range, but moves out of the possible collision range and is located within the non-collision range later, then removing its related data from the memory register;
analyzing the collision time between the vehicle and the object located in a front lane of the vehicle by a decision module, and using the decision module to determine to provide a warning signal, to pre-brake the vehicle or to automatically brake the vehicle in accordance with different extent of emergency; and
if the vehicle is changed to a side lane, and the object located in the side lane and in front of the vehicle is also located within the possible collision range, then using the prediction module to determine to provide a warning signal, to pre-brake the vehicle or to automatically brake the vehicle in accordance with the collision time between the vehicle and the object and different extent of emergency.

### Claim 10 (depends on 9)

The autonomous braking method of claim 9, when one of the objects is originally located within the non-collision range, its data is not recorded.

### Claim 11 (depends on 9)

The autonomous braking method of claim 9, wherein detecting and recognizing one or more objects located ahead a vehicle is performed by a detecting module.

### Claim 12 (depends on 11)

The autonomous braking method of claim 11, wherein the detecting module comprises:
a depth capturing unit configured to detect and obtain spatial information of each of the one or more objects;
an image capturing unit configured to capture one or more images of each of the one or more objects and to perform recognition to obtain image feature information; and
a composite processing unit configured to receive the spatial information and the image feature information, and to perform a scoring scheme to determine one or more kinds to which the objects belong.

### Claim 13 (depends on 11)

The autonomous braking method of claim 11, wherein the detecting module comprises a Global Positioning System (GPS) and a Dedicated Short Range Communication (DSRC), wherein the GPS is used to obtain a latitude and longitude coordinates of the vehicle; the DSRC is used to transmit messages between the vehicle and each of the one or more objects, thereby obtaining a relative position, a relative distance, a relative angle and a relative speed between the vehicle and each of the one or more objects; and one or more kinds to which the one or more objects belong to are obtained through a recognition code.

### Claim 14 (depends on 9)

The autonomous braking method of claim 9, wherein the tracing module traces the dynamically moved objects through an Extended Kalman Filter, and the Extended Kalman Filter is represented by the following formulas:
A
=
[
1
0
0
cos
⁡
(
φ
)
×
Δ
⁢
⁢
t
0
1
0
sin
⁡
(
φ
)
×
Δ
⁢
⁢
t
0
0
1
0
0
0
0
1
]
;
x
^
i
-
1
=
[
x
⁢
⁢
p
i
y
⁢
⁢
p
i
φ
i
v
i
]
;
and
⁢
⁢
x
^
k
-
=
A
⁢
x
^
i
=
1
;
where,
xpi is an x coordinate of the one or more objects which are dynamically moving;
ypi is a y coordinate of the one or more objects which are dynamically moving;
vi is a speed of the one or more objects which are dynamically moving;
φi is a moving direction of the one or more objects which are dynamically moving;
Δt is sampling time of a continuous relative position between the vehicle and the one or more objects which are dynamically moving; and
A is a state transformation model of the one or more objects which are dynamically moving.

### Claim 15 (depends on 9)

The autonomous braking method of claim 9, wherein the vehicle dynamic message comprises a lateral speed and a later acceleration speed of the vehicle.