System and method for performing autonomous emergency braking

Abstract

A system and method for performing autonomous emergency braking (AEB) based on peripheral situations of a vehicle are disclosed. The AEB system includes a front lateral detection sensor, a vehicle dynamics sensor, and an electronic control unit (ECU). The front lateral detection sensor detects a distance and a relative speed between a host vehicle and a peripheral object, or transmits peripheral images of the host vehicle to the ECU. The vehicle dynamics sensor detects a driving speed of the host vehicle, and transmits the detected driving speed to the ECU. The ECU receives detection signals from the front lateral detection sensor and the vehicle dynamics sensor, and increases a size of an AEB control available region and an AEB control available speed when at least one leading moving object or at least one external object is present in longitudinal and latitudinal directions of a forward region of the host vehicle and the host vehicle is unable to perform steering avoidance capable of preventing collision with the leading moving object or the external object. Accordingly, even when several leading vehicles are present not only in longitudinal and latitudinal directions of a forward region of the host vehicle and the host vehicle is unable to perform steering avoidance, the possibility of collision between the host vehicle and the leading vehicles can be reduced.

1 . An autonomous emergency braking (AEB) system comprising:
 a front lateral detection sensor configured to detect a distance and a relative speed between a host vehicle and a peripheral object, or transmit peripheral images of the host vehicle to an electronic control unit (ECU);   a vehicle dynamics sensor configured to detect a driving speed of the host vehicle, and transmit the detected driving speed to the electronic control unit (ECU); and   the electronic control unit (ECU) configured to receive detection signals from the front lateral detection sensor and the vehicle dynamics sensor, and increase a size of an AEB control available region and an AEB control available speed when at least one leading moving object or at least one external object is present in longitudinal and latitudinal directions of a forward region of the host vehicle and the host vehicle is unable to perform steering avoidance capable of preventing collision with the leading moving object or the external object.   
     
     
         2 . The autonomous emergency braking (AEB) system according to  claim 1 , wherein the electronic control unit (ECU) for recognizing whether there is a possibility of collision between the host vehicle and either the leading moving object or the external object includes:
 selecting the host vehicle, the leading moving object collidable with the host vehicle, or the external object collidable with the host vehicle to be a target vehicle to be AEB-controlled; and   if the sensors determine that the leading moving object or the external object is present in front lateral directions of left and right lanes of a current lane of the host vehicle, and also determine that a steering avoidance available region is not present in left/right lateral directions of the target vehicle, performing AEB control by increasing the AEB control available speed.   
     
     
         3 . The autonomous emergency braking (AEB) system according to  claim 2 , wherein the electronic control unit (ECU) includes:
 if the sensors determine that the leading moving object or the external object is not present in the front lateral directions of the left and right lanes of the current lane of the host vehicle, or determine that the steering avoidance available region is present in the left/right lateral directions of the target vehicle, performing AEB control by maintaining the AEB control available speed.   
     
     
         4 . The autonomous emergency braking (AEB) system according  claim 2 , wherein:
 when a driver of the host vehicle has an intention to manipulate the host vehicle, the electronic control unit (ECU) again recognizes information about whether there is a possibility of collision between the host vehicle and either the leading moving object or the external object.   
     
     
         5 . The autonomous emergency braking (AEB) system according to  claim 4 , wherein the information about whether there is a possibility of collision between the host vehicle and either the leading moving object or the external object is recognized through a time-to-collision (TTC) parameter indicating a total time to be consumed until two objects collide with each other. 
     
     
         6 . An autonomous emergency braking (AEB) method comprising:
 receiving a distance and a relative speed between a host vehicle and a peripheral object, peripheral images of the host vehicle, or a driving speed of the host vehicle from a plurality of sensors; and   when information received from the sensors indicates that at least one leading moving object or at least one external object is present in longitudinal and latitudinal directions of a forward region of the host vehicle, and also indicates that the host vehicle is unable to perform steering avoidance capable of preventing collision with the leading moving object or the external object, controlling a size of an AEB control available region and an AEB control available speed to be increased.   
     
     
         7 . The autonomous emergency braking (AEB) method according to  claim 6 , wherein the controlling the size of the AEB control available region and the AEB control available speed to be increased includes:
 recognizing whether there is a possibility of collision between the host vehicle and either the leading moving object or the external object includes:   selecting the host vehicle, the leading moving object collidable with the host vehicle, or the external object collidable with the host vehicle to be a target vehicle to be AEB-controlled; and   if the sensors determine that the leading moving object or the external object is present in front lateral directions of left and right lanes of a current lane of the host vehicle, and also determine that a steering avoidance available region is not present in left/right lateral directions of the target vehicle, performing AEB control by increasing the AEB control available speed.   
     
     
         8 . The autonomous emergency braking (AEB) method according to  claim 7 , wherein the controlling the size of the AEB control available region and the AEB control available speed to be increased includes:
 if the sensors determine that the leading moving object or the external object is not present in the front lateral directions of the left and right lanes of the current lane of the host vehicle, or determine that the steering avoidance available region is present in the left/right lateral directions of the target vehicle, performing AEB control by maintaining the AEB control available speed.   
     
     
         9 . The autonomous emergency braking (AEB) method according  claim 7 , further comprising:
 when a driver of the host vehicle has an intention to manipulate the host vehicle, again recognizing information about whether there is a possibility of collision between the host vehicle and either the leading moving object or the external object.   
     
     
         10 . The autonomous emergency braking (AEB) method according to  claim 9 , wherein the information about whether there is a possibility of collision between the host vehicle and either the leading moving object or the external object is recognized through a time-to-collision (TTC) parameter indicating a total time to be consumed until two objects collide with each other. 
     
     
         11 . The autonomous emergency braking (AEB) system according  claim 3 , wherein:
 when a driver of the host vehicle has an intention to manipulate the host vehicle, the electronic control unit (ECU) again recognizes information about whether there is a possibility of collision between the host vehicle and either the leading moving object or the external object.   
     
     
         12 . The autonomous emergency braking (AEB) method according  claim 8 , further comprising:
 when a driver of the host vehicle has an intention to manipulate the host vehicle, again recognizing information about whether there is a possibility of collision between the host vehicle and either the leading moving object or the external object.