Method and apparatus of predicting collision for omnidirectional application within emergency brake system

Abstract

A method and an apparatus for predicting a collision are provided. The method includes calculating, by a controller, a driving trajectory of the subject vehicle based on a yaw rate using driving information of the subject vehicle. In addition, the controller is configured to calculate a driving trajectory of a target vehicle for a predetermined period of time that uses driving information of the target vehicle that includes information from an imaging device, configured to obtain a front image, and radar sensors installed on a plurality of locations. Further, the method also includes predicting classified collision types by analyzing a collision possibility between the subject vehicle and the target vehicle based on the driving trajectory of the subject vehicle and the driving trajectory of the target vehicle.

What is claimed is: 
     
       1. A method for predicting a collision with a target vehicle by a subject vehicle, comprising:
 calculating, by a controller, a driving trajectory of the subject vehicle based on a yaw rate using driving information of the subject vehicle; 
 evaluating, by the controller, a driving trajectory of a the target vehicle for a predetermined period of time using driving information of the target vehicle including information from an imaging device mounted on the subject vehicle for obtaining a front image and information from a plurality of radar sensors mounted on the subject vehicle; and 
 predicting, by the controller, at least one collision type of a plurality of classified collision types by analyzing a collision possibility between the subject vehicle and the target vehicle based on the driving trajectory of the subject vehicle and the driving trajectory of the target vehicle, wherein 
 the predicting of the at least one collision type includes:
 determining, by the controller, the at least one collision type based on a time difference between a time when a portion of the target vehicle intersects with a path of the driving trajectory of the subject vehicle (TTI) and a time when the target vehicle angularly-exits from a path of a circular trajectory of the subject vehicle based on a substantial center point of a curvature radius of the driving trajectory of the subject vehicle (TTAE) and a time difference between a time when the portion of the target vehicle angularly-intersects with the path of the circular trajectory of the subject vehicle based on the substantial center point of the curvature radius of the driving trajectory of the subject vehicle (TTAI) and a time when an entirety of the target vehicle exits from the path of the driving trajectory of the subject vehicle (TTE), and 
 
 the evaluating of the driving trajectory of the target vehicle includes:
 analyzing, by the controller, the driving information of the target vehicle as the driving trajectory of the target vehicle; 
 estimating, by the controller, a velocity, an acceleration, and a yaw rate of the target vehicle using the driving information of the target vehicle; and 
 calculating, by the controller, the driving trajectory of the target vehicle based on the velocity, the acceleration, and the yaw rate of the target vehicle; and  
 calculating, by the controller, locations of the target vehicle at a predetermined time unit during the predetermined period of time based on the velocity, the acceleration, and the yaw rate of the target vehicle. 
 
 
     
     
       2. The method according to  claim 1 , wherein the method further includes predicting, by the controller, a the collision with the target vehicle in an omni-direction. 
     
     
       3. The method according, to  claim 1 , wherein the target vehicle includes at least one selected from the group consisting of: a front vehicle, a crossing vehicle, an oncoming vehicle, and a rear vehicle. 
     
     
       4. The method according to  claim 1 , wherein the predicting of the at least one collision type further includes:
 calculating, by the controller, tracking information (TTX) which is related to a time in which the target vehicle intersects with or exits from the driving trajectory of the subject vehicle the TTI, the TTE, the TTAI, and the TTAE during the predetermined period of time; and 
 determining, by the controller, collision flags based on conditions that use the TTX one or more of the TTI, the TTE, the TTAI, and the TTAE. 
 
     
     
       5. The method according to  claim 4 , wherein the TTX predicting of the at least one collision type further includes:
 the TTI; 
 the TTE; 
 the TTAI; 
 the TTAE; 
 calculating, by the controller, a time when the portion of the target vehicle intersects with the path of the driving trajectory of the subject vehicle while the subject vehicle decelerates (TTI d ); and 
 calculating, by the controller, a time when the target vehicle exits from the path of the driving trajectory of the subject vehicle while the subject vehicle accelerates (TTE a ). 
 
     
     
       6. The method according to  claim 4 , wherein the plurality of classified collision types includes at least two selected from a group consisting of:
 a non-collision, 
 a first rear collision when the subject vehicle collides into a rear side of the target vehicle, 
 a collision between a front of the subject vehicle and a side rear of the target vehicle, 
 a collision between the front of the subject vehicle and a front of the target vehicle, 
 a collision between the front of the subject vehicle and a front of the target vehicle, 
 a collision between a side rear of the subject vehicle and the front of the target vehicle, and 
 a second rear collision when the target vehicle collides into a rear side of the subject vehicle. 
 
     
     
       7. An apparatus for predicting a collision with a target vehicle by a subject vehicle, comprising:
 a memory configured to store program instructions; and 
 a controller configured to execute the program instructions, the program instructions when executed configured to:; 
 an imaging device mounted on the subject vehicle for obtaining a front image; and 
 a plurality of radar sensors mounted on the subject vehicle, 
 wherein, when the program instructions are executed, the controller is configured to:  
 calculate a driving trajectory of the subject vehicle based on a yaw rate using driving information of the subject vehicle using a subject vehicle path predicting unit; 
 evaluate a driving trajectory of a the target vehicle for a predetermined period of time using driving information of the target vehicle using a situation awareness unit, the driving information of the target vehicle including information from an the imaging device mounted on the subject vehicle for obtaining a front image and information from a the plurality of radar sensors mounted on the subject vehicle; and 
 predict at least one collision type of a plurality of classified collision types by analyzing a collision possibility between the subject vehicle and the target vehicle based on the driving trajectory of the subject vehicle and the driving trajectory of the target vehicle, wherein 
 when evaluating the driving trajectory of the target vehicle, the controller is configured to:  
 analyze the driving information of the target vehicle using a target path predicting unit; 
 estimate a velocity, an acceleration, and a yaw rate of the target vehicle using the target path predicting unit driving information of the target vehicle; 
 calculate the driving trajectory of the target vehicle based on the velocity, the acceleration, and the yaw rate of the target vehicle; and  
 calculate locations of the target vehicle at a predetermined time unit during the predetermined period of time based on the velocity, the acceleration, and the yaw rate of the target vehicle using the target patch predicting unit;, and  
 predict at least one collision type of a plurality of classified collision types by analyzing a collision possibility between the subject vehicle and the target vehicle using the situation awareness unit; and 
 when predicting the at least one collision type, the controller is configured to:  
 determine the at least one collision type based on a time difference between a time when a portion of the target vehicle intersects with a path of the driving trajectory of the subject vehicle (TTI) and a time when the target vehicle angularly-exits from a path of a circular trajectory of the subject vehicle based on a substantial center point of a curvature radius of the driving trajectory of the subject vehicle (TTAE) and a time difference between a time when the portion of the target vehicle angularly-intersects with the path of the circular trajectory of the subject vehicle based on the substantial center point of the curvature radius of the driving trajectory of the subject vehicle (TTAI) and a time when an entirety of the target vehicle exits from the path of the driving trajectory of the subject vehicle (TTE) using a collision determining unit. 
 
     
     
       8. The apparatus according to  claim 7 , wherein the controller is further configured to predict the collision emergency with the target vehicle in an omni-direction. 
     
     
       9. The apparatus according to  claim 7 , wherein the target vehicle includes at least one selected from the group consisting of: a front vehicle, a crossing vehicle, an oncoming vehicle, or and a rear vehicle. 
     
     
       10. The apparatus according to  claim 7 , wherein the controller is further configured to:
 calculate tracking information (TTX), which is related to a time in which the target vehicle intersects with or exits from the driving trajectory of the subject vehicle the TTI, the TTE, the TTAI, and the TTAE during the predetermined period of time, using a tracking information calculating unit; and 
 determine collision flags based on conditions that use the TTX, using the collision determining unit one or more of the TTI, the TTE, the TTAI, and the TTAE. 
 
     
     
       11. The apparatus according to  claim 10 , wherein the TTX includes controller is further configured to:
 the TTI; 
 the TTE; 
 the TTAI; 
 the TTAE; 
 calculate a time when the portion of the target vehicle intersects with the path of the driving trajectory of the subject vehicle while the subject vehicle decelerates (TTI d ); and 
 calculate a time when the target vehicle exits from the path of the driving trajectory of the subject vehicle while the subject vehicle accelerates (TTE a ). 
 
     
     
       12. The apparatus according to  claim 10 , wherein the plurality of classified collision types include at least two selected from a group consisting of:
 a non-collision, 
 a first rear collision when the subject vehicle collides into a rear side of the target vehicle, 
 a collision between a front of the subject vehicle and a side rear of the target vehicle, 
 a collision between the front of the subject vehicle and a front of the target vehicle, 
 a collision between the front of the subject vehicle and a front of the target vehicle, 
 a collision between a side rear of the subject vehicle and the front of the target vehicle, and 
 a second rear collision when the target vehicle collides into a rear side of the subject vehicle. 
 
     
     
       13. A non-transitory computer readable medium containing program instructions executed by a processor for predicting a collision with a target vehicle by a subject vehicle, the computer readable medium comprising:
 program instructions that calculate a driving trajectory of the subject vehicle based on a yaw rate using driving information of the subject vehicle; 
 program instructions that evaluate a driving trajectory of a the target vehicle for a predetermined period of time using driving information of the target vehicle including information from an imaging device mounted on the subject vehicle for obtaining a front image and information from a plurality of radar sensors mounted on the subject vehicle; and 
 program instructions that predict at least one collision type of a plurality of classified collision types by analyzing a collision possibility between the subject vehicle and the target vehicle based on the driving trajectory of the subject vehicle and the driving trajectory of the target vehicle, wherein 
 the program instructions that evaluate the driving trajectory of the target vehicle include:  
 program instructions that analyze the driving information of the target vehicle as the driving trajectory of the target vehicle; 
 program instructions that estimate a velocity, an acceleration, and a yaw rate of the target vehicle using the driving information of the target vehicle; 
 program instructions that calculate the driving trajectory of the target vehicle based on the velocity, the acceleration, and the yaw rate of the target vehicle; and  
 program instructions that calculate locations of the target vehicle at a predetermined time unit during the predetermined period of time based on the velocity, the acceleration, and the yaw rate of the target vehicle;, and  
 program instructions that predict at least one collision type of a plurality of classified collision types by analyzing a collision possibility between the subject vehicle and the target vehicle based on the driving trajectory of the subject vehicle and the driving trajectory of the target vehicle; and 
 the program instructions that predict at least one collision type include:  
 program instructions that determine the at least one collision type based on a time difference between a time when a portion of the target vehicle intersects with a path of the driving trajectory of the subject vehicle (TTI) and a time when the target vehicle angularly-exits from a path of a circular trajectory of the subject vehicle based on a substantial center point of a curvature radius of the driving trajectory of the subject vehicle (TTAE) and a time difference between a time when the portion of the target vehicle angularly-intersects with the path of the circular trajectory of the subject vehicle based on the substantial center point of the curvature radius of the driving trajectory of the subject vehicle (TTAI) and a time when an entirety of the target vehicle exits from the path of the driving trajectory of the subject vehicle (TTE). 
 
     
     
       14. The non-transitory computer readable medium of  claim 13 , further comprising:
 program instructions that calculate tracking information (TTX), which is related to a time in which the target vehicle intersects with or exits from the driving trajectory of the subject vehicle the TTI, the TTE, the TTAI, and the TTAE during the predetermined period of time; and 
 program instructions that determine collision flags based on conditions that use the TTX one or more of the TTI, the TTE, the TTAI, and the TTAE. 
 
     
     
       15. A method for predicting a collision with a target vehicle by a subject vehicle, comprising:
 calculating, by a controller, a driving trajectory of the subject vehicle based on a velocity of the subject vehicle;   evaluating, by the controller, a driving trajectory of the target vehicle for a predetermined period of time using driving information of the target vehicle including information from an imaging device mounted on the subject vehicle for obtaining a front image and information from a plurality of radar sensors mounted on the subject vehicle;   predicting, by the controller, at least one collision type of a plurality of classified collision types by analyzing a collision possibility between the subject vehicle and the target vehicle based on the driving trajectory of the subject vehicle and the driving trajectory of the target vehicle; and   when the collision between the subject vehicle and the target vehicle is predicted to occur, calculating, by the controller, a timing-to-collision based on the velocity of the subject vehicle and the driving information of the target vehicle,   wherein the evaluating of the driving trajectory of the target vehicle includes:
 estimating, by the controller, a velocity, an acceleration, and a yaw rate of the target vehicle using the driving information of the target vehicle; 
 calculating, by the controller, the driving trajectory of the target vehicle based on the velocity, the acceleration, and the yaw rate of the target vehicle; and 
 calculating, by the controller, locations of the target vehicle during the predetermined period of time based on the velocity, the acceleration, and the yaw rate of the target vehicle, and 
   wherein the predicting of the at least one collision type includes:
 determining, by the controller, the at least one collision type based on a time difference between a time when a portion of the target vehicle intersects with a path of the driving trajectory of the subject vehicle (TTI) and a time when the target vehicle angularly-exits from a path of a circular trajectory of the subject vehicle based on a substantial center point of a curvature radius of the driving trajectory of the subject vehicle (TTAE) and a time difference between a time when the portion of the target vehicle angularly-intersects with the path of the circular trajectory of the subject vehicle based on the substantial center point of the curvature radius of the driving trajectory of the subject vehicle (TTAI) and a time when an entirety of the target vehicle exits from the path of the driving trajectory of the subject vehicle (TTE).  
   
     
     
       16. The method according to claim 15, wherein the target vehicle includes at least one selected from the group consisting of: a front vehicle, a crossing vehicle, an oncoming vehicle, and a rear vehicle.  
     
     
       17. The method according to claim 15, wherein the predicting of the at least one collision type further includes:
 calculating, by the controller, the TTI, the TTE, the TTAI, and the TTAE during the predetermined period of time; and   determining, by the controller, collision flags based on conditions that use one or more of the TTI, the TTE, the TTAI, and the TTAE.    
     
     
       18. The method according to claim 17, wherein the predicting of the at least one collision type further includes:
 calculating, by the controller, a time when the portion of the target vehicle intersects with the path of the driving trajectory of the subject vehicle while the subject vehicle decelerates (TTI d ); and   calculating, by the controller, a time when the target vehicle exits from the path of the driving trajectory of the subject vehicle while the subject vehicle accelerates (TTE a ).    
     
     
       19. The method according to claim 18, wherein the plurality of classified collision types includes at least two selected from a group consisting of:
 a non-collision,   a first rear collision when the subject vehicle collides into a rear side of the target vehicle,   a collision between a front of the subject vehicle and a side rear of the target vehicle,   a collision between the front of the subject vehicle and a front of the target vehicle,   a collision between a side rear of the subject vehicle and the front of the target vehicle, and   a second rear collision when the target vehicle collides into a rear side of the subject vehicle.    
     
     
       20. An apparatus for predicting a collision with a target vehicle by a subject vehicle, comprising:
 a memory configured to store program instructions;   a controller configured to execute the program instructions;   an imaging device mounted on the subject vehicle for obtaining a front image; and   a plurality of radar sensors mounted on the subject vehicle,   wherein, when the program instructions are executed, the controller is configured to:
 calculate a driving trajectory of the subject vehicle based on a velocity of the subject vehicle; 
 evaluate a driving trajectory of the target vehicle for a predetermined period of time using driving information of the target vehicle including information from the imaging device and information from the plurality of radar sensors; 
 predict at least one collision type of a plurality of classified collision types by analyzing a collision possibility between the subject vehicle and the target vehicle; and 
 when the collision between the subject vehicle and the target vehicle is predicted to occur, calculate a timing-to-collision based on the velocity of the subject vehicle and the driving information of the target vehicle, 
   wherein, when evaluating the driving trajectory of the target vehicle, the controller is configured to:
 estimate a velocity, an acceleration, and a yaw rate of the target vehicle using the driving information of the target vehicle; 
 calculate the driving trajectory of the target vehicle based on the velocity, the acceleration, and the yaw rate of the target vehicle; and 
 calculate locations of the target vehicle during the predetermined period of time based on the velocity, the acceleration, and the yaw rate of the target vehicle, and 
   wherein, when predicting the at least one collision type, the controller is configured to:
 determine the at least one collision type based on a time difference between a time when a portion of the target vehicle intersects with a path of the driving trajectory of the subject vehicle (TTI) and a time when the target vehicle angularly-exits from a path of a circular trajectory of the subject vehicle based on a substantial center point of a curvature radius of the driving trajectory of the subject vehicle (TTAE) and a time difference between a time when the portion of the target vehicle angularly-intersects with the path of the circular trajectory of the subject vehicle based on the substantial center point of the curvature radius of the driving trajectory of the subject vehicle (TTAI) and a time when an entirety of the target vehicle exits from the path of the driving trajectory of the subject vehicle (TTE).  
   
     
     
       21. The apparatus according to claim 20, wherein the controller is further configured to predict the collision with the target vehicle in an omni-direction.  
     
     
       22. The apparatus according to claim 20, wherein the target vehicle includes at least one selected from the group consisting of: a front vehicle, a crossing vehicle, an oncoming vehicle, and a rear vehicle.  
     
     
       23. The apparatus according to claim 20, wherein the controller is further configured to:
 calculate the TTI, the TTE, the TTAI, and the TTAE during the predetermined period of time; and   determine collision flags based on conditions that use one or more of the TTI, the TTE, the TTAI, and the TTAE.    
     
     
       24. The apparatus according to claim 23, wherein the controller is further configured to:
 calculate a time when the portion of the target vehicle intersects with the path of the driving trajectory of the subject vehicle while the subject vehicle decelerates (TTI d ); and   calculate a time when the target vehicle exits from the path of the driving trajectory of the subject vehicle while the subject vehicle accelerates (TTE a ).    
     
     
       25. The apparatus according to claim 24, wherein the plurality of classified collision types include at least two selected from a group consisting of:
 a non-collision,   a first rear collision when the subject vehicle collides into a rear side of the target vehicle,   a collision between a front of the subject vehicle and a side rear of the target vehicle,   a collision between the front of the subject vehicle and a front of the target vehicle,   a collision between a side rear of the subject vehicle and the front of the target vehicle, and   a second rear collision when the target vehicle collides into a rear side of the subject vehicle.