Vehicle collision avoidance apparatus and method
A vehicle collision avoidance apparatus and method are provided. The method includes identifying, by a controller, whether an obstacle is a vehicle or a pedestrian and collecting information required for calculating a minimum braking time and a minimum steering time. The controller is configured to calculate the minimum braking time to avoid a collision with the obstacle and the minimum steering time to avoid a collision with an obstacle. In addition, the a controller is configured to sequentially operating braking and steering of a traveling vehicle based on the minimum steering time depending on a type of identified obstacle.
1. A vehicle collision avoidance apparatus, comprising:
a memory configured to store program instructions; and
a processor configured to execute the program instructions, the program instructions when executed configured to:
identify whether an obstacle is a vehicle or a pedestrian;
collect information required for calculating a minimum braking time and a minimum steering time;
calculate the minimum braking time to avoid a collision with the obstacle;
calculate the minimum steering time to avoid a collision with an obstacle; and
sequentially operate braking and steering of a traveling vehicle based on the minimum steering time depending on a type of identified obstacle,
wherein the program instructions when executed are further configured to:
operate the steering of the traveling vehicle on the first timing (LPS 1 ) after operating the braking of the traveling vehicle, when the obstacle is the vehicle; and
operate the steering of the traveling vehicle on the second timing (LPS 2 ) after operating the braking of the traveling vehicle, when the obstacle is the pedestrian.
2. A vehicle collision avoidance apparatus according to claim 1 , wherein when the vehicle identified as the obstacle appears after the first timing (LPS 1 ) and when the pedestrian identified as the obstacle appears after the second timing (LPS 2 ), the program instructions when executed are further configured to operate only the braking of the traveling vehicle.
3. A vehicle collision avoidance apparatus according to claim 1 , wherein the minimum braking time (t LBP ) is calculated by following Equation A
t
LPB
=
d
LPB
-
v
rel
=
-
v
rel
2
μ
g
,
d
LPB
=
-
v
rel
2
2
a
x
Equation
A
wherein, V rel is a relevant speed with the obstacle, d LPB is a limited braking distance, a x is a longitudinal acceleration, μ is a friction coefficient, and g is gravity acceleration.
4. A vehicle collision avoidance apparatus according to claim 1 , wherein the minimum steering time (t LPS ) is calculated by following Equation B
t
LPS
=
d
LPS
-
v
rel
=
2
s
y
μ
g
,
d
LPS
=
-
v
rel
2
s
y
a
y
Equation
B
wherein, d LPS is a limited steering distance, s y is an amount overlapped with the obstacle, a y is a lateral acceleration, μ is a friction coefficient, and g is gravity acceleration.
5. A vehicle collision avoidance method, comprising:
identifying, by a controller, whether an obstacle is a vehicle or a pedestrian;
collecting, by the controller, information required for calculating a minimum braking time and a minimum steering time;
calculating, by the controller, the minimum braking time to avoid a collision with the obstacle;
calculating, by the controller, the minimum steering time to avoid a collision with an obstacle; and
sequentially operating, by the controller, braking and steering of a traveling vehicle based on the minimum steering time depending on a type of identified obstacle,
wherein the operating of the braking and the steering includes:
operating, by the controller, the steering of the traveling vehicle on the first timing (LPS 1 ) after operating the braking of the traveling vehicle, in response to identifying the obstacle as the vehicle; and
operating, by the controller, the steering of the traveling vehicle on a second timing (LPS 2 ) after operating the breaking of the traveling vehicle, in response to identifying the obstacle as the pedestrian.
6. A vehicle collision avoidance method according to claim 1 , wherein the operating of the braking and the steering further comprises:
operating, by the controller, only the braking of the traveling vehicle when the obstacle identified as the vehicle appears after the first timing (LPS 1 ) and when the obstacle identified as the pedestrian appears after the second timing (LPS 2 ).
7. A vehicle collision avoidance method according to claim 5 , wherein the calculating of the minimum braking time includes calculating the minimum braking time (t LPB ) by following Equation C
t
LPB
=
d
LPB
-
v
rel
=
-
v
rel
2
μ
g
,
d
LPB
=
-
v
rel
2
2
a
x
Equation
C
wherein V rel is a relevant speed with the obstacle, d LPB is a limited braking distance, a x is a longitudinal acceleration, μ is a friction coefficient, and g is gravity acceleration.
8. A vehicle collision avoidance method according to claim 5 , wherein the calculating of the minimum steering time includes calculating the minimum steering time (t LPS ) by following Equation D
t
LPS
=
d
LPS
-
v
rel
=
2
s
y
μ
g
,
d
LPS
=
-
v
rel
2
s
y
a
y
Equation
D
wherein, d LPS is a limited steering distance, s y is an amount overlapped with the obstacle, a y is a lateral acceleration, μ is a friction coefficient, and g is gravity acceleration.
9. A non-transitory computer readable medium containing program instructions executed by a controller, the computer readable medium comprising:
program instructions that identify whether an obstacle is a vehicle or a pedestrian;
program instructions that collect information required for calculating a minimum braking time and a minimum steering time;
program instructions that calculate the minimum braking time to avoid a collision with the obstacle;
program instructions that calculate the minimum steering time to avoid a collision with an obstacle;
program instructions that sequentially operate braking and steering of a traveling vehicle based on the minimum steering time depending on a type of identified obstacle;
program instructions that operate the steering of the traveling vehicle on the first timing (LPS 1 ) after operating the braking of the traveling vehicle, in response to identifying the obstacle as the vehicle; and
program instructions that operate the steering of the traveling vehicle on a second timing (LPS 2 ) after operating the braking of the traveling vehicle, in response to identifying the obstacle as the pedestrian.
10. The non-transitory computer readable medium of claim 9 , further comprising:
program instructions that operate only the braking of the traveling vehicle when the obstacle identified as the vehicle appears after the first timing (LPS 1 ) and when the obstacle identified as the pedestrian appears after the second timing (LPS 2 ).
11. The non-transitory computer readable medium of claim 9 , wherein the calculating of the minimum braking time includes calculating the minimum braking time (t LPB ) by following Equation C
t
LPB
=
d
LPB
-
v
rel
=
-
v
rel
2
μ
g
,
d
LPB
=
-
v
rel
2
2
a
x
Equation
C
wherein, V rel is a relevant speed with the obstacle, d LPB is a limited braking distance, a x is a longitudinal acceleration, μ is a friction coefficient, and g is gravity acceleration.
12. The non-transitory computer readable medium of claim 9 , wherein the calculating of the minimum steering time includes calculating the minimum steering time (t LPS ) by following Equation D
t
LPS
=
d
LPS
-
v
rel
=
2
s
y
μ
g
,
d
LPS
=
-
v
rel
2
s
y
a
y
Equation
D
wherein, d LPS is a limited steering distance, s y is an amount overlapped with the obstacle, a y is a lateral acceleration, μ is a friction coefficient, and g is gravity acceleration.