Autonomous emergency braking system and method for recognizing pedestrian therein
An autonomous emergency braking system for performing emergency braking when a potential collision object is recognized during traveling of a vehicle, comprises a camera, a radar sensor and an electronic control unit. The camera is installed in the vehicle to acquire an image signal of a proximity of the vehicle. The radar sensor is configured to detect an object located in a preset detection region from the vehicle. The electronic control unit is configured to, when a counterpart vehicle is located adjacent to a pedestrian, generate a pedestrian detection signal that is not included in a detection signal acquired by the radar sensor, and recognize the pedestrian by fusing the generated pedestrian detection signal and a pedestrian detection signal detected by the camera.
1. An autonomous emergency braking system for performing emergency braking when a potential collision object is recognized during traveling of a vehicle, the autonomous emergency braking system comprising:
a camera installed in the vehicle to acquire an image signal of a proximity of the vehicle;
a radar sensor configured to detect an object located in a preset detection region from the vehicle; and
an electronic control unit configured to, when a counterpart vehicle is located adjacent to a pedestrian, generate a pedestrian detection signal that is not included in a detection signal acquired by the radar sensor, and recognize the pedestrian by fusing the generated pedestrian detection signal and a pedestrian detection signal detected by the camera.
2. The autonomous emergency braking system according to claim 1 , wherein the electronic control unit calculates a distance between the counterpart vehicle and the pedestrian based on the image signal and, when the calculated distance is within a preset reference distance and a strength of the detection signal detected by the radar sensor is higher than a preset reference strength, generates the pedestrian detection signal, and recognizes the pedestrian by fusing the generated pedestrian detection signal and the pedestrian detection signal detected by camera.
3. The autonomous emergency braking system according to claim 2 , wherein when the strength of the detection signal is not higher than the preset reference strength, the electronic control unit compares a speed of the counterpart vehicle, which is located in the proximity of the vehicle, with a preset reference speed based on the detection signal, and
when the speed of the counterpart vehicle is higher than the preset reference speed, the electronic control unit generates the pedestrian detection signal.
4. The autonomous emergency braking system according to claim 3 , wherein when the calculated distance is out of the preset reference distance or when the speed of the counterpart vehicle is not higher than the preset reference speed, the electronic control unit determines that the pedestrian is unrecognized.
5. A method for recognizing a pedestrian in an autonomous emergency braking system for performing emergency braking when a potential collision object is recognized during traveling of a vehicle, the autonomous emergency braking system including a camera installed in the vehicle to acquire an image signal of a proximity of the vehicle and a radar sensor configured to detect an object located in a preset detection region from the vehicle, the method comprising:
receiving the image signal acquired by the camera;
receiving a detection signal acquired by the radar sensor; and
when a counterpart vehicle is located adjacent to a pedestrian, generating a pedestrian detection signal that is not included in the detection signal acquired from the radar sensor, and recognizing the pedestrian by fusing the generated pedestrian detection signal and a pedestrian detection signal detected by the camera.
6. The method according to claim 5 , wherein the recognizing of the pedestrian comprises:
calculating a distance between the counterpart vehicle and the pedestrian based on the image signal;
determining whether the calculated distance is within a preset reference distance;
when it is determined that the calculated distance is within the preset reference distance and a strength of the received detection signal is higher than a preset reference strength, generating the pedestrian detection signal; and
recognizing the pedestrian by fusing the generated pedestrian detection signal and the detected pedestrian detection signal.
7. The method according to claim 6 , wherein the generating of the pedestrian detection signal comprises:
when it is determined that the strength of the detection signal is not higher than the preset reference strength, comparing a speed of the counterpart vehicle, which is located in the proximity of the vehicle, with a preset reference speed based on the detection signal; and
when the speed of the counterpart vehicle is higher than the preset reference speed, generating the pedestrian detection signal.
8. The method according to claim 6 , further comprising, before the generating of the pedestrian detection signal, determining that the pedestrian is unrecognized, when the calculated distance is out of the preset reference distance or when the speed of the counterpart vehicle is not higher than the preset reference speed.