Emergency braking system for protecting moving object and method for controlling the same
Provided is an emergency braking system, including: a receiving unit that receives sensing signals sensed by the sensing unit; a prediction position selecting unit that, when the moving object is sensed through fusion between the sensing signals received by the receiving unit, selects a lateral prediction position of the moving object predicted to collide with the vehicle according to a lateral movement of the moving object; and a braking determining unit that predicts collision and provides an emergency braking control signal to a braking unit when the prediction position selected by the prediction position selecting unit is located inside a vehicle width, and determines a braking control of the braking unit when the prediction position is located outside the vehicle width, so as to suspend a control of the braking unit.
1. An emergency braking system, including a sensing unit installed in a vehicle to sense a moving object around the vehicle, the emergency braking system comprising:
a receiving unit that receives sensing signals sensed by the sensing unit;
a prediction position selecting unit that, when the moving object is sensed through fusion between the sensing signals received by the receiving unit, selects a lateral prediction position of the sensed moving object predicted to collide with the vehicle according to a lateral movement of the sensed moving object; and
a braking determining unit that determines a braking control suspension, a warning, an emergency braking, or an emergency braking according to whether
the lateral prediction position selected by the prediction position selecting unit is located inside a vehicle width or outside the vehicle width and
a longitudinal distance between the vehicle and the moving object is within a preset warning braking distance and a preset emergency braking control distance.
2. The emergency braking system according to claim 1 , wherein the prediction position selecting unit calculates a time to collision (TTC) by using a velocity of the vehicle and a longitudinal distance between the vehicle and the sensed moving object, and selects the lateral prediction position of the sensed moving object by using the calculated time to collision, a lateral distance between the vehicle and the sensed moving object, and a lateral velocity of the sensed moving object.
3. The emergency braking system according to claim 1 , wherein the braking determining unit
when the lateral prediction position is located inside the vehicle width and the longitudinal distance is out of the preset warning braking distance, suspends a control of a braking unit of the vehicle,
when the lateral prediction position is located inside the vehicle width and the longitudinal distance is within the preset warning braking distance and out of the preset emergency braking control distance, provides a preset warning signal to the sensed moving object and suspends the control of the braking unit of the vehicle,
when the lateral prediction position is located inside a vehicle width and the longitudinal distance is within the preset emergency braking control distance, provide an emergency braking control signal to the braking unit of the vehicle, and
when the lateral prediction position is located outside the vehicle width, suspends a control of the braking unit of the vehicle.
4. The emergency braking system according to claim 1 , wherein the sensed moving object is a pedestrian, a bicycle, or a motorcycle.
5. A method for controlling an emergency braking system, including a sensing unit installed in a vehicle to sense a moving object around the vehicle, the method comprising:
receiving sensing signals sensed by the sensing unit;
when the moving object is sensed through fusion between the received sensing signals, selecting a lateral prediction position of the sensed moving object predicted to collide with the vehicle according to a lateral movement of the sensed moving object;
determining a braking control suspension, a warning, an emergency braking, or an emergency braking according to whether
the lateral prediction position selected by the prediction position selecting unit is located inside a vehicle width or outside the vehicle width and
a longitudinal distance between the vehicle and the sensed moving object is within a preset warning braking distance and a preset emergency braking control distance.
6. The method according to claim 5 , wherein the selecting of the lateral prediction position comprises:
calculating a time to collision (TTC) by using a velocity of the vehicle and a longitudinal distance between the vehicle and the sensed moving object; and
selecting a lateral prediction position of the sensed moving object by using the calculated time to collision, a lateral distance between the vehicle and the sensed moving object, and a lateral velocity of the sensed moving object.
7. The method according to claim 5 , wherein determining a braking control suspension, a warning, an emergency braking, or an emergency braking comprises:
when the lateral prediction position is located inside the vehicle width and the longitudinal distance is out of the preset warning braking distance, suspending a control of the braking unit of the vehicle;
when the lateral prediction position is located inside the vehicle width and the longitudinal distance is within the preset warning braking distance and out of the preset emergency braking control distance, providing a preset warning signal to the sensed moving object and suspends the control of the braking unit of the vehicle; and
when the lateral prediction position is located inside a vehicle width and the longitudinal distance is within the preset emergency braking control distance, providing an emergency braking control signal to the braking unit of the vehicle.