Advanced emergency brake system and method for controlling brake thereof
View Patent ↗Disclosed is an advanced emergency brake system that performs an emergency brake if a target is situated at a location close to a vehicle. The emergency brake system includes a radar sensor; a camera; an ultrasonic sensor for detecting an object situated at a close distance from the vehicle; and an electronic control unit that outputs a predetermined alarm control signal or performs an emergency brake depending on the input from the radar sensor, the camera, and the ultrasonic sensor. The emergency brake system disclosed herein can perform emergency brakes even when a target outside the angle of view of the radar sensor or the camera abruptly intervenes. Also disclosed is a method for controlling a brake with the emergency brake system.
1. An advanced emergency brake system for performing an emergency brake, the advanced emergency brake system comprising:
a radar sensor installed in a vehicle and configured to detect an object within an angle of view of the radar sensor;
a camera installed in the vehicle and configured to detect the object within an angle of view of the camera;
an ultrasonic sensor installed in the vehicle and configured to detect the object within an angle of view of the ultrasonic sensor; and
an electronic control unit connected to the radar sensor, the camera and the ultrasonic sensor, and configured to,
when a distance from a target situated on a lateral side of the vehicle falls within a predetermined distance according to an acquisition signal detected by the ultrasonic sensor, output a predetermined alarm control signal, and
when the target is present within the angles of view of the ultrasonic sensor and the radar sensor or within the angles of view of the camera and the radar sensor, perform the emergency brake.
2. The advanced emergency brake system of claim 1 , wherein the electronic control unit comprises:
a reception unit configured to receive acquisition signals acquired from the radar sensor, the camera, and the ultrasonic sensor;
a target recognition unit configured to recognize the target situated on the lateral side of the vehicle based on the acquisition signal received from the ultrasonic sensor;
an alarm generation unit configured to
calculate a distance from the recognized target, and
when the target is situated within the predetermined distance from the vehicle on the lateral side of the vehicle, output the predetermined alarm control signal that reports a proximity alarm of the target;
a determination unit configured to determine whether the target is present within the angles of view of the ultrasonic sensor and the radar sensor or the angles of view of the camera and the radar sensor; and
a brake control unit configured to, when the target is present within the angles of view of the ultrasonic sensor and the radar sensor or within the angles of view of the camera and the radar sensor, provide an emergency brake control signal to a brake apparatus to perform the emergency brake.
3. The advanced emergency brake system of claim 2 ,
wherein the determination unit is configured to, when the calculated distance from the recognized target is smaller than a threshold value, determine that the recognized target has an intention to intervene in the vehicle's lane, and
wherein the alarm generation unit is configured to, when the determined target having the intention to intervene in the vehicle's lane is situated within the predetermined distance from the lateral side of the vehicle, output the alarm control signal.
4. The advanced emergency brake system of claim 1 ,
wherein the ultrasonic sensor comprises a first ultrasonic sensor situated on a side surface of the vehicle, a third ultrasonic sensor situated on a front surface of the vehicle, and a second ultrasonic sensor situated between the first ultrasonic sensor and the third ultrasonic sensor, and
wherein the electronic control unit is configured to,
when a distance from the target detected by the first ultrasonic sensor and the second ultrasonic sensor falls within the predetermined distance, output the predetermined alarm control signal, and
when target is present within the angles of view of the third ultrasonic sensor and the radar sensor or within the angles of view of the camera and the radar sensor, perform the emergency brake.
5. The advanced emergency brake system of claim 4 , wherein the electronic control unit is configured to calculate the detected distance from the target when the target simultaneously detected by the first ultrasonic sensor and the second ultrasonic sensor.
6. A method for controlling a brake of an advanced emergency brake system, the method performed by a vehicle comprising an ultrasonic sensor, a radar sensor and a camera installed in the vehicle, the method comprising:
receiving acquisition signals acquired from the ultrasonic sensor, the camera, and the radar sensor;
when a distance from a target situated on a lateral side of the vehicle according to the received acquisition signal, outputting a predetermined alarm signal;
determining whether the target is present within the angles of view of the ultrasonic sensor and the radar sensor or within the angles of view of the camera and the radar sensor; and
when the target is present within the angles of view of the ultrasonic sensor and the radar sensor or within the angles of view of the camera and the radar sensor, performing an emergency brake.
7. The method of claim 6 , wherein the outputting of the predetermined alarm signal comprises: recognizing the target situated on the lateral side of the vehicle according to the acquisition signal received from the ultrasonic sensor; and
calculating the distance from the recognized target in real time.
8. The method of claim 7 , wherein the outputting of the predetermined alarm signal further comprises:
determining whether the calculated distance from the recognized target is smaller than a threshold value, and
when the calculated distance from the recognized target is smaller than the threshold value, determining that the recognized target has an intention to intervene in the vehicle's lane.
9. An advanced emergency brake system for performing an emergency brake, the advanced emergency brake system comprising:
a radar sensor installed in a vehicle and configured to detect an object within an angle of view of the radar sensor;
a camera installed in the vehicle and configured to detect the object within an angle of view of the camera;
an ultrasonic sensor installed in the vehicle and configured to detect the object within an angle of view of the ultrasonic sensor; and
an electronic control unit connected to the radar sensor, the camera and the ultrasonic sensor and configured to,
when the distance from a target situated on a lateral side of the vehicle falls within a predetermined distance according to an acquisition signal detected by the ultrasonic sensor, output a predetermined alarm control signal, and
when the target is present within the angles of view of the ultrasonic sensor and the camera, perform the emergency brake.
10. The advanced emergency brake system of claim 9 ,
wherein the ultrasonic sensor comprises
a first ultrasonic sensor situated on a side surface of the vehicle,
a third ultrasonic sensor situated on a front surface of the vehicle, and
a second ultrasonic sensor situated between the first ultrasonic sensor and the third ultrasonic sensor, and
wherein the electronic control unit is configured to,
when a distance from the target detected by the first ultrasonic sensor and the second ultrasonic sensor falls within the predetermined distance, output the predetermined alarm control signal, and
when the target is present within the angles of view of the third ultrasonic sensor and the camera, perform the emergency brake.
11. The advanced emergency brake system of claim 10 , wherein the electronic control unit is configured to calculate the detected distance from the target when the target simultaneously detected by the first ultrasonic sensor and the second ultrasonic sensor.