SYSTEM AND METHOD FOR DETERMINING COLLISION POINT OF VEHICLE
This disclosure provides a system and a method for determining a collision point of vehicle. According to the system and method, a wheel shape of an object moving in a direction crossing a travel direction of a vehicle is recognized, and a movement angle between the moving object and the vehicle is calculated using the recognized wheel shape. Also, a lateral direction speed and a longitudinal direction speed of the object are accurately calculated using a movement speed of the object and the movement angle of the object, and thus it is possible to accurately determine a time point of collision between the vehicle and the object and prevent collision between the vehicle and the object.
1 . A system for determining a collision point of vehicle, the system comprising:
a wheel recognizer configured to recognize a wheel shape of an object moving near a vehicle;
an angle calculator configured to calculate a movement angle of the object using a first radius and a second radius of the recognized wheel shape; and
a collision time point estimator configured to acquire at least one of a longitudinal direction speed and a lateral direction speed of the object based on the movement angle of the object and determine a time point of collision between the vehicle and the object.
2 . The system of claim 1 , wherein when a plurality of wheel shapes are recognized by the wheel recognizer, the wheel recognizer selects a wheel shape closest to a travel path of the vehicle.
3 . The system of claim 1 , wherein the angle calculator calculates the movement angle of the object using a right-angled triangle having the first radius as a hypotenuse and the second radius as another side.
4 . The system of claim 1 , wherein the angle calculator calculates the movement angle of the object using the first radius, which is a vertical radius of the recognized wheel shape, and the second radius, which is a horizontal radius of the recognized wheel shape.
5 . The system of claim 1 , wherein the angle calculator calculates the movement angle of the object using the first radius, which is a longest one of radii of the recognized wheel shape, and the second radius, which is a shortest one of radii of the recognized wheel shape.
6 . The system of claim 1 , wherein the angle calculator calculates the movement angle of the object using the first radius and the second radius of the wheel shape recognized in a plane perpendicular to a travel direction of the vehicle.
7 . The system of claim 1 , wherein when a time period from a current time point to the time point of collision is a preset threshold value or less, the collision time point estimator outputs a warning message or controls a velocity of the vehicle.
8 . A method of determining a collision point of vehicle, the method comprising:
recognizing a wheel shape of an object moving near a vehicle;
calculating a movement angle of the object using a first radius and a second radius of the recognized wheel shape;
acquiring at least one of a longitudinal direction speed and a lateral direction speed of the object based on the movement angle of the object; and
determining a time point of collision between the vehicle and the object.
9 . The method of claim 8 , wherein when a plurality of wheel shapes are recognized, the recognizing of the wheel shape of the object comprises selecting a wheel shape closest to a travel path of the vehicle.
10 . The method of claim 8 , wherein the calculating of the movement angle of the object comprises calculating the movement angle of the object using a right-angled triangle having the first radius as a hypotenuse and the second radius as another side.
11 . The method of claim 8 , wherein the calculating of the movement angle of the object comprises calculating the movement angle of the object using the first radius, which is a vertical radius of the recognized wheel shape, and the second radius, which is a horizontal radius of the recognized wheel shape.
12 . The method of claim 8 , wherein the calculating of the movement angle of the object comprises calculating the movement angle of the object using the first radius, which is a longest one of radii of the recognized wheel shape, and the second radius, which is a shortest one of radii of the recognized wheel shape.
13 . The method of claim 8 , wherein the calculating of the movement angle of the object comprises calculating the movement angle of the object using the first radius and the second radius of the wheel shape recognized in a plane perpendicular to a travel direction of the vehicle.
14 . The method of claim 8 , wherein the determining of the time point of collision between the vehicle and the object comprises, when a time period from a current time point to the time point of collision is a preset threshold value or less, outputting a warning message or controlling a velocity of the vehicle.