Collision prevention apparatus and method, and driving support apparatus

1. A collision prevention apparatus comprising:

at least one in-vehicle sensor configured to sense state information of a vehicle; and

a controller communicatively coupled to the at least one in-vehicle sensor and configured to:

determine a collision risk of the vehicle;

determine driving intervention of a driver based on the sensed state information of the vehicle;

control a collision risk alert according to a result of determination on the collision risk of the vehicle and adjust a braking time point of the vehicle according to a result of determination on driving intervention of the driver;

perform comparison of at least one of speed values, including speed values of forward vehicles and a predetermined reference speed value, or acceleration values, including acceleration values of the forward vehicles and a predetermined reference acceleration value;

determine the collision risk of the vehicle according to a comparison result; and

adjust at least one of the predetermined reference speed value or the predetermined reference acceleration value according to a vehicle driving time of the driver,

wherein the controller maintains the braking time point of the vehicle if the driver is intervened in driving, and advances the braking time point of the vehicle if the driver is not intervened in driving, and

wherein, if the forward vehicles, detected by a radar sensor mounted to be oriented downwards from horizontal on the front of the vehicle, comprise a first forward vehicle located in front of the vehicle, a second forward vehicle located in front of the first forward vehicle, and a third forward vehicle located in front of the second forward vehicle, the controller determines that there is the collision risk of the vehicle in at least one of a case where a speed value of the first forward vehicle is smaller than the predetermined reference speed value, a case where a speed value of the second forward vehicle is smaller than the predetermined reference speed value, a case where a speed value of the third forward vehicle is smaller than the predetermined reference speed value, a case where an acceleration value of the first forward vehicle is smaller than a predetermined acceleration value, a case where an acceleration value of the second forward vehicle is smaller than the predetermined acceleration value, or a case where an acceleration value of the third forward vehicle is smaller than the predetermined acceleration value.

2. The collision prevention apparatus of claim 1 , wherein the controller determines the collision risk of the vehicle on the basis of speed reduction state information of forward vehicles.

3. The collision prevention apparatus of claim 1 , wherein the controller performs comparison of at least one of steering angle values, including a steering angle value of the vehicle and a predetermined reference steering angle value, brake pedal pressure values, including a brake pedal pressure value of the vehicle and a predetermined reference brake pedal pressure value, or accelerator pedal change values, including an accelerator pedal change value of the vehicle and a predetermined reference accelerator pedal change value, and determines driving intervention of the driver according to a comparison result.

4. The collision prevention apparatus of claim 1 , wherein the controller performs control to cause the collision risk alert to be generated when there is the collision risk of the vehicle, and after the collision risk alert is generated, adjusts the braking time point of the vehicle according to the result of determination on driving intervention of the driver.

5. The collision prevention apparatus of claim 4 , wherein the controller adjusts, when the driver does not intervene in driving, the braking time point of the vehicle on the basis of at least one value among a value of a time to collision (TTC) between forward vehicles and a value of a distance between the forward vehicles.

6. The collision prevention apparatus of claim 5 , wherein the controller performs comparison of at least one of time to collision values, including a value of time to collision between the forward vehicles and a predetermined reference value of time to collision, or distance values, including a value of the distance between the forward vehicles and a predetermined reference distance value, and adjusts the braking time point of the vehicle according to a comparison result.

7. The collision prevention apparatus of claim 6 , wherein the controller moves up the braking time point of the vehicle before a current braking time point of the vehicle in at least one of a case where the value of time to collision between the forward vehicles is smaller than the predetermined reference value of time to collision, or a case where the value of the distance between the forward vehicles is smaller than the predetermined reference distance value.

8. The collision prevention apparatus of claim 6 , wherein, when the forward vehicles comprise the first, second, and third forward vehicles, the controller moves up the braking time point of the vehicle to control the vehicle, in at least one of a case where a value of time to collision (TTC) between the first and second forward vehicles is smaller than the predetermined value of time to collision, a case where a value of time to collision (TTC) between the second and third forward vehicles is smaller than the predetermined value of time to collision, a case where a value of a distance between the first and second forward vehicles is smaller than the predetermined distance value, or a case where a value of a distance between the second and third forward vehicles is smaller than the predetermined distance value.

9. A driving support apparatus comprising:

an information acquisition module configured to acquire at least one of state information of a vehicle or state information of nearby vehicles;

an alert module configured to generate a collision risk alert; and

a controller communicatively connected to the information acquisition module and the alert module and configured to:

determine a collision risk of the vehicle on the basis of at least one piece of information among the state information of the vehicle and the state information of the nearby vehicles,

control operation of the alert module according to a result of determination on the collision risk of the vehicle,

determine driving intervention of a driver,

adjust a braking time point of the vehicle according to a result of determination on driving intervention of the driver, and

control the vehicle to brake based on the braking time point of the vehicle,

perform comparison of at least one of speed values, including speed values of forward vehicles and a predetermined reference speed value, or acceleration values, including acceleration values of the forward vehicles and a predetermined reference acceleration value, and determine the collision risk of the vehicle according to a comparison result,

adjust at least one of the predetermined reference speed value or the predetermined reference acceleration value according to a vehicle driving time of the driver, and

maintain the braking time point of the vehicle if the driver is intervened in driving, and advance the braking time point of the vehicle if the driver is not intervened in driving,

wherein, if the forward vehicles, detected by a radar sensor mounted to be oriented downwards from horizontal on the front of the vehicle, comprise a first forward vehicle located in front of the vehicle, a second forward vehicle located in front of the first forward vehicle, and a third forward vehicle located in front of the second forward vehicle, the controller determines that there is the collision risk of the vehicle in at least one of a case where a speed value of the first forward vehicle is smaller than the predetermined reference speed value, a case where a speed value of the second forward vehicle is smaller than the predetermined reference speed value, a case where a speed value of the third forward vehicle is smaller than the predetermined reference speed value, a case where an acceleration value of the first forward vehicle is smaller than a predetermined acceleration value, a case where an acceleration value of the second forward vehicle is smaller than the predetermined acceleration value, or a case where an acceleration value of the third forward vehicle is smaller than the predetermined acceleration value.

10. The driving support apparatus of claim 9 , wherein the controller performs comparison of at least one of steering angle values, including a steering angle value of the vehicle and a predetermined reference steering angle value, brake pedal pressure values, including a brake pedal pressure value of the vehicle and a predetermined reference brake pedal pressure value, or accelerator pedal change values, including an accelerator pedal change value of the vehicle and a predetermined reference accelerator pedal change value, and determines driving intervention of the driver according to a comparison result.

11. The driving support apparatus of claim 9 , wherein the controller controls operation of the alert module to cause the collision risk alert to be generated when there is the collision risk of the vehicle, and after the collision risk alert is generated, determines driving intervention of the driver, and adjusts the braking time point of the vehicle according to the result of determination on driving intervention of the driver.

12. The driving support apparatus of claim 11 , wherein the controller adjusts, when the driver does not intervene in driving, the braking time point of the vehicle on the basis of at least one value among a value of time to collision (TTC) between forward vehicles and a value of a distance between the forward vehicles.

13. The collision prevention method of claim 11 , wherein the determining driving intervention comprising:

performing comparison of at least one of steering angle values, including a steering angle value of the vehicle and a predetermined reference steering angle value, brake pedal pressure values, including a brake pedal pressure value of the vehicle and a predetermined reference brake pedal pressure value, or accelerator pedal change values, including an accelerator pedal change value of the vehicle and a predetermined reference accelerator pedal change value, and

determining driving intervention of the driver according to a comparison result.

14. A collision prevention method comprising:

determining a collision risk of a vehicle;

controlling a collision risk alert according to a result of determination on the collision risk of the vehicle;

determining driving intervention of a driver; and

adjusting a braking time point of the vehicle according to a result of determination on driving intervention of the driver,

wherein the determining driving intervention comprising:

performing comparison of at least one of speed values, including speed values of forward vehicles and a predetermined reference speed value, or acceleration values, including acceleration values of the forward vehicles and a predetermined reference acceleration value, and determining the collision risk of the vehicle according to a comparison result, and

adjusting at least one of the predetermined reference speed value or the predetermined reference acceleration value according to a vehicle driving time of the driver, and

wherein the adjusting the braking time point comprising maintaining the braking time point of the vehicle if the driver is intervened in driving, and advance the braking time point of the vehicle if the driver is not intervened in driving, and

wherein, if the forward vehicles, detected by a radar sensor mounted to be oriented downwards from horizontal on the front of the vehicle, comprise a first forward vehicle located in front of the vehicle, a second forward vehicle located in front of the first forward vehicle, and a third forward vehicle located in front of the second forward vehicle, the determining driving intervention comprising determining that there is a collision risk of the vehicle in at least one of a case where a speed value of the first forward vehicle is smaller than the predetermined reference speed value, a case where a speed value of the second forward vehicle is smaller than the predetermined reference speed value, a case where a speed value of the third forward vehicle is smaller than the predetermined reference speed value, a case where an acceleration value of the first forward vehicle is smaller than a predetermined acceleration value, a case where an acceleration value of the second forward vehicle is smaller than the predetermined acceleration value, or a case where an acceleration value of the third forward vehicle is smaller than the predetermined acceleration value.