Granted Patent B2

US 12,522,206 · App. 17/563,104 · Granted Jan 13, 2026

Inventors: Kun-Lung Ku (Changhua County, TW); Wen-Han Lu (Chiayi County, TW); Chia-Jui Hu (New Taipei, TW); Ching-Wen Chen (Taipei, TW); Tse-Lin Lee (New Taipei, TW)

Assignee: Industrial Technology Research Institute

B60W30/09B60W10/20B60W30/0956B60W40/10B60W40/13B60W50/14B60W2050/146B60W2510/202B60W2554/4041B60W2554/4044B60W2710/202

Abstract

Claims (95)

1 . An apparatus for determining whether to adjust driving dynamics of a vehicle, comprising:

a sensor, configured to sense at least one object around the vehicle, obtain image data of each of the at least one object, and measure a distance and a velocity of each of the at least one object around the vehicle to obtain a current relative position and a current relative velocity of each of the at least one object around a vehicle;

a processor, coupled to the sensor, and configured to

estimate a first relative position of each of the at least one object at a first time according to the current relative position and the current relative velocity of each of the at least one object,

recognize the image data to obtain a type of each of the at least one object,

look-up a table to learn a maximum acceleration of each of the at least one object through the table,

estimate a first relative position variation amount of each of the at least one object according to the maximum acceleration of each of the at least one object and a constant acceleration motion equation,

calculate a position probability distribution of each of the at least one object at the first time according to the first relative position and the first relative position variation amount, wherein the first relative position variation amount determined by the maximum acceleration affects a shape and range of the position probability distribution,

calculate at least one collision probability between the vehicle and each of the at least one object at the first time according to the position probability distribution, and a center of gravity trajectory and a vehicle body distribution of the vehicle,

calculate a plurality of deceleration values required for preventing the vehicle from colliding with the at least one object at at least one time point between current time and the first time according to the current velocity of the vehicle, a distance travelled by the vehicle between the current time and the first time, and the at least one collision probability,

calculate a plurality of expected trajectories of the vehicle based on the current position and the current velocity of the vehicle, wherein each of the plurality of expected trajectories respectively corresponds to an inner front wheel in a curve side of the vehicle, an outer front wheel of the vehicle and an inner rear wheel in the curve side of the vehicle, and the plurality of expected trajectories without overlap with each other,

determine whether to adjust the driving dynamics of the vehicle based on the plurality of deceleration values and the at least one collision probability, and

in response to determining to adjust the driving dynamics of the vehicle, the processor is further configured to:

adjust a velocity of the vehicle based on the plurality of deceleration values to prevent collision with the at least one object by providing a driving signal to a motor of the vehicle; and

adjust a steering direction of the vehicle based on the at least one collision probability, a reference trajectory and a driving direction of the vehicle by driving a steering motor of the vehicle,

thereby preventing collision with the at least one object by providing proactive collision avoidance before the at least one object enters any of the expected trajectories of the vehicle.

2 . The apparatus for determining whether to adjust the driving dynamics of the vehicle as claimed in claim 1 , wherein the processor further obtains the current relative position of each of the at least one object from map information.

3 . The apparatus for determining whether to adjust the driving dynamics of the vehicle as claimed in claim 1 , wherein determining whether to adjust the driving dynamics of the vehicle based on the at least one collision probability comprises:

selecting a maximum deceleration corresponding to each of the at least one object from each of at least one deceleration corresponding to each of the at least one object;

selecting a maximum reference deceleration from all of at least one maximum deceleration; and

comparing the maximum reference deceleration with a deceleration threshold to determine whether to adjust the current velocity of the vehicle.

4 . The apparatus for determining whether to adjust the driving dynamics of the vehicle as claimed in claim 3 , wherein

when the maximum reference deceleration is greater than or equal to the deceleration threshold, the current velocity of the vehicle is adjusted, and

when the maximum reference deceleration is less than the deceleration threshold, the current velocity of the vehicle is not adjusted.

5 . The apparatus for determining whether to adjust the driving dynamics of the vehicle as claimed in claim 3 , wherein the processor further calculates the at least one deceleration according to a weight function, and the weight function is a function of the at least one collision probability.

6 . The apparatus for determining whether to adjust the driving dynamics of the vehicle as claimed in claim 1 , wherein determining whether to adjust the driving dynamics of the vehicle based on the at least one collision probability further comprises:

performing trajectory tracking control according to a reference trajectory and a driving direction of the vehicle to generate a reference torque, wherein the reference trajectory is a recommended trajectory for the vehicle to prevent from collision;

performing a torque superimposition calculation on the reference torque and a current torque provided by a steering motor to generate a correction torque;

comparing the correction torque with a torque threshold to generate an auxiliary torque;

comparing the at least one collision probability and a first probability threshold to determine whether to superimpose the auxiliary torque and a driver torque to generate an output torque; and

determining whether to drive the steering motor to perform steering according to the output torque.

7 . The apparatus for determining whether to adjust the driving dynamics of the vehicle as claimed in claim 6 , wherein

when the correction torque is greater than or equal to the torque threshold, the torque threshold is taken as the auxiliary torque, and

when the correction torque is less than the torque threshold, the correction torque is taken as the auxiliary torque.

8 . The apparatus for determining whether to adjust the driving dynamics of the vehicle as claimed in claim 6 , wherein

when at least one of the at least one collision probability is greater than or equal to the first probability threshold, the auxiliary torque is superimposed to the driver torque to generate the output torque, and

when each of the at least one collision probability is less than the first probability threshold, the output torque is generated according to the driver torque.

9 . A method for determining whether to adjust driving dynamics of a vehicle, comprising:

sensing at least one object around the vehicle, obtaining image data of each of the at least one object, and measuring a distance and a velocity of each of the at least one object around the vehicle to obtain a current relative position and a current relative velocity of each of the at least one object around a vehicle;

estimating a first relative position of each of the at least one object at a first time according to the current relative position and the current relative velocity of each of the at least one object;

recognizing the image data to obtain a type of each of the at least one object, look-up a table to learn a maximum acceleration of each of the at least one object through the table;

estimating a first relative position variation amount of each of the at least one object according to the maximum acceleration of each of the at least one object and a constant acceleration motion equation;

calculating a position probability distribution of each of the at least one object at the first time according to the first relative position and the first relative position variation amount, wherein the first relative position variation amount determined by the maximum acceleration affects a shape and range of the position probability distribution;

calculating at least one collision probability between the vehicle and each of the at least one object at the first time according to the position probability distribution, and a center of gravity trajectory and a vehicle body distribution of the vehicle;

calculating a plurality of deceleration values required for preventing the vehicle from colliding with the at least one object at at least one time point between current time and the first time according to the current velocity of the vehicle, a distance travelled by the vehicle between the current time and the first time, and the at least one collision probability;

calculating a plurality of expected trajectories of the vehicle based on the current position and the current velocity of the vehicle, wherein each of the plurality of expected trajectories respectively corresponds to an inner front wheel in a curve side of the vehicle, an outer front wheel of the vehicle and an inner rear wheel in the curve side of the vehicle, and the plurality of expected trajectories without overlap with each other,

determining whether to adjust the driving dynamics of the vehicle based on the plurality of deceleration values and the at least one collision probability; and

in response to determining to adjust the driving dynamics of the vehicle:

adjusting a velocity of the vehicle based on the plurality of deceleration values to prevent collision with the at least one object by providing a driving signal to a motor of the vehicle; and

adjusting a steering direction of the vehicle based on the at least one collision probability, a reference trajectory and a driving direction of the vehicle by driving a steering motor of the vehicle,

thereby preventing collision with the at least one object by providing proactive collision avoidance before the at least one object enters any of the expected trajectories of the vehicle.

10 . The method for determining whether to adjust the driving dynamics of the vehicle as claimed in claim 9 , further comprising: obtaining the current relative position of each of the at least one object from map information.

11 . The method for determining whether to adjust the driving dynamics of the vehicle as claimed in claim 9 , wherein determining whether to adjust the driving dynamics of the vehicle based on the at least one collision probability comprises:

selecting a maximum deceleration corresponding to each of the at least one object from each of at least one deceleration corresponding to each of the at least one object to generate at least one maximum deceleration corresponding to the at least one object;

selecting a maximum reference deceleration from all of the at least one maximum deceleration; and

comparing the maximum reference deceleration with a deceleration threshold to determine whether to adjust the current velocity of the vehicle.

12 . The method for determining whether to adjust the driving dynamics of the vehicle as claimed in claim 11 , wherein

when the maximum reference deceleration is greater than or equal to the deceleration threshold, the current velocity of the vehicle is adjusted, and

when the maximum reference deceleration is less than the deceleration threshold, the current velocity of the vehicle is not adjusted.

13 . The method for determining whether to adjust the driving dynamics of the vehicle as claimed in claim 11 , further comprising calculating the at least one deceleration according to a weight function, wherein the weight function is a function of the at least one collision probability.

14 . The method for determining whether to adjust the driving dynamics of the vehicle as claimed in claim 11 , wherein determining whether to adjust the driving dynamics of the vehicle based on the at least one collision probability comprises:

performing trajectory tracking control according to a reference trajectory and a driving direction of the vehicle to generate a reference torque, wherein the reference trajectory is a recommended trajectory for the vehicle to prevent from collision;

performing a torque superimposition calculation on the reference torque and a current torque provided by a steering motor to generate a correction torque;

comparing the correction torque with a torque threshold to generate an auxiliary torque;

comparing the at least one collision probability and a first probability threshold to determine whether to superimpose the auxiliary torque and a driver torque to generate an output torque; and

determining whether to drive the steering motor to perform steering according to the output torque.

15 . The method for determining whether to adjust the driving dynamics of the vehicle as claimed in claim 14 , wherein

when the correction torque is greater than or equal to the torque threshold, the torque threshold is taken as the auxiliary torque, and

when the correction torque is less than the torque threshold, the correction torque is taken as the auxiliary torque.

16 . The method for determining whether to adjust the driving dynamics of the vehicle as claimed in claim 14 , wherein

when at least one of the at least one collision probability is greater than or equal to the first probability threshold, the auxiliary torque is superimposed to the driver torque to generate the output torque, and

when each of the at least one collision probability is less than the first probability threshold, the output torque is generated according to the driver torque.

17 . A display method for vehicle driving, comprising:

sensing at least one object around the vehicle, obtaining image data of each of the at least one object, and measuring a distance and a velocity of each of the at least one object around the vehicle to obtain a current relative position and a current relative velocity of each of the at least one object around a vehicle, and sensing a current position and a current velocity of the vehicle;

estimating a first relative position of each of the at least one object at a first time according to the current relative position and the current relative velocity of each of the at least one object;

recognizing the image data to obtain a type of each of the at least one object, looking-up a table to learn a maximum acceleration of each of the at least one object through the table;

estimating a first relative position variation amount of each of the at least one object according to the maximum acceleration of each of the at least one object and a constant acceleration motion equation;

calculating a position probability distribution of each of the at least one object at the first time according to the first relative position and the first relative position variation amount, wherein the first relative position variation amount determined by the maximum acceleration affects a shape and range of the position probability distribution;

calculating at least one collision probability between the vehicle and each of the at least one object at the first time according to the position probability distribution, and a center of gravity trajectory and a vehicle body distribution of the vehicle, and

calculating a plurality of deceleration values required for preventing the vehicle from colliding with the at least one object at at least one time point between current time and the first time according to the current velocity of the vehicle, a distance travelled by the vehicle between the current time and the first time, and the at least one collision probability;

calculating a plurality of expected trajectories of the vehicle based on the current position and the current velocity of the vehicle, wherein each of the plurality of expected trajectories respectively corresponds to an inner front wheel in a curve side of the vehicle, an outer front wheel of the vehicle and an inner rear wheel in the curve side of the vehicle, and the plurality of expected trajectories without overlap with each other;

estimating an expected collision point of the vehicle based on the at least one collision probability; and

responsive to detecting driver input from a turn signal and/or steering wheel, displaying in a top view manner the plurality of expected trajectories including an expected trajectory corresponding to the inner rear wheel in the curve side of the vehicle and the expected collision point,

wherein the displayed plurality of expected trajectories enable proactive collision avoidance before the at least one object enters any of the expected trajectories of the vehicle.

18 . The display method for vehicle driving as claimed in claim 17 , wherein when it is detected that a turning light on a specific side is turned on or the vehicle is turned to the specific side, a display device next to a rearview mirror corresponding to the specific side is activated.

19 . The display method for vehicle driving as claimed in claim 17 , wherein when it is determined that the vehicle is turning, the expected trajectory corresponding to the inner rear wheel in the curve side of the vehicle, the expected collision point, and a reference trajectory of the vehicle are displayed in the top view manner, wherein the reference trajectory is a recommended trajectory for preventing the vehicle from colliding with any of the at least one object.

20 . The display method for vehicle driving as claimed in claim 19 , wherein the method further comprises:

determining that the vehicle is turning when a turning light of the vehicle is turned on and it is determined that the vehicle is in an outer lane or when a steering angle of a steering wheel is greater than a preset threshold.

21 . The display method for vehicle driving as claimed in claim 19 , wherein the reference trajectory comprises an outer front wheel recommended path, an inner front wheel recommended path, and an inner rear wheel recommended path of the vehicle in a curve.

22 . The display method for vehicle driving as claimed in claim 17 , wherein calculating the plurality of expected trajectories of the vehicle based on the current position and the current velocity of the vehicle comprises:

calculating the plurality of expected trajectories according to a vehicle parameter, a steering angle of a steering wheel, and the current velocity or a wheel velocity.

23 . The display method for vehicle driving as claimed in claim 17 , wherein estimating the expected collision point based on the at least one collision probability comprises:

comparing the at least one collision probability with a second probability threshold; and

taking a relative position corresponding to the at least one collision probability greater than or equal to the second probability threshold in the at least one collision probability as the expected collision point.

24 . The display method for vehicle driving as claimed in claim 17 , wherein when the expected trajectory corresponding to the inner rear wheel in the curve side of the vehicle is overlapped with any one of the at least one object, the overlapped object is displayed in highlighting and flashing, and a warning symbol is displayed.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (39)