Parking collision avoidance system and control method thereof
View Patent ↗A parking collision avoidance system for a vehicle includes a sensing device configured to detect obstacles around the vehicle; and a control device that obtains type information of the obstacle and a point of expected collision timing with the obstacle according to sensing data received from the sensing device, determines a point of braking start timing of a braking device according to the point of the expected collision timing, and adjusts the point of the braking start timing according to the type information.
1. A parking collision avoidance system for a vehicle, the parking collision avoidance system comprising:
a sensing device configured to detect obstacles around the vehicle; and
a control device configured to obtain type information of an obstacle and a time of expected collision with the obstacle according to sensing data received from the sensing device, determine a start time of a braking device according to the time of the expected collision, and adjust the start time of the braking according to the type information,
wherein when the type information indicates that the obstacle is a person, the control device is further configured to adjust the start time of the braking so that a braking distance to the person is shorter compared to a braking distance when the obstacle is not the person.
2. The parking collision avoidance system of claim 1 ,
wherein when the type information indicates that the obstacle is the person, the control device is further configured to correct a preset residual distance target value so that the residual distance target value increases by a predetermined value, and adjust the start time of the braking in response to the corrected residual distance target value, and
wherein the residual distance target value is a target value corresponding to a distance between the vehicle and the obstacle when the vehicle is stopped by the braking device.
3. The parking collision avoidance system of claim 1 ,
wherein the sensing device includes one or more cameras located in the vehicle, and
wherein the control device is further configured to obtain the type information of the obstacle through image recognition for image data obtained through the one or more cameras.
4. The parking collision avoidance system of claim 1 , wherein the control device is further configured to obtain surface shape information of a surface of the obstacle facing the vehicle from the obstacle according to the sensing data, and adjust the time of the expected collision according to the surface shape information.
5. The parking collision avoidance system of claim 4 , wherein the control device is further configured to obtain distance information between the vehicle and the obstacle according to the sensing data, and estimate the time of the expected collision according to the distance information.
6. The parking collision avoidance system of claim 5 , wherein the control device is further configured to obtain location information of the obstacle according to the sensing data, correct the location information by moving a location of the obstacle corresponding to the location information to a vehicle side when the surface shape information indicates a predetermined shape, and determine the distance information and the time of the expected collision according to the corrected location information.
7. The parking collision avoidance system of claim 6 , wherein the predetermined shape corresponds to a shape including an edge portion, or a non-uniformly curved shape.
8. The parking collision avoidance system of claim 4 ,
wherein the sensing device includes a plurality of ultrasonic sensors for obtaining a plurality of sensing data corresponding to a plurality of target points of the obstacle, and
wherein the control device is further configured to determine locations of the plurality of target points according to the plurality of sensing data, and obtain the surface shape information by analyzing an arrangement pattern of the plurality of target points.
9. The parking collision avoidance system of claim 8 ,
wherein the control device is configured to generate a virtual line connecting neighboring target points among the target points to each other, and determine a shape of the obstacle according to a change in inclination in the virtual line connecting the neighboring target points.
10. A method of controlling a parking collision avoidance system, the control method comprising:
obtaining, by a controller, type information of an obstacle and a time of expected collision with the obstacle according to sensing data received from a sensing device that is configured to detect the obstacle around a vehicle;
determining, by the controller, a start time of a braking device according to the time of the expected collision;
adjusting, by the controller, the start time of the braking according to the type information; and
controlling, by the controller, braking of the braking device based on the start time of the braking,
wherein the adjusting of the start time of the braking includes adjusting the start time of the braking so that a braking distance to the person is shorter compared to a braking distance when the obstacle is not the person.
11. The method of claim 10 ,
wherein the adjusting of the start time of the braking so that the start time of the braking is shortened, when the type information indicates the person includes:
correcting a preset residual distance target value so that the residual distance target value increases by a predetermined value, and
adjusting the start time of the braking in response to the corrected residual distance target value, and
wherein the residual distance target value is a target value corresponding to a distance between the vehicle and the obstacle when the vehicle is stopped by the braking device.
12. The method of claim 10 ,
wherein the sensing device includes one or more cameras located in the vehicle, and
wherein the obtaining of the type information includes obtaining the type information of the obstacle through image recognition for image data obtained through the one or more cameras.
13. The method of claim 10 , wherein the obtaining of the time of the expected collision includes:
obtaining distance information between the vehicle and the obstacle according to the sensing data, and
estimating the time of the expected collision based on the distance information.
14. The method of claim 13 , further including:
obtaining, by the controller, surface shape information of a surface of the obstacle facing the vehicle from the obstacle according to the sensing data,
wherein the obtaining of the distance information includes adjusting the distance information according to the surface shape information.
15. The method of claim 14 , wherein the adjusting of the distance information includes:
obtaining location information of the obstacle according to the sensing data,
correcting the location information by moving a location of the obstacle corresponding to the location information to a vehicle side when the surface shape information indicates a predetermined shape, and
adjusting the distance information according to the corrected location information.
16. The method of claim 15 , wherein the predetermined shape corresponds to a shape including an edge portion, or a non-uniformly curved shape.
17. The method of claim 14 ,
wherein the sensing device includes a plurality of ultrasonic sensors for obtaining a plurality of sensing data corresponding to a plurality of target points of the obstacle, and
wherein the obtaining of the surface shape information includes:
determining locations of the plurality of target points according to the plurality of sensing data, and
obtaining the surface shape information by analyzing an arrangement pattern of the plurality of target points.
18. The method of claim 17 , wherein control device is configured to generate a virtual line connecting neighboring target points among the target points to each other, and determine a shape of the obstacle according to a change in inclination in the virtual line connecting the neighboring target points.