Apparatus for preventing pedestrian collision accident, system having the same, and method thereof
An apparatus for preventing a pedestrian collision accident, a system having the same, and a method thereof are provided. The apparatus includes a pedestrian sensing unit that senses a pedestrian moving into a dangerous area and calculates velocity and direction information of the pedestrian. A communication unit transmits the velocity and direction information of the pedestrian to a surrounding vehicle. A time-to-collision (TTC) calculating unit calculates a TTC using velocity and direction information of a subject vehicle and second velocity and direction information of the pedestrian, when the TTC calculating unit receives the second velocity and direction information of the pedestrian from another vehicle. A controller outputs based on the TTC a warning to a driver of the subject vehicle or the pedestrian.
1. An apparatus for preventing a pedestrian collision accident, comprising:
a processor; and
a non-transitory storage medium containing program instructions that, when executed by the processor cause the apparatus to:
sense, by a subject vehicle, a pedestrian moving into a dangerous area and calculate velocity and direction information of the pedestrian;
transmit, by the subject vehicle, the velocity and direction information of the pedestrian to surrounding vehicles and receive a warning request from a driving vehicle among the surrounding vehicles;
warn, by the subject vehicle, the pedestrian when the warning request is received from the driving vehicle;
calculate, by the subject vehicle, a time to collision (TTC) by using velocity and direction information of the driving vehicle and the velocity and direction information of the pedestrian received from the driving vehicle among the surrounding vehicles; and
output a warning, by the driving vehicle, based on the time to collision (TTC) to warn a driver of the subject vehicle.
2. The apparatus of claim 1 , wherein the program instructions, when executed by the processor further cause the apparatus to sense the pedestrian based on image data and sensing data on a periphery of the subject vehicle.
3. The apparatus of claim 1 , wherein the program instructions, when executed by the processor further cause the apparatus to:
distinguish between a road and a sidewalk based on the image data and the sensing data on the periphery of the subject vehicle and to define the road as the dangerous area.
4. The apparatus of claim 3 , wherein the program instructions, when executed by the processor further cause the apparatus to sense whether the pedestrian moves along the sidewalk or moves into the dangerous area.
5. The apparatus of claim 1 , wherein the program instructions, when executed by the processor further cause the apparatus to:
calculate a moving direction and a velocity vector of the pedestrian based on the second velocity and direction information of the pedestrian;
calculate a moving direction and a velocity vector of the subject vehicle;
calculate an interconnecting point between the velocity vector of the pedestrian and the velocity vector of the subject vehicle; and
calculate a time, in which the subject vehicle arrives at the interconnecting point, as the time to collision (TTC).
6. The apparatus of claim 1 , wherein the program instructions, when executed by the processor further cause the apparatus to operate a brake device of the subject vehicle to forcibly decelerate or stop the subject vehicle and request the parking vehicle which is parked or stopped to warn the pedestrian, when the time to collision (TTC) is less than a first threshold value.
7. The apparatus of claim 6 , wherein the program instructions, when executed by the processor further cause the apparatus to warn the driver of the subject vehicle such that the driver drives the subject vehicle at a reduced speed, and request the parking vehicle which is parked or stopped to warn the pedestrian, when the time to collision (TTC) is equal to or greater than the first threshold value and is less than a second threshold value.
8. The apparatus of claim 7 , wherein the program instructions, when executed by the processor further cause the apparatus to request the parking vehicle which is parked or stopped to warn the pedestrian, when the time to collision (TTC) is equal to or greater than the second threshold value and is less than a third threshold value.
9. The apparatus of claim 8 , wherein the program instructions, when executed by the processor further cause the apparatus to:
determine a present situation as an emergency situation to request the parking vehicle which is parked or stopped to warn the pedestrian by simultaneously operating a horn and an emergency lamp, when the time to collision (TTC) is less than the first threshold value; and
request the parking vehicle which is parked or stopped to warn the pedestrian by operating one of the horn and the emergency lamp, when the time to collision (TTC) is equal to or greater than the first threshold value.