Apparatus and method for collision avoidance assistance
A collision avoidance assistance device and method determine a risk of collision with a structure such as a guardrail present in a driving path using information obtained by a front-side light detection and ranging (LiDAR) sensor and a front camera, and then enable desirable braking control.
1 . A collision avoidance assistance device, comprising:
a target point selector configured to select, as a target point, at least one point present within a vehicle width of a vehicle from among contour points obtained from a light detection and ranging (LiDAR) sensor provided in the vehicle;
an intersection point calculator configured to determine whether there are intersection points at which line segments, each connecting two contour points, intersect with longitudinal extension lines of left and right end points of the vehicle, and determine the line segments of the intersection points;
an overlap calculator configured to calculate a degree of overlap between the vehicle and a structure based on the target point and the intersection points;
a path closure determiner configured to determine a closure degree to which a driving path of the vehicle is closed by the structure recognized by the LiDAR sensor based on the degree of overlap; and
a control timing determiner configured to determine a control time for braking control of the vehicle using the closure degree of the driving path and operation information of a driver operating the vehicle.
2 . The collision avoidance assistance device of claim 1 , wherein the target point selector is further configured to:
based on a heading direction of the vehicle, calculate a lateral offset value between each of the contour points and a center of a front bumper of the vehicle; and
select, as the target point, a point at which the calculated lateral offset value is within the vehicle width of the vehicle.
3 . The collision avoidance assistance device of claim 1 , wherein the target point selector is further configured to:
select, as the target point, a point having a smallest lateral offset value with respect to the vehicle.
4 . The collision avoidance assistance device of claim 1 , wherein the overlap calculator is further configured to:
calculate the degree of overlap by dividing, by the vehicle width (w width ), a difference between half (w width /2) of the vehicle width of the vehicle and a lateral offset at the target point.
5 . The collision avoidance assistance device of claim 1 , wherein the path closure determiner is further configured to:
determine that a structure in front is blocking an entirety of the path of the vehicle when the intersection point is present both on a left side (Edge L) and a right side (Edge R) of the vehicle; and/or
determine that the structure in front is blocking only a portion of the path of the vehicle when the intersection point is present on one of the left side (Edge L) and the right side (Edge R) of the vehicle.
6 . The collision avoidance assistance device of claim 1 , wherein the control timing determiner is further configured to:
determine a risk of collision based on a driving state of the vehicle, a driving state of the driver, or a road environment; and
determine whether to vary the control time based on the risk of collision.
7 . The collision avoidance assistance device of claim 6 , wherein the control timing determiner is further configured to:
determine whether there is an avoidable space within a lane based on the degree of overlap of the target point and the intersection point when the intersection point is present only on one side of the vehicle without blocking the entire path of the vehicle;
determine the risk of collision to be low in the presence of the avoidable space; and
determine the control time such that the braking control is executed later than a preset reference time.
8 . The collision avoidance assistance device of claim 6 , wherein the control timing determiner is further configured to:
when there are no other obstacles or structures in a predicted steering space according to a change in curvature of a curved road on which the vehicle travels, determine the risk of collision with a structure generating the intersection point to be low; and
determine the braking control to be executed at a time later than a preset reference time.
9 . The collision avoidance assistance device of claim 6 , wherein the control timing determiner is further configured to:
when it is determined that, even though a structure is blocking the entire path of the vehicle, the driver is braking by stepping on a brake pedal of the vehicle, determine the risk of collision to be low; and
determine the braking control to be executed at a time later than a preset reference time.
10 . The collision avoidance assistance device of claim 6 , wherein the control timing determiner is further configured to:
when it is determined that, even though a structure is blocking the entire path of the vehicle, the driver is steering with a turn signal on, determine the risk of collision to be low; and
determine the braking control to be executed at a time later than a preset reference time.
11 . A collision avoidance assistance method, comprising:
a target point selection step of selecting, as a target point, at least one point present within a vehicle width of a vehicle from among contour r points obtained from a light detection and ranging (LiDAR) sensor provided in the vehicle;
an intersection point calculation step of determining whether there are intersection points at which line segments, each connecting two contour points, intersect with longitudinal extension lines of left and right end points of the vehicle, and of determining the line segments of the intersection points;
an overlap calculation step of calculating a degree of overlap between the vehicle and a structure based on the target point and the intersection point;
a path closure determination step of determining a closure degree to which a driving path of the vehicle is closed by the structure recognized by the LiDAR sensor based on the degree of overlap; and
a control timing determination step of determining a control time for braking control of the vehicle using the closure degree of the driving path and operation information of a driver operating the vehicle.
12 . The collision avoidance assistance method of claim 11 , wherein the target point selection step further comprises:
based on a heading angle of the vehicle, calculating a lateral offset value between each of the contour points and a center of a front bumper of the vehicle; and
selecting, as the target point, a point at which the calculated lateral offset value is within the vehicle width of the vehicle.
13 . The collision avoidance assistance method of claim 11 , wherein the target point selection step further comprises:
selecting, as the target point, a point having the smallest lateral offset value with respect to the vehicle.
14 . The collision avoidance assistance method of claim 11 , wherein the overlap calculation step further comprises:
calculating the degree of overlap by dividing, by the vehicle width (w width ), a difference between half (w width /2) of the vehicle width of the vehicle and a lateral offset at the target point.
15 . The collision avoidance assistance method of claim 11 , wherein the path closure determination step further comprises:
determining that a structure in front is blocking an entirety of the path of the vehicle when the intersection point is present both on a left side (Edge L) and a right side (Edge R) of the vehicle; and/or
determining that the structure in front is blocking only a portion of the path of the vehicle when the intersection point is present on one of the left side (Edge L) and the right side (Edge R) of the vehicle.
16 . The collision avoidance assistance method of claim 11 , wherein the control timing determination step further comprises:
determining a risk of collision based on a driving state of the vehicle, a driving state of the driver, or a road environment; and
determining whether to vary the control time based on the risk of collision.
17 . The collision avoidance assistance method of claim 16 , wherein the control timing determination step further comprises:
determining whether there is an avoidable space within a lane based on the degree of overlap between the target point and the intersection point when the intersection point is present only on one side without blocking the entire path;
determining the risk of collision to be low in the presence of the avoidable space; and
determining the control time such that the braking control is executed later than a preset reference time.
18 . The collision avoidance assistance method of claim 16 , wherein the control timing determination step further comprises:
when there are no other obstacles or structures in a predicted steering space according to a change in curvature of a curved road on which the vehicle travels, determining the risk of collision with a structure generating the intersection point to be low; and
determining the braking control to be executed at a time later than a preset reference time.
19 . The collision avoidance assistance method of claim 16 , wherein the control timing determination step further comprises:
when it is determined that, even though a structure is blocking the entire path of the vehicle, the driver is braking by stepping on a brake pedal, determining the risk of collision to be low; and
determining the braking control to be executed at a time later than a preset reference time.
20 . The collision avoidance assistance method of claim 16 , wherein the control timing determination step further comprises:
when it is determined that, even though a structure is blocking the entire path of the vehicle, the driver is steering with a turn signal on, determining the risk of collision to be low; and
determining the braking control to be executed at a time later than a preset reference time.