Patent ID: 12258010

DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the exemplary drawings. In adding the reference numerals to the components of each drawing, it should be noted that the identical or equivalent component is designated by the identical numeral even when it is displayed on other drawings. Further, in describing the embodiments of the present disclosure, a detailed description of well-known features or functions will be omitted in order not to unnecessarily obscure the gist of the present disclosure.

In describing the components of the embodiments according to the present disclosure, terms such as first, second, “A”, “B”, (a), (b), and the like may be used. These terms are only used to distinguish one element from another element, but do not limit the corresponding elements irrespective of the order or priority of the corresponding elements. Furthermore, unless otherwise defined, all terms including technical and scientific terms used herein are to be interpreted as is customary in the art to which this invention belongs. Such terms as those defined in a generally used dictionary are to be interpreted as having meanings equal to the contextual meanings in the relevant field of art, and are not to be interpreted as having ideal or excessively formal meanings unless clearly defined as having such in the present application.

Hereinafter, embodiments of the present disclosure will be described in detail with reference toFIGS.1to6.

FIG.1is a drawing illustrating an apparatus1000for preventing a collision at an intersection according to an embodiment of the present disclosure.

The apparatus1000for preventing the collision at the intersection according to an embodiment of the present disclosure may include a communication device1001, a right turn prediction device1002, a right turn performance determination device1003, and a controller1004.

Furthermore, the apparatus1000for preventing the collision at the intersection according to an embodiment of the present disclosure may include one or more elements which are not illustrated in the drawing.

The apparatus1000for preventing the collision at the intersection according to an embodiment of the present disclosure may be provided in a vehicle (hereinafter, the vehicle including the apparatus1000for preventing the collision at the intersection according to embodiments is referred to as a “host vehicle”).

Herein, the host vehicle may include, but is not limited to, one of an electric vehicle (EV), a hybrid electric vehicle (HEV), a hydrogen electric vehicle, a plug-in hybrid electric vehicle (PHEV), or an internal combustion engine vehicle.

The apparatus1000for preventing the collision at the intersection according to an embodiment may include the communication device1001.

Herein, the communication device1001may use, but is not limited to, a communication scheme such as a local interconnect network (LIN), a controller area network (CAN), a FlexRay communication bus, media oriented systems transport (MOST), dedicated short range communication (DSRC), cellular vehicle-to-everything (C-V2X), Wi-Fi, wireless broadband (WiBro), or worldwide interoperability for microwave access (WiMAX).

The communication device1001may communicate with one of the right turn prediction device1002, the right turn performance determination device1003, or the controller1004to transmit or receive information.

Furthermore, the communication device1001may communicate with one of a navigation1010, a satellite navigation system1011, an image capture device1012, an ultrasonic sensor1013, or traffic lights1014to transmit or receive information.

The communication device1001may receive map information from the navigation1010.

Herein, the map information may include information about locations of a road and an intersection where a vehicle around the host vehicle may travel, information about a location of a crosswalk, and the like.

The navigation1010may include a navigation system provided in the host vehicle or may include a navigation application provided in a portable device including a smartphone capable of communicating with the host vehicle or the apparatus1000for preventing the collision at the intersection according to an embodiment. The navigation1010may communicate with the communication device1001, the satellite navigation system1011, the traffic lights1014, or the like.

Detailed contents where the apparatus1000for preventing the collision at the intersection according to embodiments uses map information will be described in detail in a description ofFIGS.2to5.

The communication device1001may receive location information from the satellite navigation system1011.

Herein, the location information may include information indicating a current location of the host vehicle.

For example, the apparatus1000for preventing the collision at the intersection according to an embodiment may determine whether the host vehicle will enter the intersection, based on map information or location information.

The satellite navigation system1011may include a system or device capable of identifying a location of the host vehicle and may include, but is not limited to, a system for identifying a location of the host vehicle using a satellite, for example, a global positioning system (GPS), Galileo, a global navigation satellite system (GLONASS), Beidou, a Guasi-Zenith satellite system (QZSS), or an Indian regional navigational satellite system (IRNSS).

The satellite navigation system1011may be provided in a portable device including a smartphone capable of communicating with the host vehicle or the apparatus1000for preventing the collision at the intersection according to an embodiment and may communicate with the communication device1001, the navigation1010, or the like.

Meanwhile, in describing an embodiment of the present disclosure, the satellite navigation system1011is described as an example of the system or device for identifying the location or the location information of the host vehicle. However, the system or device capable of identifying the location or the location information of the host vehicle is not limited thereto. It is obvious that various ways of identifying a location without using a satellite are applicable to an embodiment of the present disclosure.

Detailed contents where the apparatus1000for preventing the collision at the intersection according to embodiments uses location information will be described in detail in a description ofFIGS.2to5.

The communication device1001may receive an image around the host vehicle from the image capture device1012.

Herein, the image around the host vehicle may include one of an image in front of the host vehicle, an image at the left side of the host vehicle, an image at the right side of the host vehicle, or an image behind the host vehicle.

For example the image around the host vehicle may include an image in a right direction of the host vehicle, which is provided to determine whether there is a sidewalk or a pedestrian in the right direction of the host vehicle.

For example the apparatus1000for preventing the collision at the intersection according to an embodiment may determine whether there is a sidewalk on the right side of the host vehicle or there is a pedestrian on the sidewalk on the right side of the host vehicle, based on the image at the right side of the host vehicle, which is included in the image around the host vehicle.

For example the apparatus1000for preventing the collision at the intersection according to an embodiment may determine whether there is a roadside zone on the right side of the host vehicle or there is a pedestrian in the roadside zone on the right side of the host vehicle, based on the image at the right side of the host vehicle, which is included in the image around the host vehicle.

Herein, the pedestrian may include one of a walker, a stroller, a chair car for walking assistance, or a bicycle.

The image capture device1012may include a camera provided in the host vehicle, a camera provided on the road, or the like and may communicate with the communication device1001, the ultrasonic sensor1013, or the like.

For example the image capture device1012may include one of a camera monitor system (CMS), a surround view monitor (SVM), or a blind-spot view monitor (BVM).

Detailed contents where the apparatus1000for preventing the collision at the intersection according to embodiments uses an image around the host vehicle will be described in detail in a description ofFIGS.2to5.

The communication device1001may receive ultrasonic sensor data from the ultrasonic sensor1013.

Herein, the ultrasonic sensor data may include data obtained by measuring the periphery of the host vehicle by means of the ultrasonic sensor1013.

For example, the ultrasonic sensor data may include sensor data provided to calculate a relative speed between a pedestrian in a right direction of the host vehicle and the host vehicle.

The ultrasonic sensor1013may include a sensor provided in the host vehicle to collect ultrasonic sensor data about the periphery of the host vehicle using ultrasonic waves and may communicate with the communication device1001, the image capture device1012, or the like.

For example the ultrasonic sensor1013may include blind spot detection (BSD) or the like.

Detailed contents where the apparatus1000for preventing the collision at the intersection according to embodiments uses ultrasonic sensor data will be described in detail in a description ofFIGS.2to5.

The communication device1001may receive traffic light information from the traffic lights1014.

Herein, the traffic light information may include one of whether there are traffic lights for a vehicle around the host vehicle or there are traffic lights for a pedestrian around the host vehicle, a type and a duration of a signal which is being turned on by the traffic lights, and a type of a next signal to be turned on when the current signal is ended.

For example, the traffic light information may include information about whether traffic lights at a crosswalk before the host vehicle enters the intersection indicate a walk signal or a walk stop signal.

For another example, the traffic light information may include information about whether traffic lights at a crosswalk in a right direction of the host vehicle after the host vehicle enters the intersection will indicate a walk signal or a walk stop signal.

Furthermore, the traffic lights1014may include one of traffic lights for one or more vehicles at an intersection where the host vehicle makes a right turn or traffic lights for one or more crosswalks and may communicate with the communication device1001, the navigation1010, or the like.

Detailed contents where the apparatus1000for preventing the collision at the intersection according to embodiments uses traffic light information will be described in detail in a description ofFIGS.2to5.

The communication device1001may receive one of the map information, the location information, the image around the host vehicle, the ultrasonic sensor data, or the traffic light information and may deliver the received information to one of the right turn prediction device1002, the right turn performance determination device1003, the controller1004, or a braking device1015.

The apparatus1000for preventing the collision at the intersection according to an embodiment may include the right turn prediction device1002.

The right turn prediction device1002may receive one of the map information, the location information, or the image around the host vehicle from the communication device1001.

The right turn prediction device1002may predict whether the host vehicle will make a right turn at the intersection, based on one of the map information, the location information, or the image around the host vehicle.

In detail, the right turn prediction device1002may determine whether the host vehicle will enter the intersection, based on one of the map information or the location information.

The right turn prediction device1002may determine whether the host vehicle travels in a right turn lane which is near a right edge of the road, based on the image around the host vehicle, when it is determined that the host vehicle will enter the intersection.

The right turn prediction device1002may predict that the host vehicle will make a right turn at the intersection, when it is determined that the host vehicle travels in the right turn lane.

Herein, the intersection may include a cross-shaped (+) road, a T-shaped road, or a portion where two or more roads intersect each other.

Furthermore, the intersection may have one or more traffic lights1014for a vehicle which travels in the intersection and one or more traffic lights1014for a pedestrian who wants to cross the intersection.

The right turn lane may include a lane in which the vehicle travels before entering the intersection to make a right turn.

For example, when there are several lanes on the road where the vehicle travels, the rightmost lane of the road may be an example of the right turn lane.

Detailed contents where the apparatus1000for preventing the collision at the intersection according to embodiments or the right turn prediction device1002predicts whether the host vehicle will makes a right turn will be described in detail in a description ofFIGS.2to5.

The apparatus1000for preventing the collision at the intersection according to an embodiment may include the right turn performance determination device1003.

When it is predicted that the host vehicle will make the right turn at the intersection, the right turn performance determination device1003may determine whether the host vehicle is able to make a right turn safely, based on one of the image around the host vehicle, the ultrasonic sensor data, or the traffic light information.

In detail, when it is predicted that the host vehicle will make the right turn at the intersection, the right turn performance determination device1003may determine whether there is a pedestrian on a sidewalk on the right side of the host vehicle or on a roadside zone on the right side of the host vehicle, based on the image around the host vehicle, when it is identified that pedestrian traffic lights corresponding to a crosswalk located at the intersection will not turn on a walk signal during a predetermined period immediately before the vehicle will enter the intersection until immediately after the vehicle will exit the intersection, based on the traffic light information.

The right turn performance determination device1003may calculate a relative speed between the host vehicle and the pedestrian, based on the ultrasonic sensor data, when it is determined that there is the pedestrian on the sidewalk on the right side of the host vehicle or on the roadside zone on the right side of the host vehicle, and may determine whether the host vehicle will collide with the pedestrian, based on the calculated relative speed.

The right turn performance determination device1003may determine that the host vehicle is unable to make a right turn safely, when it is determined that the host vehicle would collide with the pedestrian.

Herein, the sidewalk on the right side of the host vehicle may include a sidewalk which is present on the right side of the host vehicle.

The right turn prediction device1002may determine whether the host vehicle travels in a right turn lane, when it is determined that there is the sidewalk on the right side of the host vehicle. The right turn performance determination device1003may calculate a relative speed between the host vehicle and the pedestrian, when it is determined that there is the pedestrian on the sidewalk on the right side of the host vehicle and may determine whether the host vehicle will collide with the pedestrian.

The roadside zone on the right side of the host vehicle may include an edge portion of a road, which displays a boundary using a safety sign or the like to ensure safety of a pedestrian on the road where a sidewalk and a roadway are not divided.

The pedestrian should pass through the roadside zone on the road where the sidewalk and the roadway are not divided.

For example, the roadside zone on the right side of the host vehicle may include a portion displayed as a bicycle lane on the edge of the road. In this case, the safety sign may include a bicycle road marking displayed on the road surface.

The right turn prediction device1002may determine whether the host vehicle travels in a right turn lane, when it is determined that there is the roadside zone on the right side of the host vehicle. The right turn performance determination device1003may calculate a relative speed between the host vehicle and the pedestrian, when it is determined that there is the pedestrian on the roadside zone on the right side of the host vehicle and may determine whether the host vehicle will collide with the pedestrian.

The apparatus1000for preventing the collision at the intersection according to an embodiment may include the controller1004.

The controller1004may control the host vehicle depending on the result of determining whether the host vehicle is able to make the right turn safely.

In detail, the controller1004may control the host vehicle to be stopped before the host vehicle enters a crosswalk located at the intersection before or after the host vehicle enters the intersection, when it is determined that the host vehicle is unable to make the right turn safely.

For example, when it is determined that the host vehicle is not able to make the right turn safely any longer while making the right turn after entering the intersection, the controller1004may control the braking device1015to control the host vehicle to be stopped before the host vehicle enters the crosswalk located at the intersection after the host vehicle enters the intersection.

Herein, the braking device1015may include a brake system or the like provided in the host vehicle and may brake and stop the host vehicle.

Detailed contents where the controller1004controls the host vehicle will be described in detail in a description ofFIGS.2to5.

First of all, referring toFIGS.2,3A,3B, and5, a description will be given in detail of the communication device (e.g.,1001ofFIG.1) and the right turn prediction device (e.g.,1002ofFIG.1), in the apparatus for preventing the collision at the intersection and the method thereof according to an embodiment.

FIG.2is a drawing illustrating an example of determining whether a host vehicle will collide with a pedestrian depending on an apparatus (e.g.,1000ofFIG.1) for preventing a collision at an intersection and a method thereof according to an embodiment of the present disclosure.

FIGS.3A and3Bare drawings illustrating an example of a right turn lane3003or3008, a sidewalk3000on the right side of the vehicle, or a roadside zone3005on the right side of the vehicle, in an apparatus for preventing a collision at an intersection and a method thereof according to embodiments of the present disclosure.

FIG.5is a drawing illustrating an example of a vehicle and cameras (1012ofFIG.1) and sensors (e.g.,1013ofFIG.1) provided in the vehicle, in an apparatus for preventing a collision at an intersection and a method thereof according to embodiments of the present disclosure. A communication device may receive one of map information, location information, an image around a host vehicle (hereinafter, referred to as a “surrounding image”), ultrasonic sensor data, or traffic light information and may deliver the received information to one of a right turn prediction device (e.g.,1002ofFIG.1), a right turn performance determination device (e.g.,1003ofFIG.1), or a controller (e.g.,1004ofFIG.1).

In operation2000, the right turn prediction device may determine whether the host vehicle will enter an intersection, based on one of the map information or the location information.

For example, the right turn prediction device may determine a current location of the host vehicle and a driving direction of the host vehicle, based on the location information, and may determine that an intersection is located in front of the host vehicle, based on the map information. In such a case, the right turn prediction device may determine that the host vehicle will enter the intersection (YES of operation2000).

In operations2001,2002, and2003, the right turn prediction device may determine whether the host vehicle travels in a right turn lane3003or3008which is along a right edge of the road, based on the surrounding image, when it is determined that the host vehicle will enter the intersection (YES of operation2000).

In detail, in operation2002, the right turn prediction device may determine that there is a sidewalk3000on the right side of the host vehicle, when it is identified that a curbstone is located at the right side of the host vehicle (YES of operation2001), based on the surrounding image.

Herein, the curbstone may include stones installed to display a boundary dividing a sidewalk and a roadway and may ensure the safety of a pedestrian.

For example, a curbstone3001ofFIG.3Amay be an example of a curbstone installed to clear a boundary which divides lanes3003and3004and a sidewalk3000on the right side of the host vehicle and ensure the safety of a pedestrian.

For example, in operation2002, the right turn prediction device may determine that there is the sidewalk3000on the right side of the host vehicle, when it is identified that the curbstone3001is located at the right side of the host vehicle which travels in the right turn lane3003or3008(YES of operation2001), based on the surrounding image.

For another example, in operation2002, the right turn prediction device may determine that there is the sidewalk3000on the right side of the host vehicle, when it is identified that solid road markings3002are located on the right side of the host vehicle which travels in the right turn lane3003or3008(YES of operation2001), based on the surrounding image.

In operation2002, the right turn prediction device may determine that there is a roadside zone3005on the right side of the host vehicle, when it is identified that a safety sign about the safety of the pedestrian is located at the right side of the host vehicle (YES of operation2001).

Herein, the safety sign may include one of a solid yellow line, a solid white line, or a bicycle road marking.

For example, a solid yellow line3007, a solid white line3006, or road markings of a bicycle lane ofFIG.3Bmay be an example of a safety sign displayed to clear a boundary which divides lanes3008and3009and the bicycle lane included in the roadside zone3005on the right side of the host vehicle and ensure the safety of a pedestrian.

For example, in operation2002, the right turn prediction device may determine that there is the roadside zone3005on the right side of the host vehicle, when it is identified that the solid yellow line3007, the solid white line3006, or the safety sign including road markings of the bicycle lane is located on the right side of the host vehicle which travels the right turn lane3003or3008(YES of operation2001), based on the surrounding image.

For example, in operation2001, the right turn prediction device may determine that there is the curbstone3001at the right side of the host vehicle or there are solid road markings at the right side of the host vehicle, based on an image captured using one of a side view camera5001, an ultrasonic sensor5002, a long range radar5003, a front view camera5004, a light detection and ranging (LiDAR)5005, an infrared image sensor5006, or a rear radar5007provided in a host vehicle5000. The side view camera5001may assist with blind spot detection and lane departure prevention, the ultrasonic sensor5002may assist with parking and blind spot detection, and the long range radar5003may assist with adaptive driving control and automatic emergency braking. In addition, the front view camera5004may assist with traffic light detection and forward pedestrian detection, the LiDAR5005may assist with forward obstacle detection, the infrared image sensor5006may assist with night driving (e.g., night vision), and the rear radar5007may assist with rear collision warning.

For example, in operation2001, the right turn prediction device may determine that there are a solid yellow line3007, a solid white line3006, and road markings of a bicycle lane on the right side of the host vehicle, based on the image captured using one of the side view camera5001, the ultrasonic sensor5002, the long range radar5003, the front view camera5004, the LiDAR5005, the infrared image sensor5006, or the rear radar5007provided in the host vehicle5000.

In operation2003, the right turn prediction device may determine that the host vehicle travels in the right turn lane3003or3008, when it is determined that there is one of the sidewalk3000on the right side of the host vehicle or the roadside zone3005on the right side of the host vehicle in operation2002, based on the surrounding image.

For example, the right turn lane3003or3008may include the rightmost lane among several lanes, and the sidewalk3000on the right side of the host vehicle or the roadside zone on the right side of the host vehicle may be located closest to the right turn lane3003or3008among several lanes.

When it is determined that there is the sidewalk3000on the right side of the host vehicle or there is the roadside zone3005on the right side of the host vehicle, based on the surrounding image in operation2002, in operation2003, the right turn prediction device may determine that the host vehicle travels in the right turn lane3003or3008.

On the other hand, when the host vehicle is traveling in a lane other than the right turn lane3003,3008, as a distance between the sidewalk3000on the right side of the host vehicle or the roadside zone3005on the right side of the host vehicle, which is determined based on the surrounding image, and the host vehicle has a larger value than when the host vehicle travels in the right turn lane3003or3008or as visibility is restricted by another vehicle which is traveling in a lane on the right side of the host vehicle or the like, the sidewalk3000on the right side of the host vehicle or the roadside zone3005on the right side of the host vehicle may not be detected by means of the surrounding image.

In other words, in operation2003, the right turn prediction device may determine that the host vehicle travels in the right turn lane3003or3008, when it is determined that there is one of the sidewalk3000on the right side of the host vehicle or the roadside zone3005on the right side of the host vehicle in operation2002, based on the surrounding image.

In operation2004, the right turn prediction device may predict that the host vehicle will make a right turn at the intersection, when it is determined that the host vehicle travels in the right turn lane3003or3008in operation2003.

For example, when it is determined that the host vehicle will enter the intersection (YES of operation2000) and when it is determined that the host vehicle travels in the right turn lane3003or3008in operation2003, in operation2004, the right turn prediction device may predict that the host vehicle will make a right turn at the intersection.

As such, the apparatus for preventing the collision at the intersection and the method thereof according to embodiments may determine whether the host vehicle will enter the intersection, using the image around the host vehicle, may determine whether there is the sidewalk3000on the right side of the host vehicle or the roadside zone3005on the right side of the host vehicle, and may determine whether the host vehicle will make a right turn, thus improving the accuracy of determining a possibility of colliding with a pedestrian, which will occur in a process where the host vehicle makes the right turn.

Hereinafter, a description will be given in detail of the right turn performance determination device and the controller, based on the result predicted by the right turn prediction device, with reference toFIGS.4and5.

FIG.4is a drawing illustrating an example of an intersection4003and a crosswalk4001or4002, in an apparatus for preventing a collision at an intersection and a method thereof according to embodiments of the present disclosure.

FIG.5is a drawing illustrating an example of a vehicle and cameras (e.g.,1012ofFIG.1) and sensors (e.g.,1013ofFIG.1) provided in the vehicle, in an apparatus for preventing a collision at an intersection and a method thereof according to embodiments of the present disclosure.

When it is predicted that a host vehicle will make a right turn at an intersection in operation2004, in operation2011, a right turn performance determination device may determine that the host vehicle is unable to make the right turn safely, when it is identified that pedestrian traffic lights corresponding to a crosswalk located at the intersection will turn on a walk signal during a predetermined period immediately before the vehicle will enter the intersection until immediately after the vehicle will exit the intersection (YES of operation2010), based on traffic light information.

For example, the right turn performance determination device may determine whether pedestrian traffic lights corresponding to a crosswalk4001or4002located at an intersection4003will turn on a walk signal during a predetermined period immediately before the host vehicle4000will enter the intersection4003until immediately after the host vehicle4000will exit the intersection4003, using one of a side view camera5001, an ultrasonic sensor5002, a long range radar5003, a front view camera5004, a LiDAR5005, an infrared image sensor5006, or a rear radar5007provided in the host vehicle4000.

For another example, when the pedestrian traffic lights corresponding to the crosswalk4001located at the intersection4003will turn on the walk signal during a predetermined period immediately before the host vehicle4000will enter the intersection4003until immediately after the host vehicle4000will exit the intersection4003(YES of operation2010), in operation2011, the right turn performance determination device may determine that the host vehicle4000is unable to make the right turn safely.

Meanwhile, although the pedestrian traffic lights corresponding to the crosswalk4001located at the intersection4003will turn on the walk signal during a predetermined period immediately before the host vehicle4000will enter the intersection4003until immediately after the host vehicle4000will exit the intersection4003(YES of operation2010), it is obvious that the right turn performance determination device may determine it differently from that in the drawing, in a country which allows the host vehicle4000to make a right turn.

In operation2012, a controller may control the host vehicle to be stopped before the host vehicle enters a crosswalk4001or4002, when it is identified that pedestrian traffic lights corresponding to the crosswalk4001or4002located at an intersection4003will turn on a walk signal during a predetermined period immediately before the host vehicle4000will enter the intersection4003until immediately after the host vehicle4000will exit the intersection4003(YES of operation2010) or when it is determined that the host vehicle4000is unable to make the right turn safely in operation2011.

For example, in operation2012, the controller may control the host vehicle4000to be stopped before the host vehicle4000enters the crosswalk4001located at the intersection4003before the host vehicle4000enters the intersection4003by controlling a braking device (e.g.,1015ofFIG.1) provided in the host vehicle4000to brake.

In operation2010, the right turn performance determination device may determine whether the pedestrian traffic lights corresponding to the crosswalk4001or4002located at the intersection4003will turn on the walk signal again during a predetermined period immediately before the host vehicle4000will enter the intersection4003until immediately after the host vehicle4000will exit the intersection4003, based on the traffic light information.

For example, in the state where the controller controls the host vehicle4000to be stopped before the host vehicle4000enters the crosswalk4001or4002in operation2012, in operation2010, the right turn performance determination device may determine whether the turn-on of the walk signal of the pedestrian traffic lights corresponding to the crosswalk4001or4002is ended.

When it is predicted that the host vehicle4000will make the right turn at the intersection4003in operation2004, in operation2013, the right turn performance determination device may determine whether there is a pedestrian on a sidewalk4004on the right side of the host vehicle4000or on a roadside zone on the right side of the host vehicle4000, based on the surrounding image, when it is identified that the pedestrian traffic lights corresponding to the crosswalk4001or4002located at the intersection4003will not turn on the walk signal during a predetermined period immediately before the host vehicle4000will enter the intersection4003until immediately after the host vehicle4000will exit the intersection4003, based on the traffic light information.

For example, in operation2013, the right turn performance determination device may determine that there is a pedestrian on the sidewalk4004on the right side of the host vehicle4000, using one of a side view camera5001, an ultrasonic sensor5002, a long range radar5003, a front view camera5004, a LiDAR5005, an infrared image sensor5006, or a rear radar5007provided in a host vehicle4000.

For another example, when the pedestrian traffic lights corresponding to the crosswalk4001located at the intersection4003will not turn on the walk signal during a predetermined period immediately before the host vehicle4000will enter the intersection4003until immediately after the host vehicle4000will exit the intersection4003(NO of operation2010), because requirements for the turn-on state of the pedestrian traffic lights to allow the host vehicle4000to make a right turn are met once and because it is expected that the host vehicle4000will enter the intersection4003for a driver of the host vehicle4000to make a right turn, in operation2013, the right turn performance determination device may determine whether there is a pedestrian on the sidewalk4004on the right side of the host vehicle4000.

In operation2014, the right turn performance determination device may determine that the host vehicle4000is able to make a right turn safely, when it is determined that there is no pedestrian on the sidewalk4004on the right side of the host vehicle4000or a roadside zone on the right side of the host vehicle4000.

In operation2015, the right turn performance determination device may calculate a relative speed between the host vehicle4000and the pedestrian, based on the ultrasonic sensor data, when it is determined that there is the pedestrian on the sidewalk4004on the right side of the host vehicle4000or on the roadside zone on the right side of the host vehicle4000. In operation2016, the right turn performance determination device may determine whether the host vehicle4000will collide with the pedestrian, based on the calculated relative speed.

For example, in operation2015, the right turn performance determination device may calculate a relative speed between the host vehicle4000and the pedestrian present on the sidewalk4004on the right side of the host vehicle4000, based on one of the side view camera5001, the ultrasonic sensor5002, the long range radar5003, the front view camera5004, the LiDAR5005, the infrared image sensor5006, or the rear radar5007provided in the host vehicle4000.

When it is determined that the host vehicle will not collide with the pedestrian (NO of operation2016), in operation2017, the right turn performance determination device may determine that the host vehicle is able to make a right turn safely.

In operation2018, the right turn performance determination device may determine that the host vehicle4000is unable to make a right turn safely, when it is determined that the host vehicle will collide with the pedestrian (YES of operation2016).

For example, when it is determined that the host vehicle4000will collide with the pedestrian present on the sidewalk4004on the right side of the host vehicle4000, who is trying to quickly cross the crosswalk4002, while the host vehicle4000passes through the crosswalk4002located at the intersection4003after entering the intersection4003, based on the relative speed between the host vehicle4000and the pedestrian present on the sidewalk4004on the right side of the host vehicle4000(YES of operation2016), in operation2018, the right turn performance determination device may determine that the host vehicle4000is unable to make a right turn safely.

As such, the apparatus for preventing the collision at the intersection and the method thereof according to embodiments of the present disclosure may calculate the relative speed between the host vehicle and the pedestrian and may determine the possibility of collision between the host vehicle and the pedestrian, thus facilitating the sophisticated determination of the possibility of collision.

In operation2019, the controller may control the host vehicle to be stopped before the host vehicle enters the crosswalk4001or4002, when it is determined that the host vehicle will collide with the pedestrian (YES of operation2016) or when it is determined that the host vehicle is unable to make the right turn safely in operation2018.

For example, in operation2019, the controller may control the host vehicle4000to be stopped before the host vehicle4000enters the crosswalk4002located at the intersection4003after entering the intersection4003by controlling a braking device provided in the host vehicle4000to brake.

In operation2013, the right turn performance determination device may determine whether there is a pedestrian on the sidewalk4004on the right side of the host vehicle4000or the roadside zone on the right side of the host vehicle4000again.

For example, in the state where the controller controls the host vehicle to be stopped before the host vehicle enters the crosswalk4001or4002in operation2019, because it is determined that the host vehicle will collide with the pedestrian on the sidewalk4004on the right side of the host vehicle (YES of operation2016), when there is no pedestrian on the sidewalk4004on the right side of the host vehicle or the roadside zone on the right side of the host vehicle (NO of operation2013) or when it is determined that the host vehicle will not collide with the pedestrian (NO of operation2016) although there is the pedestrian on the sidewalk4004on the right side of the host vehicle or the roadside zone on the right side of the host vehicle (YES of operation2013), in operation2014or2017, the right turn performance determination device may determine that the host vehicle is able to make a right turn safely.

As such, the apparatus for preventing the collision at the intersection and the method thereof according to embodiments of the present disclosure may determine the possibility of collision between the host vehicle and the pedestrian on the sidewalk on the right side of the host vehicle or on the roadside zone on the right side of the host vehicle, using the camera, the ultrasonic sensor, or the like previously provided in the host vehicle, thus preventing the collision at the intersection4003without increasing unnecessary costs according to hardware addition and without increasing a weight of the host vehicle.

FIG.6is a drawing illustrating a method for preventing a collision at an intersection according to an embodiment of the present disclosure.

The apparatus (e.g.,1000ofFIG.1) for preventing the collision at the intersection according to embodiments of the present disclosure, which is described above with reference toFIGS.1to5, may perform the method described in the drawing.

The method for preventing the collision at the intersection according to embodiments may include receiving (S6001), by a communication device, one of map information, location information, an image around a host vehicle, ultrasonic sensor data, or traffic light information, predicting (S6002), by a right turn prediction device, whether the host vehicle will make a right turn, based on one of the map information, the location information, or the image around the host vehicle, determining (S6003), by a right turn performance determination device, whether the host vehicle is able to make a right turn safely, based on one of the image around the host vehicle, the ultrasonic sensor data, or traffic light information, when it is predicted that the host vehicle will make the right turn, and controlling (S6004), by a controller, the host vehicle depending on the result of determining whether the host vehicle is able to make the right turn safely.

S6001may be performed by the communication device (e.g.,1001ofFIG.1) described above with reference toFIGS.1to5.

S6002may be performed by the right turn prediction device (e.g.,1002ofFIG.1) described above with reference toFIGS.1to5.

S6002may include one of the following operations i) to iii).

First of all, S6002may include i) determining, by the right turn prediction device, whether the host vehicle will enter the intersection, based on one of the map information or the location information.

Furthermore, S6002may include ii) determining, by the right turn prediction device, whether the host vehicle travels in a right turn lane which is along a right edge of a road, based on the image around the host vehicle, when it is determined that the host vehicle will enter the intersection.

Furthermore, S6002may include iii) predicting, by the right turn prediction device, that the host vehicle will make a right turn at the intersection, when it is determined that the host vehicle travels in the right turn lane.

In addition, the determining of whether the host vehicle travels in the right turn lane may include one of a) determining, by the right turn prediction device, that the host vehicle travels in the right turn lane, when it is determined that there is one of a sidewalk on the right side of the host vehicle or a roadside zone on the right side of the host vehicle, based on the image around the host vehicle, b) determining, by the right turn prediction device, that there is the sidewalk on the right side of the host vehicle, when it is identified that a curbstone is located at the right side of the host vehicle, based on the image around the host vehicle, or c) determining, by the right turn prediction device, that there is the roadside zone on the right side of the host vehicle, when it is identified that a safety sign about the safety of a pedestrian is located at the right side of the host vehicle.

Herein, the above-mentioned safety sign may include one of a solid yellow line, a solid white line, or a bicycle road marking.

S6003may be performed by the right turn performance determination device (e.g.,1003ofFIG.1) described above with reference toFIGS.1to5.

S6003may include one of the following operations {circle around (1)} to {circle around (4)}.

First of all, S6003may include {circle around (1)} determining, by the right turn performance determination device, that the host vehicle is unable to make the right turn safely, when it is identified that pedestrian traffic lights corresponding to a crosswalk located at the intersection will turn on a walk signal during a predetermined period immediately before the host vehicle will enter the intersection until immediately after the host vehicle will exit the intersection, based on traffic light information, when it is predicted that the host vehicle will make the right turn at the intersection.

Furthermore, S6003may include {circle around (2)} determining, by the right turn performance determination device, whether there is a pedestrian on a sidewalk on the right side of the host vehicle or on a roadside zone on the right side of the host vehicle, based on the image around the host vehicle, when it is identified that the pedestrian traffic lights corresponding to the crosswalk located at the intersection will not turn on the walk signal during the predetermined period immediately before the host vehicle will enter the intersection until immediately after the host vehicle will exit the intersection, based on the traffic light information, when it is predicted that the host vehicle will make the right turn at the intersection.

Furthermore, S6003may further include {circle around (3)} calculating, by the right turn performance determination device, a relative speed between the host vehicle and the pedestrian, based on the ultrasonic sensor data, when it is determined that there is the pedestrian on the sidewalk on the right side of the host vehicle or on the roadside zone on the right side of the host vehicle, and determining, by the right turn performance determination device, whether the host vehicle will collide with the pedestrian, based on the calculated relative speed.

Furthermore, S6003may further include {circle around (4)} determining, by the right turn performance determination device, that the host vehicle is unable to make the right turn safely, when it is determined that the host vehicle will collide with the pedestrian.

S6004may be performed by the controller (e.g.,1004ofFIG.1) described above with reference toFIGS.1to5.

S6004may include controlling, by the controller, the host vehicle to be stopped before the host vehicle enters the crosswalk.

In detail, S6004may include controlling, by the controller, the host vehicle to be stopped before the host vehicle enters the crosswalk located at the intersection before or after the host vehicle enters the intersection.

A description will be given of possible effects of the apparatus for preventing the collision at the intersection and the method thereof according to embodiments of the present disclosure.

The apparatus for preventing the collision at the intersection and the method thereof may be provided to determine whether the vehicle is able to make a right turn at the intersection safely and control the vehicle to be stopped to prevent a collision between a pedestrian and the vehicle, when it is determined that the vehicle is unable to make the right turn safely, thus improving safety of the pedestrian and a driver.

The apparatus for preventing the collision at the intersection and the method thereof may be provided to determine whether the vehicle will enter the intersection, using an image around the vehicle, which is obtained using an existing camera or the like provided in the vehicle, determine whether there is a sidewalk on the right side of the vehicle or a roadside zone on the right side of the vehicle, determine whether the vehicle will make a right turn, and determine the presence of a pedestrian on the sidewalk on the right side of the vehicle or the like, thus preventing the collision at the intersection without increasing unnecessary costs and without increasing a weight of the vehicle.

The apparatus for preventing the collision at the intersection and the method thereof may be provided to calculate a relative speed between a vehicle and a pedestrian, using an existing ultrasonic sensor provided in the vehicle, and determine a possibility of collision between the vehicle and the pedestrian to facilitate sophisticated determination of the possibility of collision.

In addition, various effects ascertained directly or indirectly through embodiments of the present disclosure may be provided.

Hereinabove, although the present disclosure has been described with reference to exemplary embodiments and the accompanying drawings, the present disclosure is not limited thereto, but may be variously modified and altered by those skilled in the art to which the present disclosure pertains without departing from the spirit and scope of the present disclosure claimed in the following claims.

Therefore, embodiments of the present invention are not intended to limit the technical spirit of the present invention, but are provided only for illustrative purposes. The scope of the present disclosure should be construed on the basis of the accompanying claims, and all the technical ideas within the scope equivalent to the claims should be included in the scope of the present disclosure.