US 11,718,289 B2
Collision avoidance device, vehicle having the same and method of controlling the vehicle
Seunghun Cheon, Seongnam-si (KR)
Assigned to HL KLEMOVE CORP., Incheon (KR)
Filed by MANDO CORPORATION, Pyeongtaek-si (KR)
Filed on Jan. 6, 2020, as Appl. No. 16/735,107.
Claims priority of application No. 10-2019-0059638 (KR), filed on May 21, 2019.
Prior Publication US 2020/0369264 A1, Nov. 26, 2020
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60K 31/00 (2006.01); B60R 21/0134 (2006.01); G01S 13/931 (2020.01)
CPC B60W 30/09 (2013.01) [B60K 31/0008 (2013.01); B60R 21/0134 (2013.01); B60W 30/0953 (2013.01); G01S 13/931 (2013.01); B60K 2031/0016 (2013.01); B60K 2031/0033 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A collision avoidance device comprising:
an obstacle detector configured to detect an obstacle;
a velocity detector configured to detect a traveling velocity of the vehicle; and
a controller configured to acquire position information of the obstacle based on obstacle information detected by the obstacle detector, identify a collision point on a vehicle that may collide with the obstacle based on the acquired position information of the obstacle, generate a control signal, including at least one of a steering signal and an emergency braking signal, for controlling at least one of steering and braking based on position information of the identified collision point on the vehicle and transmit the generated control signal to at least one of a steering system and a braking system,
wherein the controller is configured to generate the steering signal in a clockwise direction as a first steering signal in response to a determination that the collision point on the vehicle that may collide with the obstacle is on a left side of the vehicle, and generate the steering signal in a counterclockwise direction as a second steering signal in response to a determination that the collision point on the vehicle that may collide with the obstacle is on a right side of the vehicle, and
the controller is further configured to identify the traveling velocity in response to a determination that the collision point on the vehicle that may collide with the obstacle is a front center point on the vehicle, generate the emergency braking signal in response to a determination that the identified traveling velocity is less than or equal to a reference velocity and generate the steering signal in the same direction as a movement direction of the obstacle in response to a determination that the identified traveling velocity exceeds the reference velocity.