# US 11,077,848 B2 · Vehicle and control method of vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,077,848 B2 - Document ID: US11077848B2 - Status: Granted - Kind: B2 - Application number: 16/213,777 - Filed: 2018-12-07 - Published: 2020-04-02 - Granted: 2021-08-03 - Earliest claimed: 2018-09-28 - Assignees: Hyundai Motor Company; Kia Motor Corporation - Applicants: Hyundai Motor Company; Kia Motors Corporation - Inventors: Kye Yoon Kim; Jimin Han; Jia Lee; Seok-young Youn; Seunghyun Woo - Web page: https://patentgrep.com/patent/US11077848B2 ## CPC - B60C 17/00: Tyres characterised by means enabling restricted operation in damaged or deflated condition; Accessories therefor - B60W 30/095: Predicting travel path or likelihood of collision - B60C 23/00: Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements - B60C 29/062: {for filling a tyre with particular materials, e.g. liquids (B60C5/004, B60C5/005 take precedence)} - B60R 2021/01204: {Actuation parameters of safety arrangents} - B60W 2030/082: {Vehicle operation after collision} - B60C: VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR ## Abstract A vehicle includes: a sensor for measuring a relative position and a relative speed between an obstacle and the vehicle; an injector for injecting a deforming material which is solidified during injection to absorb an impact and enhance coupling strength at a portion to which the deforming material is attached; and a controller configured to determine a collision probability with the obstacle based on the measured relative position and the measured relative speed, to determine a predicted collision position when the collision probability reaches a reference collision probability, to determine an injection direction of the injector based on the predicted collision position, and to control the injector to inject the deforming material in the determined injection direction. ## Claims ### Claim 1 A vehicle comprising: a sensor configured to measure a relative position and a relative speed between an obstacle and the vehicle; an injector configured to inject a deforming material, which is solidified during injection to absorb an impact and to enhance coupling strength at a portion to which the deforming material is attached; and a controller configured to determine a collision probability with the obstacle based on the measured relative position and the measured relative speed, to determine a predicted collision position when the collision probability reaches a reference collision probability, to determine an injection direction of the injector based on the predicted collision position, and to control the injector to inject the deforming material in the determined injection direction. ### Claim 2 (depends on 1) The vehicle of claim 1, wherein the controller calculates a time to collision (TTC) between the obstacle and the vehicle based on the measured relative position and the measured relative speed, and when the calculated TTC is equal to or less than a critical time, the controller determines the collision probability reaches the reference collision probability. ### Claim 3 (depends on 1) The vehicle of claim 1, wherein the sensor detects deceleration of the vehicle, and wherein, when a distance between the obstacle and the vehicle is equal to or less than a critical distance and the deceleration is equal to or greater than a critical deceleration, the controller determines that the collision probability reaches the reference collision probability. ### Claim 4 (depends on 1) The vehicle of claim 1, wherein: the sensor detects at least one of a steering angle and a steering angular velocity of the vehicle; and when a distance between the obstacle and the vehicle is equal to or less than a critical distance and the steering angle is equal to or greater than a critical steering angle or the steering angular velocity is equal to or greater than a critical steering angular velocity, the controller determines that the collision probability reaches the reference collision probability. ### Claim 5 (depends on 1) The vehicle of claim 1, wherein, when the collision probability reaches the reference collision probability, the controller determines a predicted collision speed based on the measured relative position and the measured relative speed, and when the predicted collision speed is equal to or greater than a critical collision speed, the controller controls the injector to inject the deforming material in the determined injection direction. ### Claim 6 (depends on 5) The vehicle of claim 5, wherein the controller determines an injection amount of the deforming material based on the predicted collision speed. ### Claim 7 (depends on 1) The vehicle of claim 1, wherein the predicted collision position is at least one among a front left side, a front right side, a left side, a right side, a rear left side, or a rear right side of the vehicle. ### Claim 8 (depends on 7) The vehicle of claim 7, wherein the controller determines an angle of the injector to direct the injector to the determined injection direction. ### Claim 9 (depends on 1) The vehicle of claim 1, wherein the injector includes at least one of a front injection hole at a hood, a left injection hole at a left door, a right injection hole at a right door, a rear injection hole at a trunk lid, a left side mirror injection hole at a left side mirror, or a right side mirror injection hole at a right side mirror. ### Claim 10 (depends on 9) The vehicle of claim 9, wherein the controller determines an injection hole corresponding to the determined injection direction and controls the injector to inject the deforming material in the determined injection hole. ### Claim 11 (depends on 10) The vehicle of claim 10, wherein the controller controls the determined injection hole to be directed to the determined injection direction. ### Claim 12 (depends on 1) The vehicle of claim 1, further comprising an output device configured to visually or audibly output the collision probability and the injection direction. ### Claim 13 A control method of a vehicle, comprising steps of: measuring, by a sensor, a relative position and a relative speed between an obstacle and the vehicle; determining, by a controller, a collision probability with the obstacle based on the measured relative position and the measured relative speed; when the collision probability reaches a reference collision probability, determining, by the controller, a predicted collision position; determining, by the controller, an injection direction of an injector for injecting a deforming material based on the predicted collision position, the deforming material is solidified during injection to absorb an impact and to enhance coupling strength at a portion onto which the deforming material is injected; and controlling, by the controller, the injector to inject the deforming material in the determined injection direction. ### Claim 14 (depends on 13) The control method of claim 13, wherein the step of determining the collision probability includes steps of: calculating a time to collision (TTC) between the obstacle and the vehicle based on the measured relative position and the measured relative speed; and when the calculated TTC is equal to or less than a critical time, determining that the collision probability reaches the reference collision probability. ### Claim 15 (depends on 13) The control method of claim 13, wherein the step of determining the collision probability includes steps of: detecting deceleration of the vehicle; and when a distance between the obstacle and the vehicle is equal to or less than a critical distance and the deceleration is equal to or greater than a critical deceleration, determining that the collision probability reaches the reference collision probability. ### Claim 16 (depends on 13) The control method of claim 13, wherein the step of determining the collision probability includes steps of: detecting at least one of a steering angle and a steering angular velocity of the vehicle; and when a distance between the obstacle and the vehicle, which is represented by the measured relative position, is equal to or less than a critical distance and the steering angle is equal to or greater than a critical steering angle or the steering angular velocity is equal to or greater than a critical steering angular velocity, determining that the collision probability reaches the reference collision probability. ### Claim 17 (depends on 13) The control method of claim 13, wherein the step of controlling the injector includes: when the collision probability reaches the reference collision probability, determining a predicted collision speed based on the measured relative position and the measured relative speed; and when the predicted collision speed is equal to or greater than a critical collision speed, controlling the injector to inject the deforming material in the determined injection direction. ### Claim 18 (depends on 17) The control method of claim 17, further comprising determining, by the controller, an injection amount of the deforming material based on the predicted collision speed. ### Claim 19 (depends on 13) The control method of claim 13, wherein the predicted collision position is at least one of a front left side, a front right side, a left side, a right side, a rear left side, or a rear right side of the vehicle. ### Claim 20 (depends on 19) The control method of claim 19, further comprising determining, by the controller, an angle of the injector to be directed to the determined injection direction. ### Claim 21 (depends on 13) The control method of claim 13, wherein the injector includes at least one of a front injection hole at a hood, a left injection hole at a left door, a right injection hole at a right door, a rear injection hole at a trunk lid, a left side mirror injection hole at a left side mirror, or a right side mirror injection hole at a right side mirror. ### Claim 22 (depends on 21) The control method of claim 21, wherein the controlling of the injector includes steps of: determining an injection hole corresponding to the determined injection direction; and controlling the injector to inject the deforming material in the determined injection hole. ### Claim 23 (depends on 22) The control method of claim 22, wherein the step of controlling the injector includes controlling the determined injection hole to be directed to the determined injection direction.