# US 11,077,854 B2 · Apparatus for controlling lane change of vehicle, system having the same and method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,077,854 B2 - Document ID: US11077854B2 - Status: Granted - Kind: B2 - Application number: 16/206,170 - Filed: 2018-11-30 - Published: 2019-10-17 - Granted: 2021-08-03 - Earliest claimed: 2018-04-11 - Assignees: Hyundai Motor Company; Kia Motors Corporation - Applicants: Hyundai Motor Company; Kia Motors Corporation - Inventors: Doo Jin Um; Hoi Won Kim; Beom Jun Kim; Dae Young Kim; Chan Il Park; Jin Su Jeong; Dong Eon Oh - Web page: https://patentgrep.com/patent/US11077854B2 ## CPC - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 30/10: Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)} - B60W 50/08: Interaction between the driver and the control system - B60W 50/10: Interpretation of driver requests or demands - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - B60W 2050/146: {Display means} - 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 - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract An apparatus for controlling a lane change of a vehicle may include: a processor determining whether a condition of interrupting a lane change procedure occurs, during controlling the lane change. In particular, when the condition of interrupting the lane change procedure is satisfied, the processor determines whether to interrupt the lane change procedure or whether to return the vehicle to an original lane to control the vehicle depending on a result of the determinations. The apparatus further includes a storage to store the result determined by the processor. ## Claims ### Claim 1 An apparatus for controlling a lane change of a vehicle, the apparatus comprising: a processor configured to: determine whether a condition of interrupting a lane change procedure occurs, during controlling the lane change, and when the condition of interrupting the lane change procedure occurs, determine whether to interrupt the lane change procedure, or whether to return the vehicle to an original lane; and a storage configured to store outputs determined by the processor, wherein the condition of interrupting the lane change procedure comprises: when a dangerous situation is sensed; when a hand-off state of a user of the vehicle is sensed; when a request to cancel the lane change procedure is generated by the user; when a lane change operation is not started within a predetermined time after the user requests the lane change; when a lane change function is turned off or overridden by the user; and when an operation of approaching a lane and a lateral movement for completing the lane change operation are not continuous while a lane is not recognized or during the lane change procedure. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the processor is configured to: calculate a lane change path, when receiving a lane change request; and determine whether the vehicle leans toward a target lane in a lane change direction. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein the processor is configured to: calculate a difference value between the lane change path and an actual vehicle behavior path based on an error in the lane change. ### Claim 4 (depends on 3) The apparatus of claim 3, wherein the processor is configured to: determine that the vehicle does not lean, when the error in the lane change is less than a predetermined reference value; and calculate a returning area to return the vehicle to the original lane based on a distance from a center of the vehicle to a lane mark of a current lane on which the vehicle is travelling, and a value corresponding to a half of an overall width of the vehicle. ### Claim 5 (depends on 4) The apparatus of claim 4, wherein the processor is configured to: determine that the vehicle leans toward the target lane, when the error in the lane change is equal to or greater than the predetermined reference value. ### Claim 6 (depends on 5) The apparatus of claim 5, wherein the processor is configured to: reduce the calculated returning area when it is determined that the vehicle leans toward the target lane. ### Claim 7 (depends on 6) The apparatus of claim 6, wherein the processor is configured to: reduce the calculated returning area corresponding to the error in the lane change. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein the processor is configured to: determine whether an event to return the vehicle to the original lane occurs, when the condition of interrupting the lane change procedure occurs. ### Claim 9 (depends on 8) The apparatus of claim 8, wherein the processor is configured to: determine that the event to return the vehicle to the original lane occurs, when at least one of following cases occurs: a case that a lane change function is turned off or overridden by a user, a case that an operation of approaching a lane and a lateral movement for completing the lane change operation are not continuous while a lane is not recognized or during the lane change procedure. ### Claim 10 (depends on 8) The apparatus of claim 8, wherein the processor is configured to: determine whether the vehicle is placed within a returning area corresponding to an area to return the vehicle to the original lane, when the event to return to the original lane occurs. ### Claim 11 (depends on 10) The apparatus of claim 10, wherein the processor is configured to: when the vehicle is placed within the returning area, calculate a path for returning the vehicle to the original lane; and provide a notification that the lane change procedure is interrupted. ### Claim 12 (depends on 11) The apparatus of claim 11, wherein the processor is configured to: keep a lane change path continuously, when the vehicle is not placed within the returning area. ### Claim 13 (depends on 8) The apparatus of claim 8, wherein the processor is configured to: determine whether a lane is not recognized, when the event to return to the original lane does not occur. ### Claim 14 (depends on 13) The apparatus of claim 13, wherein the processor is configured to: when the lane is recognized, calculate a path for keeping a current lane; and provide a notification that the lane change procedure is interrupted. ### Claim 15 (depends on 13) The apparatus of claim 13, wherein the processor is configured to: provide a notification that the lane change procedure is interrupted, without calculating a lane change path, when the lane is not recognized. ### Claim 16 (depends on 1) The apparatus of claim 1, wherein the processor is configured to: sense a dangerous situation, when a relative longitudinal distance of a nearby vehicle is less than a predetermined safe reference with respect to the vehicle; and determine a hand-off state of a user when a steering torque or a steering torque change rate are equal to or less than predetermined corresponding reference values, respectively. ### Claim 17 A vehicle system for a vehicle, comprising: a lane change controlling apparatus configured to: determine whether a condition of interrupting a lane change procedure occurs, during controlling the lane change, and when the condition of interrupting the lane change procedure occurs, determine whether to interrupt the lane change procedure, or whether to return the vehicle to an original lane; and a warning device configured to output a notification when the lane change procedure is interrupted, wherein the condition of interrupting the lane change procedure comprises: when a dangerous situation is sensed; when a hand-off state of a user of the vehicle is sensed; when a request to cancel the lane change procedure is generated by the user; when a lane change operation is not started within a predetermined time after the user requests the lane change; when a lane change function is turned off or overridden by the user; and when an operation of approaching a lane and a lateral movement for completing the lane change operation are not continuous while a lane is not recognized or during the lane change procedure. ### Claim 18 A method for controlling a lane change of a vehicle, the method comprising: determining, by a processor, whether a condition of interrupting a lane change procedure occurs, during controlling the lane change; when the condition of interrupting the lane change procedure occurs, determining, by the processor, whether to interrupt the lane change procedure, or whether to return the vehicle to an original lane to control the vehicle; and outputting, by a warning device, a notification when the lane change procedure is interrupted, wherein the condition of interrupting the lane change procedure comprises: when a dangerous situation is sensed; when a hand-off state of a user of the vehicle is sensed; when a request to cancel the lane change procedure is generated by the user; when a lane change operation is not started within a predetermined time after the user requests the lane change; when a lane change function is turned off or overridden by the user; and when an operation of approaching a lane and a lateral movement for completing the lane change operation are not continuous while a lane is not recognized or during the lane change procedure.