# US 11,299,145 B2 · Vehicle and method of controlling the same

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- Number: US 11,299,145 B2
- Document ID: US11299145B2
- Status: Granted
- Kind: B2
- Application number: 16/139,668
- Filed: 2018-09-24
- Published: 2019-09-19
- Granted: 2022-04-12
- Earliest claimed: 2018-03-19
- Assignees: Hyundai Motor Company; Kia Motors Corporation
- Applicants: Hyundai Motor Company; Kia Motors Corporation
- Inventors: Eungseo Kim; DongHyun Sung; Jonghyeok Park; Sangmin Lee; Tae Young Lee; Junghyun Kim; Seung Hoon Jeon; Yongseok Kwon
- Web page: https://patentgrep.com/patent/US11299145B2

## CPC

- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 30/085: Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
- B60W 30/0953: {the prediction being responsive to vehicle dynamic parameters}
- B60W 30/0956: {the prediction being responsive to traffic or environmental parameters}
- G01S 13/931: of land vehicles
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/0289: {with means for avoiding collisions between vehicles (vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93)}
- B60R 21/34: Protecting non-occupants of a vehicle, e.g. pedestrians {(B60R19/02 takes precedence)}
- B60R 2021/0004: {Frontal collision}
- B60R 2021/0011: {Rear collision or recoiling bounce after frontal collision}
- B60W 10/18: including control of braking systems
- B60W 10/20: including control of steering systems
- B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention
- B60W 2050/146: {Display means}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2520/10: Longitudinal speed
- B60W 2554/801: Lateral distance
- B60W 2554/802: Longitudinal distance
- B60W 2554/804: Relative longitudinal speed
- B60W 2754/10: Spatial relation or speed relative to objects
- B60W 2754/50: Relative longitudinal speed
- G01S 2013/93185: {Controlling the brakes}
- G01S 2013/93271: {in the front of the vehicles}
- G01S 2013/93272: {in the back of the vehicles}
- G01S 2013/93274: {on the side of the vehicles}
- G05D 1/0238: {using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93)}
- G05D 1/0246: {using a video camera in combination with image processing 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
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR

## Abstract

A vehicle includes a surrounding information detector detecting at least one of a position and a speed of an object around the vehicle including a vehicle ahead and a vehicle behind, a vehicle information sensor detecting at least one of a speed and an acceleration of the vehicle, a brake module generating a braking force to decelerate the vehicle, and a controller configured to determine probabilities of a forward collision and a rear-end collision based on output of the surrounding information detector and the vehicle information sensor, determine target forward and rear collision speeds to minimize a sum of injuries to an occupant by the forward collision and injuries to the occupant by the rear-end collision upon determination that there is the probabilities of the forward collision and the rear-end collision, and control the brake module based on the target forward collision speed and the target rear-end collision speed.

## Claims

### Claim 1

A vehicle comprising:
a surrounding information detector for detecting at least one of a position and a speed of an object around the vehicle, the object around the vehicle comprising a first vehicle ahead of the vehicle and a second vehicle behind the vehicle;
a vehicle information sensor for detecting at least one of a speed and an acceleration of the vehicle; and
a controller configured to:
determine a probability of a forward collision with the first vehicle and a probability of a rear-end collision with the second vehicle based on outputted information of the surrounding information detector and the vehicle information sensor,
determine one of a plurality of collision modes as a collision mode of the vehicle in response to determining the probability of the forward collision with the first vehicle,
determine the probability of the rear-end collision with the second vehicle also based on determination of whether a control to avoid the forward collision with the first vehicle in the collision mode cause a collision with the second vehicle,
determine a target forward collision speed and a target rear-end collision speed to minimize a sum of injuries to an occupant of the vehicle by the forward collision and injuries to the occupant by the rear-end collision, based on the collision mode and a pre-stored injury scale corresponding to the collision mode, in response to a determination that there are the probabilities of the forward collision and the rear-end collision, and
control braking of the vehicle based on the target forward collision speed and the target rear-end collision speed.

### Claim 2 (depends on 1)

The vehicle of claim 1, wherein the controller determines the collision mode based on positions and moving directions of the vehicle and the first vehicle upon determination that there is a probability of a forward collision.

### Claim 3 (depends on 2)

The vehicle of claim 2, wherein the collision mode comprises at least one of a same direction collision mode in which the vehicle collides with the first vehicle travelling in the same direction at the rear of the first vehicle, a head-on collision mode in which the vehicle collides with the first vehicle travelling toward the vehicle, and a side collision mode in which the vehicle collides with the first vehicle at an intersection.

### Claim 4 (depends on 1)

The vehicle of claim 1, wherein the controller acquires injury information by the forward collision indicating injuries to the occupant by the forward collision and injury information by the rear-end collision indicating injuries to the occupant by the rear-end collision.

### Claim 5 (depends on 4)

The vehicle of claim 4, wherein the acquired injury information by the forward collision comprises injury criteria calculated for the forward collision with respect to collision speed of the vehicle, and
the acquired injury information by the rear-end collision comprises injury criteria calculated for the rear-end collision with respect to collision speed of the vehicle.

### Claim 6 (depends on 4)

The vehicle of claim 4, wherein the controller calculates a normalized injury index for the forward collision by using the acquired injury information by the forward collision and calculates a normalized injury index for the rear-end collision by using the acquired injury information by the rear-end collision.

### Claim 7 (depends on 6)

The vehicle of claim 6, wherein the controller determines a minimum value of a sum of the normalized injury index calculated for the forward collision and the normalized injury index calculated for the rear-end collision.

### Claim 8 (depends on 7)

The vehicle of claim 7, wherein the controller determines a target forward collision speed and a target rear-end collision speed corresponding to the determined minimum value of the sum of the normalized injury index calculated for the forward collision and the normalized injury index calculated for the rear-end collision.

### Claim 9 (depends on 8)

The vehicle of claim 8, wherein the controller determines a target acceleration satisfying the target forward collision speed and the target rear-end collision speed.

### Claim 10 (depends on 9)

The vehicle of claim 9, wherein the controller calculates a control amount to decelerate the vehicle in accordance with the target acceleration, generates a control signal based on the calculated control amount, and controls braking of the vehicle based on the generated control signal.

### Claim 11 (depends on 1)

The vehicle of claim 1, wherein the controller acquires injury information by the forward collision and injury information by the rear-end collision based on a safety device provided in the vehicle.

### Claim 12

A method of controlling a vehicle, the method comprising:
detecting at least one of a position and a speed of an object around the vehicle comprising a first vehicle ahead of the vehicle and a second vehicle behind the vehicle;
detecting at least one of a speed and an acceleration of the vehicle;
determining a probability of a forward collision with the first vehicle and a probability of a rear-end collision with the second vehicle based on the at least one of the position and the speed of the object and the at least one of the speed and the acceleration of the vehicle;
determining one of a plurality of collision modes as a collision mode of the vehicle in response to determining the probability of the forward collision with the first vehicle;
determining the probability of the rear-end collision with the second vehicle also based on determination of whether a control to avoid the forward collision with the first vehicle in the collision mode causes a collision with the second vehicle;
determining a target forward collision speed and a target rear-end collision speed to minimize a sum of injuries of an occupant of the vehicle by the forward collision and injuries to the occupant by the rear-end collision upon determination that there are the probabilities of the forward collision and the rear-end collision, based on the collision mode and a pre-stored injury scale corresponding to the collision mode; and
performing a braking control of the vehicle based on the target forward collision speed and the target rear-end collision speed.

### Claim 13 (depends on 12)

The method of claim 12, wherein the determining of the probabilities of the forward collision and the rear-end collision further comprises determining a collision mode based on positions and moving directions of the vehicle and the first vehicle upon determination that there is a probability of a forward collision.

### Claim 14 (depends on 13)

The method of claim 13, wherein the collision mode comprises at least one of a same direction collision mode in which the vehicle collides with the first vehicle travelling in the same direction at the rear of the first vehicle, a head-on collision mode in which the vehicle collides with the first vehicle travelling toward the vehicle, and a side collision mode in which the vehicle collides with the first vehicle at an intersection.

### Claim 15 (depends on 12)

The method of claim 12, wherein the determining of the target forward collision speed and the target rear-end collision speed comprises acquiring injury information by the forward collision indicating injuries to the occupant by the forward collision and injury information by the rear-end collision indicating injuries to the occupant by the rear-end collision.

### Claim 16 (depends on 15)

The method of claim 15, wherein the acquired injury information by the forward collision comprises injury criteria calculated for the forward collision with respect to collision speed of the vehicle, and
the acquired injury information by the rear-end collision comprises injury criteria calculated for the rear-end collision with respect to collision speed of the vehicle.

### Claim 17 (depends on 15)

The method of claim 15, wherein the determining of the target forward collision speed and the target rear-end collision speed further comprises calculating a normalized injury index for the forward collision by using the acquired injury information by the forward collision and calculating a normalized injury index for the rear-end collision by using the acquired injury information by the rear-end collision.

### Claim 18 (depends on 17)

The method of claim 17, wherein the determining of the target forward collision speed and the target rear-end collision speed further comprises determining a minimum value of a sum of the normalized injury index calculated for the forward collision and the normalized injury index calculated for the rear-end collision.

### Claim 19 (depends on 17)

The method of claim 17, wherein the determining of the target forward collision speed and the target rear-end collision speed further comprises determining a target forward collision speed and a target rear-end collision speed corresponding to the determined minimum value of the sum of the normalized injury index calculated for the forward collision and the normalized injury index calculated for the rear-end collision.

### Claim 20 (depends on 19)

The method of claim 19, wherein the performing of a braking control of the vehicle comprises determining a target acceleration satisfying the target forward collision speed and the target rear-end collision speed.

### Claim 21 (depends on 20)

The method of claim 20, wherein the performing of a braking control of the vehicle comprises calculating a control amount to decelerate the vehicle in accordance with the target acceleration, generating a control signal based on the calculated control amount, and performing the braking control of the vehicle based on the generated control signal.