# US 11,305,760 B2 · Apparatus and method for controlling avoidance of emergency vehicle, and vehicle system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,305,760 B2 - Document ID: US11305760B2 - Status: Granted - Kind: B2 - Application number: 16/673,344 - Filed: 2019-11-04 - Published: 2020-05-21 - Granted: 2022-04-19 - Earliest claimed: 2018-11-16 - Assignees: Hyundai Motor Company; Kia Motors Corporation - Applicants: Hyundai Motor Company; Kia Motors Corporation - Inventors: Dong Jin Shin; Myeong Gyu Jeong; Dong Youl Lee; Jae Am Seo; Hyeok Sang Jeong - Web page: https://patentgrep.com/patent/US11305760B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 40/04: Traffic conditions - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - G08G 1/0965: responding to signals from another vehicle, e.g. emergency vehicle - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60W 2554/801: Lateral distance - B60W 2556/65: Data transmitted between vehicles - 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 and a method for controlling the avoidance of an emergency vehicle, and a vehicle system are provided. The apparatus includes a communication device to receive traveling data from vehicles traveling in a specific section on an expected traveling path of the emergency vehicle, a determination device to identify locations of the vehicles from the received traveling data and to determine at least one control vehicle based on the identified locations of the vehicles, and a controller to determine an avoidance control time point of each control vehicle based on an expected approach time of the emergency vehicle to the control vehicle, and to transmit a control message to the control vehicle based on the avoidance control time point of the control vehicle. ## Claims ### Claim 1 An apparatus for controlling avoidance for an emergency vehicle, the apparatus comprising: a communication device to receive traveling data from vehicles traveling in a specific section on an expected traveling path of the emergency vehicle; a determination device to identify locations of the vehicles from the received traveling data and to determine at least one control vehicle based on the identified locations of the vehicles; and a controller to determine an avoidance control time point of each control vehicle based on an expected approach time of the emergency vehicle to the control vehicle, and to transmit a control message to the control vehicle based on the avoidance control time point of the control vehicle, wherein the controller: determines whether to change a lane of the control vehicle; and generates the control message for the control vehicle, based on the determination of whether to change the lane of the control vehicle, wherein the controller: determines to change a traveling lane of the control vehicle when a traveling speed of the control vehicle is a reference speed Or more; and determines to move the control vehicle within the traveling lane when the traveling speed of the control vehicle is less than the reference speed. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the determination device determines, as the control vehicle, a vehicle on the same lane as a lane of the emergency vehicle by comparing a traveling lane location of the emergency vehicle with a traveling lane location of each vehicle. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the determination device determines, as the control vehicle, a vehicle located in a rotation direction of the emergency vehicle by comparing a location of the emergency vehicle with a location of the respective vehicles. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the determination device determines, as the control vehicle, a vehicle, a traveling lane of which is to be changed to a traveling lane of the emergency vehicle, by determining a location and an expected traveling path of each vehicle. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein the controller calculates the expected approach time of the emergency vehicle to the control vehicle, based on a distance between the emergency vehicle and the control vehicle, a speed of the emergency vehicle, or the maximum speed limit of a relevant road. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the controller generates a control message for each step based on the expected approach time of the emergency vehicle. ### Claim 7 (depends on 6) The apparatus of claim 6, wherein the controller: generates an avoidance and warning message when the expected approach time of the emergency vehicle is less than a first time; generates an avoidance message when the expected approach time of the emergency vehicle is the first time or more and less than a second time; and generates a warning message when the expected approach time of the emergency vehicle is the second time or more. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein the controller determines a lane, which is to be changed, of the control vehicle, based on locations of vehicles traveling between the control vehicle and the emergency vehicle, when the traveling speed of the control vehicle is the reference speed or more. ### Claim 9 (depends on 1) The apparatus of claim 1, wherein the control message includes: at least one of a location of the emergency vehicle, the expected approach time of the emergency vehicle to the control vehicle, an avoidance direction of the control vehicle, and lane change information of the control vehicle. ### Claim 10 (depends on 1) The apparatus of claim 1, wherein the communication device receives traveling data of the emergency vehicle from a management server which provides the traveling data of the emergency vehicle, and wherein the determination device determines the expected traveling path of the emergency vehicle based on the traveling data of the emergency vehicle. ### Claim 11 (depends on 1) The apparatus of claim 1, wherein the controller: determines an avoidance direction of the control vehicle; and generates the control message for the control vehicle, based on the determined avoidance direction and the determination of whether to change the lane of the control vehicle. ### Claim 12 (depends on 11) The apparatus of claim 11, wherein the controller determines the avoidance direction of the control vehicle, based on the rotation direction or a movement direction of the emergency vehicle. ### Claim 13 A method for controlling avoidance of an emergency vehicle, the method comprising: receiving traveling data from vehicles traveling in a specific section on an expected traveling path of the emergency vehicle; identifying locations of the vehicles from the received traveling data and determining at least one control vehicle based on the identified locations of the vehicles; and determining an avoidance control time point of each control vehicle based on an expected approach time of the emergency vehicle to the control vehicle, and transmitting a control message to the control vehicle based on the avoidance control time point of the control vehicle, wherein the transmitting of the control message includes: determining whether to change a lane of the control vehicle; and generating the control message for the control vehicle, based on the determination of whether to change the lane of the control vehicle, wherein the determining of whether to change the lane of the control vehicle includes: determining to change a traveling lane of the control vehicle when a traveling speed of the control vehicle is a reference speed or more; and determining to move the control vehicle within the traveling lane when the traveling speed of the control vehicle is less than the reference speed. ### Claim 14 (depends on 13) The method of claim 13, wherein the determining of the at least one control vehicle includes: determining, as the control vehicle, a vehicle on the same lane as a lane of the emergency vehicle by comparing a traveling lane location of the emergency vehicle with a traveling lane location of the vehicle. ### Claim 15 (depends on 13) The method of claim 13, wherein the determining of the at least one control vehicle includes: determining, as the control vehicle, a vehicle located in a rotation direction of the emergency vehicle by comparing a location of the emergency vehicle with a location of the vehicle. ### Claim 16 (depends on 13) The method of claim 13, wherein the determining of the at least one control vehicle includes: determining, as the control vehicle, a vehicle, a traveling lane of which is to be changed to a traveling lane of the emergency vehicle, by determining a location and the expected traveling path of each vehicle. ### Claim 17 (depends on 13) The method of claim 13, further comprising: calculating an expected approach time of the emergency vehicle to the control vehicle, based on a distance between the emergency vehicle and the control vehicle, a speed of the emergency vehicle, or the maximum speed limit of a relevant road. ### Claim 18 (depends on 17) The method of claim 17, wherein the transmitting of the control message includes: generating a control message for each step based on the expected approach time of the emergency vehicle. ### Claim 19 (depends on 13) The method of claim 13, wherein the transmitting of the control message includes: determining an avoidance direction of the control vehicle, based on a rotation direction or a movement direction of the emergency vehicle; and generating the control message for the control vehicle, based on the determined avoidance direction and the determination of whether to change the lane of the control vehicle. ### Claim 20 (depends on 13) The method of claim 13, wherein the determining of whether to change the lane of the control vehicle includes: determining a lane, which is to be changed, of the control vehicle, based on locations of vehicles traveling between the control vehicle and the emergency vehicle, when the traveling speed of the control vehicle is the reference speed or more. ### Claim 21 (depends on 13) The method of claim 13, further comprising: receiving traveling data of the emergency vehicle from a management server which provides the traveling data of the emergency vehicle, and determining the expected traveling path of the emergency vehicle based on the received traveling data of the emergency vehicle. ### Claim 22 A vehicle system comprising: an emergency vehicle; a management server to provide traveling data of the emergency vehicle; vehicles traveling in a specific section on an expected traveling path of the emergency vehicle; and an emergency vehicle avoidance control apparatus: to determine at least one control vehicle based on locations of the vehicles which are identified based on traveling data of the vehicles; to determine an avoidance control time point of each control vehicle based on an expected approach time of the emergency vehicle to the control vehicle; and to transmit a control message to the control vehicle based on the determined avoidance control time point of the control vehicle.