# US 11,440,540 B2 · Apparatus and method for preventing vehicle collision > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,440,540 B2 - Document ID: US11440540B2 - Status: Granted - Kind: B2 - Application number: 16/861,817 - Filed: 2020-04-29 - Published: 2020-12-24 - Granted: 2022-09-13 - Earliest claimed: 2019-06-18 - Assignees: Hyundai Mobis Co., Ltd. - Applicants: Hyundai Mobis Co., Ltd. - Inventors: Hyung Myung Lee - Web page: https://patentgrep.com/patent/US11440540B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 10/18: including control of braking systems - B60W 10/20: including control of steering systems - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B60W 60/0015: {specially adapted for safety} - B60W 60/0051: {from occupants to vehicle} - G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)} - G05D 1/617: Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) - G08G 1/161: {Decentralised systems, e.g. inter-vehicle communication} - G08G 1/162: {event-triggered} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - B60W 2050/143: {Alarm means} - B60W 2554/4049: Relationship among other objects, e.g. converging dynamic objects - B60W 2556/65: Data transmitted between vehicles - B60W 2756/10: Involving external transmission of data to or from the vehicle - 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 - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - 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 Disclosed are an apparatus and method for preventing a vehicle collision. The apparatus includes a communication unit wirelessly communicating with a surrounding vehicle, a sensing unit detecting the surrounding vehicle and a lane, a traveling control module configured to control steering or braking of an ego vehicle, and a controller configured to determine whether the ego vehicle can perform steering avoidance driving toward a neighboring lane, through the sensing unit, based on information on a driving mode of a vehicle ahead received through the communication unit, if it is checked through the communication unit that a vehicle ahead of the vehicle ahead is in a stop state and to control the ego vehicle to perform the steering avoidance driving toward the neighboring lane or to urgently brake through the traveling control module, based on a result of the determination. ## Claims ### Claim 1 An apparatus for preventing a vehicle collision, comprising: a communication unit configured to wirelessly communicate with a surrounding vehicle; a sensing unit configured to detect the surrounding vehicle and a lane; a traveling control module configured to control steering or braking of an ego vehicle; and a controller configured to: check whether a vehicle ahead is present and a vehicle ahead of the vehicle ahead is in a stopped state through the communication unit; control the ego vehicle to enter a collision avoidance mode from a normal driving mode in response to the vehicle ahead being present and the vehicle ahead of the vehicle ahead being in the stopped state; receive driving information including a driving mode of the vehicle ahead through the communication unit in the collision avoidance mode; determine whether the ego vehicle is capable of steering avoidance driving toward a neighboring lane through the sensing unit based on the driving information of the vehicle ahead in the collision avoidance mode; and control the ego vehicle to perform the steering avoidance driving toward the neighboring lane or to urgently brake, by controlling the traveling control module, based on a result of the determination so as to avoid a collision with the vehicle ahead of the vehicle ahead in the collision avoidance mode. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the controller is configured to control the ego vehicle to perform the steering avoidance driving toward the neighboring lane or to urgently brake, based on whether the vehicle ahead performs steering avoidance driving in an autonomous driving mode. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein the controller is configured to: control the ego vehicle to perform the steering avoidance driving toward the neighboring lane while correcting a steering avoidance trajectory of the ego vehicle in real time through a steering avoidance trajectory of the vehicle ahead, in response to it being determined through the sensing unit that the ego vehicle is capable of the steering avoidance driving toward the neighboring lane in a state in which the vehicle ahead performs the steering avoidance driving in the autonomous driving mode, and control the ego vehicle to urgently brake in response to it being determined through the sensing unit that the ego vehicle is incapable of the steering avoidance driving toward the neighboring lane in a state in which the vehicle ahead has urgently braked in the autonomous driving mode. ### Claim 4 (depends on 2) The apparatus of claim 2, wherein the controller is configured to: control the ego vehicle to perform the steering avoidance driving toward the neighboring lane, in response to it being determined through the sensing unit that the ego vehicle is capable of the steering avoidance driving toward the neighboring lane in a state in which the vehicle ahead has urgently braked in the autonomous driving mode, and control the ego vehicle to urgently brake in response to it being determined through the sensing unit that the ego vehicle is incapable of the steering avoidance driving toward the neighboring lane in a state in which the vehicle ahead has urgently braked in the autonomous driving mode. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein the controller is configured to control the ego vehicle to perform the steering avoidance driving toward the neighboring lane or to urgently brake, when a forced control over the vehicle ahead in a manual driving mode is permitted. ### Claim 6 (depends on 5) The apparatus of claim 5, wherein the controller is configured to: transmit a forced steering control command to the vehicle ahead and control the ego vehicle to perform the steering avoidance driving toward the neighboring lane, based on a collision possibility between the vehicle ahead and the vehicle ahead of the vehicle ahead, in response to it being determined through the sensing unit that the ego vehicle is capable of the steering avoidance driving toward the neighboring lane in a state in which the forced control over the vehicle ahead in the manual driving mode is possible, and control the ego vehicle to urgently brake in response to it being determined through the sensing unit that the vehicle ahead is incapable of steering avoidance driving toward the neighboring lane in a state in which the forced control over the vehicle ahead in the manual driving mode is possible. ### Claim 7 (depends on 6) The apparatus of claim 6, wherein the controller is configured to transmit the forced steering control command to the vehicle ahead when the vehicle ahead does not perform the steering avoidance driving up to a collision limit time between the vehicle ahead and the vehicle ahead of the vehicle ahead. ### Claim 8 (depends on 5) The apparatus of claim 5, wherein the controller is configured to: transmit a collision alarm command to the vehicle ahead and control the ego vehicle to perform the steering avoidance driving toward the neighboring lane, in response to it being determined through the sensing unit that the ego vehicle is capable of the steering avoidance driving toward the neighboring lane in a state in which the forced control over the vehicle ahead in the manual driving mode is impossible, and control the ego vehicle to urgently brake in response to it being determined through the sensing unit that the vehicle ahead is incapable of the steering avoidance driving toward the neighboring lane in a state in which the forced control over the vehicle ahead in the manual driving mode is impossible. ### Claim 9 (depends on 1) The apparatus of claim 1, wherein the controller is configured to: receive driving information of the vehicle ahead of the vehicle ahead through the communication unit; and output the driving information through an output unit or warn a collision between the ego vehicle and the vehicle ahead of the vehicle ahead in the collision avoidance mode. ### Claim 10 (depends on 1) The apparatus of claim 1, wherein the controller is configured to determine in the collision avoidance mode whether a forced control over the vehicle ahead in a manual driving mode is permitted by performing wireless communications with the vehicle ahead through the communication unit. ### Claim 11 A method of preventing a vehicle collision, the method comprising: checking, by a controller, whether a vehicle ahead is present and a vehicle ahead of the vehicle ahead is in a stopped state through a communication unit; controlling, by the controller, an ego vehicle to enter a collision avoidance mode from a normal driving mode in response to the vehicle ahead being present and the vehicle ahead of the vehicle ahead being in the stopped state; receiving, by the controller, driving information including a driving mode of the vehicle ahead through the communication unit in the collision avoidance mode; determining, by the controller, whether the ego vehicle is capable of steering avoidance driving toward a neighboring lane through a sensing unit, based on the driving information of the vehicle ahead in the collision avoidance mode; and controlling, by the controller, the ego vehicle to perform the steering avoidance driving toward the neighboring lane or to urgently brake, by controlling a traveling control module based on a result of the determination so as to avoid a collision with the vehicle ahead of the vehicle ahead in the collision avoidance mode. ### Claim 12 (depends on 11) The method of claim 11, wherein the controlling of the ego vehicle further comprising: controlling the ego vehicle to perform the steering avoidance driving toward the neighboring lane or to urgently brake, based on whether the vehicle ahead performs steering avoidance driving in an autonomous driving mode. ### Claim 13 (depends on 12) The method of claim 12, wherein the controlling of the ego vehicle further comprising: controlling the ego vehicle to perform the steering avoidance driving toward the neighboring lane while correcting a steering avoidance trajectory of the ego vehicle in real time through a steering avoidance trajectory of the vehicle ahead, in response to it being determined through the sensing unit that the ego vehicle is capable of the steering avoidance driving toward the neighboring lane in a state in which the vehicle ahead performs the steering avoidance driving in the autonomous driving mode, and controlling the ego vehicle to urgently brake in response to it being determined through the sensing unit that the ego vehicle is incapable of the steering avoidance driving toward the neighboring lane in a state in which the vehicle ahead has urgently braked in the autonomous driving mode. ### Claim 14 (depends on 12) The method of claim 12, wherein the controlling of the ego vehicle further comprising: controlling the ego vehicle to perform the steering avoidance driving toward the neighboring lane in response to it being determined through the sensing unit that the ego vehicle is capable of the steering avoidance driving toward the neighboring lane in a state in which the vehicle ahead has urgently braked in the autonomous driving mode, and controlling the ego vehicle to urgently brake in response to it being determined through the sensing unit that the ego vehicle is incapable of the steering avoidance driving toward the neighboring lane in a state in which the vehicle ahead has urgently braked in the autonomous driving mode. ### Claim 15 (depends on 11) The method of claim 11, wherein the controlling of the ego vehicle further comprising: controlling the ego vehicle to perform the steering avoidance driving toward the neighboring lane or to urgently brake, when a forced control over the vehicle ahead in a manual driving mode is permitted. ### Claim 16 (depends on 15) The method of claim 15, wherein the controlling of the ego vehicle further comprising: transmitting a forced steering control command to the vehicle ahead and controlling the ego vehicle to perform the steering avoidance driving toward the neighboring lane, based on a collision possibility between the vehicle ahead and the vehicle ahead of the vehicle ahead, in response to it being determined through the sensing unit that the ego vehicle is capable of the steering avoidance driving toward the neighboring lane in a state in which the forced control over the vehicle ahead in the manual driving mode is possible, and controlling the ego vehicle to urgently brake in response to it being determined through the sensing unit that the vehicle ahead is incapable of steering avoidance driving toward the neighboring lane in a state in which the forced control over the vehicle ahead in the manual driving mode is possible. ### Claim 17 (depends on 16) The method of claim 16, wherein the controlling of the ego vehicle further comprising: transmitting the forced steering control command to the vehicle ahead when the vehicle ahead does not perform the steering avoidance driving up to a collision limit time between the vehicle ahead and the vehicle ahead of the vehicle ahead. ### Claim 18 (depends on 15) The method of claim 15, wherein the controlling of the ego vehicle further comprising: transmitting a collision alarm command to the vehicle ahead and controlling the ego vehicle to perform the steering avoidance driving toward the neighboring lane, in response to it being determined through the sensing unit that the ego vehicle is capable of the steering avoidance driving toward the neighboring lane in a state in which the forced control over the vehicle ahead in the manual driving mode is impossible, and controlling the ego vehicle to urgently brake in response to it being determined through the sensing unit that the vehicle ahead is incapable of the steering avoidance driving toward the neighboring lane in a state in which the forced control over the vehicle ahead in the manual driving mode is impossible.