# US 11,993,309 B2 · Driver assistance apparatus, vehicle having the same, and method of controlling vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,993,309 B2 - Document ID: US11993309B2 - Status: Granted - Kind: B2 - Application number: 17/469,532 - Filed: 2021-09-08 - Published: 2022-04-21 - Granted: 2024-05-28 - Earliest claimed: 2020-10-21 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Seungju Ham - Web page: https://patentgrep.com/patent/US11993309B2 ## CPC - B62D 15/0285: {Parking performed automatically} - B62D 15/029: {Steering assistants using warnings or proposing actions to the driver without influencing the steering system} - B60Q 9/008: {for anti-collision purposes} - B62D 15/0265: {Automatic obstacle avoidance by steering} - B62D 15/027: {Parking aids, e.g. instruction means} - B62D 15/028: {Guided parking by providing commands to the driver, e.g. acoustically or optically} - G01S 7/414: {Discriminating targets with respect to background clutter} - G01S 13/345: {using triangular modulation} - G01S 13/44: Monopulse radar, i.e. simultaneous lobing - G01S 13/584: {adapted for simultaneous range and velocity measurements} - G01S 13/878: {Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector (G01S13/874 takes precedence)} - G01S 13/931: of land vehicles - G01S 2013/9314: {Parking operations} - G01S 2013/9315: {Monitoring blind spots} - G01S 2013/9317: {Driving backwards} - G01S 2013/93272: {in the back of the vehicles} - G01S 2013/93275: {in the bumper area} - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL - 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 ## Abstract A driver assistance apparatus includes a first radar sensor having a view of a left rear side outside the vehicle and a second radar sensor having a view of a right rear side outside the vehicle. The first radar sensor is configured to output first detecting data and the second radar sensor is configured to output second detecting data. A controller is configured to process the first and second detecting data, to generate a plurality of detection points based on the processing, to generate a first track and a second track based on the plurality of detection points, to identify a track that is normally detected and a track that is erroneously detected among the first track and the second track, and to warn of a collision in a direction located on the normally detected track. ## Claims ### Claim 1 A driver assistance apparatus comprising: a first radar sensor mounted to a vehicle and having a view of a left rear side outside the vehicle, the first radar sensor configured to output first detecting data; a second radar sensor mounted to the vehicle and having a view of a right rear side outside the vehicle, the second radar sensor configured to output second detecting data; and a controller configured to: process the first detecting data and the second detecting data; generate a plurality of detection points based on processing of the first detecting data and the second detecting data; generate a first track and a second track based on the plurality of detection points, wherein the first track and the second track correspond to a first object external to the vehicle; identify a track that is normally detected and a track that is erroneously detected from among the first track and the second track, wherein the track that is normally detected corresponds to a track of the first object external to the vehicle and the track that is erroneously detected corresponds to one or more reflections of radio waves off of a second object external to the vehicle; and warn of a collision in a direction located on the normally detected track. ### Claim 2 (depends on 1) The driver assistance apparatus according to claim 1, wherein the controller is further configured to: identify a longitudinal distance of the first track based on a distance between the first track and the vehicle and an angle between a driving direction of the vehicle and a direction in which the first track is located; and identify a longitudinal distance of the second track based on a distance between the second track and the vehicle and an angle between the driving direction of the vehicle and a direction in which the second track is located. ### Claim 3 (depends on 2) The driver assistance apparatus according to claim 2, wherein the controller is further configured to identify that at least one of the first track and the second track is the erroneously detected track based on a difference between the longitudinal distance of the first track and the longitudinal distance of the second track being within an error range. ### Claim 4 (depends on 3) The driver assistance apparatus according to claim 3, wherein the controller is further configured to warn of the collision in the direction in which the first track is located based on the fact that a number of detection points related to the first track is greater than a number of detection points related to the second track. ### Claim 5 (depends on 1) The driver assistance apparatus according to claim 1, wherein the controller is further configured to: identify a transverse moving speed of the first track based on a distance between the first track and the vehicle and an angle between a driving direction of the vehicle and a direction in which the first track is located, and identify a transverse moving speed of the second track based on a distance between the second track and the vehicle and an angle between the driving direction of the vehicle and a direction in which the second track is located. ### Claim 6 (depends on 5) The driver assistance apparatus according to claim 5, wherein the controller is configured to identify that at least one of the first track and the second track is the erroneously detected track based on a difference between the transverse moving speed of the first track and the transverse moving speed of the second track being within an error range. ### Claim 7 (depends on 6) The driver assistance apparatus according to claim 6, wherein the controller is configured to warn of the collision in the direction in which the first track is located based on the fact that a number of detection points related to the first track is greater than a number of detection points related to the second track. ### Claim 8 A vehicle comprising: a cluster; a side mirror indicator; and a driver assistance apparatus configured to control the cluster and the side mirror indicator, wherein the driver assistance apparatus comprises: a first radar sensor mounted to the vehicle and having a view of a left rear side outside the vehicle, the first radar sensor configured to output first detecting data; a second radar sensor mounted to the vehicle and having a view of a right rear side outside the vehicle, the second radar sensor configured to output second detecting data; and a controller configured to: process the first detecting data and the second detecting data; generate a plurality of detection points based on processing of the first detecting data and the second detecting data; generate a first track and a second track based on the plurality of detection points, wherein the first track and the second track correspond to a first object external to the vehicle; identify a track that is normally detected and a track that is erroneously detected from among the first track and the second track, wherein the track that is normally detected corresponds to a track of the first object external to the vehicle and the track that is erroneously detected corresponds to one or more reflections of radio waves off of a second object external to the vehicle; and control at least one of the cluster and the side mirror indicator to warn of a collision in a direction located on the normally detected track. ### Claim 9 (depends on 8) The vehicle according to claim 8, wherein the controller is further configured to: identify a longitudinal distance of the first track based on a distance between the first track and the vehicle and an angle between a driving direction of the vehicle and a direction in which the first track is located, and identify a longitudinal distance of the second track based on a distance between the second track and the vehicle and an angle between the driving direction of the vehicle and a direction in which the second track is located. ### Claim 10 (depends on 9) The vehicle according to claim 9, wherein the controller is further configured to identify that at least one of the first track and the second track is the erroneously detected track based on a difference between the longitudinal distance of the first track and the longitudinal distance of the second track being within an error range. ### Claim 11 (depends on 10) The vehicle according to claim 10, wherein the controller is further configured to control at least one of the cluster and the side mirror indicator to warn of the collision in the direction in which the first track is located based on the fact that a number of detection points related to the first track is greater than a number of detection points related to the second track. ### Claim 12 (depends on 8) The vehicle according to claim 8, wherein the controller is further configured to: identify a transverse moving speed of the first track based on a distance between the first track and the vehicle and an angle between a driving direction of the vehicle and a direction in which the first track is located, and identify a transverse moving speed of the second track based on a distance between the second track and the vehicle and an angle between the driving direction of the vehicle and a direction in which the second track is located. ### Claim 13 (depends on 12) The vehicle according to claim 12, wherein the controller is further configured to identify that at least one of the first track and the second track is the erroneously detected track based on a difference between the transverse moving speed of the first track and the transverse moving speed of the second track being within an error range. ### Claim 14 (depends on 13) The vehicle according to claim 13, wherein the controller is further configured to control at least one of the cluster and the side mirror indicator to warn of the collision in the direction in which the first track is located based on the fact that a number of detection points related to the first track is greater than a number of detection points related to the second track. ### Claim 15 A method of controlling a vehicle, the method comprising: receiving first detecting data from a first radar sensor mounted to the vehicle and having a view of a left rear side outside the vehicle; receiving second detecting data from a second radar sensor mounted to the vehicle and having a view of a right rear side outside the vehicle; processing the first detecting data and the second detecting data; generating a plurality of detection points based on processing of the first detecting data and the second detecting data; generating a first track and a second track based on the plurality of detection points, wherein the first track and the second track correspond to a first object external to the vehicle; identifying a track that is normally detected and a track that is erroneously detected from among the first track and the second track, wherein the track that is normally detected corresponds to a track of the first object external to the vehicle and the track that is erroneously detected corresponds to one or more reflections of radio waves off of a second object external to the vehicle; and warning of a collision in a direction located on the normally detected track. ### Claim 16 (depends on 15) The method according to claim 15, wherein identifying the track that is normally detected and the track that is erroneously detected comprises: identifying a longitudinal distance of the first track based on a distance between the first track and the vehicle and an angle between a driving direction of the vehicle and a direction in which the first track is located; and identifying a longitudinal distance of the second track based on a distance between the second track and the vehicle and an angle between the driving direction of the vehicle and a direction in which the second track is located. ### Claim 17 (depends on 16) The method according to claim 16, wherein identifying the track that is normally detected and the track that is erroneously detected among the first track and the second track comprises identifying that at least one of the first track and the second track is the erroneously detected track based on a difference between the longitudinal distance of the first track and the longitudinal distance of the second track being within an error range. ### Claim 18 (depends on 15) The method according to claim 15, wherein identifying the track that is normally detected and the track that is erroneously detected among the first track and the second track comprises: identifying a transverse moving speed of the first track based on a distance between the first track and the vehicle and an angle between a driving direction of the vehicle and a direction in which the first track is located; and identifying a transverse moving speed of the second track based on a distance between the second track and the vehicle and an angle between the driving direction of the vehicle and a direction in which the second track is located. ### Claim 19 (depends on 18) The method according to claim 18, wherein identifying the track that is normally detected and the track that is erroneously detected among the first track and the second track comprises identifying that at least one of the first track and the second track is the erroneously detected track based on a difference between the transverse moving speed of the first track and the transverse moving speed of the second track being within an error range. ### Claim 20 (depends on 15) The method according to claim 15, wherein warning of the collision in the direction located on the normally detected track comprises warning of the collision in the direction in which the first track is located based on the fact that a number of detection points related to the first track is greater than a number of detection points related to the second track.