# US 12,110,027 B2 · Method and apparatus for controlling lane change > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,110,027 B2 - Document ID: US12110027B2 - Status: Granted - Kind: B2 - Application number: 17/895,406 - Filed: 2022-08-25 - Published: 2023-04-20 - Granted: 2024-10-08 - Earliest claimed: 2021-10-19 - Assignees: Hyundai Mobis Co., Ltd. - Applicants: HYUNDAI MOBIS Co., Ltd. - Inventors: Ge O Park - Web page: https://patentgrep.com/patent/US12110027B2 ## CPC - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 30/165: Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar" - B60W 40/13: Load or weight - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B60W 2530/10: Weight - B60W 2552/10: Number of lanes - B60W 2554/4041: Position - B60W 2554/4042: Longitudinal speed - B60W 2554/4044: Direction of movement, e.g. backwards - B60W 2554/80: Spatial relation or speed relative to objects - B60W 2554/801: Lateral distance - B60W 2554/802: Longitudinal distance - 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 ## Abstract An apparatus for controlling lane change is disclosed. The apparatus may include a weight detection unit sensing weight of freight, a safety space setting unit receiving sensed weight and setting a safety space required for a vehicle to safely move to a target lane from a current lane based on the sensed weight, a sensor unit sensing whether an object exists in the safety space using at least one sensor, and a control unit controlling the vehicle to move to the target lane within a preset time when there is no sensed object. A method of controlling lane change is also disclosed. ## Claims ### Claim 1 An apparatus for controlling lane change, the apparatus comprising: a weight detection unit sensing weight of freight; a safety space setting unit receiving sensed weight and setting a safety space required for a vehicle to safely move to a target lane from a current lane based on the sensed weight; a sensor unit sensing whether an object exists in the safety space using at least one sensor; a control unit controlling the vehicle to move to the target lane within a preset time when there is no sensed object; and a Smart Cruise Control (SCC) unit controlling the vehicle to drive while keeping a preset distance from a front vehicle, wherein the SCC unit controls the vehicle by further considering the sensed weight. ### Claim 2 (depends on 1) The apparatus of claim 1, further comprising a collision risk determination unit determining whether there is a collision risk between the sensed object and the vehicle based on at least one of a speed and a movement direction of the sensed object, wherein the control unit controls the vehicle by further considering whether there is the collision risk between the sensed object and the vehicle. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein the collision risk determination unit receives driving information of the vehicle from the vehicle and determines the collision risk by further considering the driving information. ### Claim 4 (depends on 2) The apparatus of claim 2, further comprising a machine learning unit calculating an expected Time-To-Collision (TTC) for the sensed object by performing machine learning based on at least one of a size of the sensed object, a shape of the sensed object, the speed of the sensed object, and a distance between the vehicle and the sensed object, wherein the collision risk determination unit determines whether there is the collision risk between the sensed object and the vehicle by further considering the TTC. ### Claim 5 (depends on 1) The apparatus of claim 1, further comprising an alarm unit informing a driver that lane change control is started when the control unit controls the vehicle, and informing the driver that the lane change control is impossible when the lane change control is impossible. ### Claim 6 A method of controlling lane change, the method comprising: a process of sensing, by a weight detection unit, weight of freight; a process of receiving, by a safety space setting unit, sensed weight and setting, by the safety space setting unit, a safety space required for a vehicle to safely move to a target lane from a current lane based on the sensed weight; a process of sensing, by a sensor unit, whether an object exists in the safety space using at least one sensor; a process of controlling, by a control unit, the vehicle to move to the target lane within a preset time when there is no sensed object; and a Smart Cruise Control (SCC) process of controlling, by a Smart Cruise Control unit, the vehicle to drive while keeping a preset distance from a front vehicle, wherein the SCC process further includes controlling, by the SCC unit, the vehicle by considering the sensed weight. ### Claim 7 (depends on 6) The method of claim 6, further comprising a collision risk determination process of determining, by a collision risk determination unit, whether there is a collision risk between the sensed object and the vehicle based on at least one of a speed and a movement direction of the sensed object, wherein the process of controlling the vehicle further includes considering, by the control unit, whether there is the collision risk between the object and the vehicle. ### Claim 8 (depends on 7) The method of claim 7, wherein the collision risk determination process further includes receiving, by the collision risk determination unit, driving information of the vehicle from the vehicle and determining, by the collision risk determination unit, the collision risk by considering the driving information. ### Claim 9 (depends on 7) The method of claim 7, further comprising a process of calculating, by a machine learning unit, an expected Time-To-Collision (TTC) for the object by performing machine learning based on at least one of a size of the sensed object, a shape of the sensed object, the speed of the sensed object, and a distance between the vehicle and the sensed object, wherein the collision risk determination process further includes determining, by the collision risk determination unit, whether there is the collision risk between the sensed object and the vehicle by further considering the TTC. ### Claim 10 (depends on 6) The method of claim 6, further comprising a process of informing, by an alarm unit, a driver that lane change control is started when the vehicle is controlled by the control unit, and informing the driver that the lane change control is impossible when the lane change control is impossible.