# US 12,110,029 B2 · Apparatus and method for controlling driving of vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,110,029 B2 - Document ID: US12110029B2 - Status: Granted - Kind: B2 - Application number: 17/331,052 - Filed: 2021-05-26 - Published: 2022-05-12 - Granted: 2024-10-08 - Earliest claimed: 2020-11-06 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Chan Hee Jung - Web page: https://patentgrep.com/patent/US12110029B2 ## CPC - B60W 40/105: Speed - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 30/143: {Speed control (B60W30/16 takes precedence)} - B60W 30/16: Control of distance between vehicles, e.g. keeping a distance to preceding vehicle - B60W 60/0015: {specially adapted for safety} - B60W 2552/00: Input parameters relating to infrastructure - B60W 2552/40: Coefficient of friction - B60W 2554/802: Longitudinal distance - B60W 2555/20: Ambient conditions, e.g. wind or rain - B60W 2556/35: Data fusion - B60W 2720/10: Longitudinal speed - 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 Disclosed are an apparatus and a method for controlling driving of a vehicle. The apparatus includes a sensor that obtains information about an external environment of the vehicle, and a controller that calculates a target driving speed based on at least one of weather information, road surface information, or a minimum sensing distance detectable by the sensor, and sets a preset driving speed as the target driving speed. Accordingly, the driving of the vehicle is controlled by accurately reflecting external environment information and setting the target driving speed of the vehicle, so that it is possible to minimize user anxiety about the stability of autonomous driving and reduce the risk of an accident. ## Claims ### Claim 1 An apparatus for controlling driving of a vehicle, the apparatus comprising: a sensor configured to obtain external environment information of the vehicle, wherein the obtained external environment information includes weather information and road surface information of a road on which the vehicle is traveling; and a controller configured to: set, as a minimum sensing distance detectable by the sensor, a distance to an obstacle located at a maximum distance detectable by the sensor with a probability that is equal to or greater than a specified probability, calculate a target driving speed based on at least one of the weather information, the road surface information, or the minimum sensing distance detectable by the sensor, wherein the controller is configured to calculate a third target speed based on the minimum sensing distance detectable by the sensor and calculate the target driving speed based at least in part on the third target speed, set a preset driving speed as the target driving speed, and update the target driving speed when an amount of change in the target driving speed is equal to or greater than a specific value, wherein the amount of change in the target driving speed is obtained according to a change of the target driving speed corresponding to a change of at least one of the weather information, the road surface information, or the minimum sensing distance detectable by the sensor. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the controller is configured to calculate a first target speed based on a preset weather coefficient based on the weather information and the preset driving speed. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein the controller is configured to calculate a required braking distance based on a friction coefficient corresponding to the road surface information, the preset driving speed, and a gravitational acceleration. ### Claim 4 (depends on 3) The apparatus of claim 3, wherein the controller is configured to calculate a second target speed based on the required braking distance when the friction coefficient corresponding to the road surface information is less than a friction coefficient corresponding to previously obtained road surface information. ### Claim 5 (depends on 4) The apparatus of claim 4, wherein the controller is configured to calculate a margin distance based on the minimum sensing distance of the sensor and a preset deceleration. ### Claim 6 (depends on 5) The apparatus of claim 5, wherein the controller is configured to calculate the third target speed based on the margin distance when the minimum sensing distance of the sensor is less than a previously detected minimum sensing distance. ### Claim 7 (depends on 6) The apparatus of claim 6, wherein the controller is configured to calculate a minimum value of the first target speed, the second target speed, and the third target speed as the target driving speed. ### Claim 8 (depends on 6) The apparatus of claim 6, wherein the controller is configured to calculate the target driving speed based on a minimum value of the second target speed and the third target speed. ### Claim 9 (depends on 6) The apparatus of claim 6, wherein the controller is configured to calculate the third target speed as the target driving speed. ### Claim 10 A method of controlling driving of a vehicle, the method comprising: obtaining, by a sensor, external environment information of the vehicle, wherein the obtained external environment information includes weather information and road surface information of a road on which the vehicle is traveling; setting, by a controller, as a minimum sensing distance, a distance to an obstacle located at a maximum distance detectable by the sensor with a probability that is equal to or greater than a specified probability; calculating, by the controller, a target driving speed based on at least one of the weather information, the road surface information, or the minimum sensing distance detectable by the sensor, wherein calculating the target driving speed includes calculating a third target speed based on the minimum sensing distance and calculating the target driving speed based at least in part on the third target speed; setting, by the controller, a preset driving speed as the target driving speed; and updating, by the controller, the target driving speed when an amount of change in the target driving speed is equal to or greater than a specific value, wherein the amount of change in the target driving speed is obtained according to a change of the target driving speed corresponding to a change of at least one of the weather information, the road surface information, or the minimum sensing distance detectable by the sensor. ### Claim 11 (depends on 10) The method of claim 10, wherein calculating the target driving speed includes: calculating a first target speed based on a preset weather coefficient based on the weather information and the preset driving speed. ### Claim 12 (depends on 11) The method of claim 11, wherein calculating the target driving speed includes: calculating a required braking distance based on a friction coefficient corresponding to the road surface information, the preset driving speed, and a gravitational acceleration. ### Claim 13 (depends on 12) The method of claim 12, wherein calculating the target driving speed includes: in response to determining that the friction coefficient corresponding to the road surface information is less than a friction coefficient corresponding to previously obtained road surface information, calculating a second target speed based on the required braking distance. ### Claim 14 (depends on 13) The method of claim 13, wherein calculating the target driving speed includes: calculating a margin distance based on the minimum sensing distance of the sensor and a preset deceleration. ### Claim 15 (depends on 14) The method of claim 14, wherein calculating the target driving speed includes: in response to determining that the minimum sensing distance of the sensor is less than a previously detected minimum sensing distance, calculating the third target speed based on the margin distance. ### Claim 16 (depends on 15) The method of claim 15, wherein calculating the target driving speed includes: calculating a minimum value of the first target speed, the second target speed, and the third target speed as the target driving speed. ### Claim 17 (depends on 15) The method of claim 15, wherein calculating the target driving speed includes: calculating the target driving speed based on a minimum value of the second target speed and the third target speed. ### Claim 18 (depends on 15) The method of claim 15, wherein calculating the target driving speed includes: calculating the third target speed as the target driving speed.