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US 12,179,726 B2Granted
Vehicle control apparatus and method
AssigneesHyundai Motor Company, Kia Corporation
InventorsJunho Yang, Byeonghwa Kim
Life of this patent
Estimating the term…
Abstract
A vehicle control apparatus estimates a speed of a surrounding object of a vehicle using a relative speed of the surrounding object, and thus, it is possible to prevent malfunction of the ADAS function and collision of the vehicle with the surrounding object even when the speed of the surrounding object cannot be measured. The vehicle control apparatus controls the vehicle by distinguishing whether a position of the vehicle is a parking lot, and thus, it is possible to prevent the malfunction of the ADAS.
Claims19
A vehicle control apparatus comprising:
- a sensing unit configured to use one or more detectors and one or more cameras to obtain information on a surrounding object of a vehicle;
- a collision risk determination unit configured to determine a collision risk between the vehicle and the surrounding object according to the obtained information;
- and
- a control unit configured to control the vehicle according to a result of the determining of the collision risk determination unit,
- wherein the collision risk determination unit includes:
- a position determination module configured to determine whether a position of the vehicle is in a parking lot according to the obtained information on the surrounding object of the vehicle,
- a speed determination module configured to estimate an absolute speed of the surrounding object based on information of the surrounding object, and
- a collision risk determination module configured to determine a collision risk between the vehicle and the surrounding object based on at least one of a collision prediction time between the vehicle and the surrounding object and a distance between the vehicle and the surrounding object, according to a result of the determining of the position determination module and a result of the estimating of the absolute speed of the surrounding object of the speed determination module,
- wherein when the position of the vehicle is not in the parking lot, the speed determination module is configured to estimate the absolute speed of the surrounding object, and
- wherein when the position of the vehicle is in the parking lot, the collision risk determination module is configured to compare the collision prediction time with a preset time to determine the collision risk between the vehicle and the surrounding object without estimating the absolute speed of the surrounding object.
7 more elements
A vehicle control method comprising:
- using, by a processor, one or more detectors and one or more cameras to obtain information on a surrounding object of a vehicle;
- determining, by the processor, whether a position of the vehicle is in a parking lot according to the obtained information;
- estimating, by the processor, an absolute speed of the surrounding object based on information of the surrounding object when the position of the vehicle is not in the parking lot;
- determining, by the processor, a collision risk between the vehicle and the surrounding object based on at least one of a collision prediction time between the vehicle and the surrounding object and a distance between the vehicle and the surrounding object, according to a result of the determining whether the position of the vehicle is in the parking lot and a result of the estimating of the absolute speed of the surrounding object of the speed determination module;
- and
- controlling, by the processor, the vehicle based on a result of the determining the collision risk,
- wherein the determining of the collision risk includes comparing the collision prediction time with a preset time to determine the collision risk between the vehicle and the surrounding object without estimating the absolute speed of the surrounding object when the position of the vehicle is in the parking lot.
4 more elements
Dependencies are inferred from the claim text.