# US 12,179,726 B2 · Vehicle control apparatus and method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,179,726 B2 - Document ID: US12179726B2 - Status: Granted - Kind: B2 - Application number: 17/894,287 - Filed: 2022-08-24 - Published: 2023-07-13 - Granted: 2024-12-31 - Earliest claimed: 2022-01-10 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Junho Yang; Byeonghwa Kim - Web page: https://patentgrep.com/patent/US12179726B2 ## CPC - B60T 7/22: initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle} - B60Q 9/008: {for anti-collision purposes} - G08G 1/052: with provision for determining speed or overspeed {(speed measuring in general G01P)} - G08G 1/165: {for passive traffic, e.g. including static obstacles, trees} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G08G 1/168: {Driving aids for parking, e.g. acoustic or visual feedback on parking space} - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL - 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 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The vehicle control apparatus of claim 1, wherein the collision risk determination unit further includes a speed determination module configured to estimate a speed of the surrounding object based on the obtained information on the surrounding object, and wherein the speed determination unit is further configured to estimate the speed of the surrounding object when the position of the vehicle is not in the parking lot. ### Claim 3 (depends on 2) The vehicle control apparatus of claim 2, wherein the sensing unit obtains relative position information of the surrounding object based on the vehicle, and wherein the speed determination unit is further configured to estimate the speed of the surrounding object based on the relative position information. ### Claim 4 (depends on 3) The vehicle control apparatus of claim 3, wherein the speed determination unit is further configured to convert the relative position information into absolute position information of the surrounding object and configured to estimate the speed of the surrounding object using the absolute position information. ### Claim 5 (depends on 2) The vehicle control apparatus of claim 2, wherein the speed determination unit is further configured to determine whether the surrounding object is stationary based on the speed of the surrounding object, and wherein the collision risk determination module is further configured to compare the collision prediction time with a preset time to determine the collision risk between the vehicle and the surrounding object when the surrounding object is stationary. ### Claim 6 (depends on 5) The vehicle control apparatus of claim 5, wherein the speed determination unit is further configured to determine that the surrounding object is stationary when the speed of the surrounding object is maintained at a stationary determination reference speed or less than the stationary determination reference speed for a stationary determination reference time. ### Claim 7 (depends on 2) The vehicle control apparatus of claim 2, wherein the speed determination unit is further configured to determine whether the surrounding object is stationary based on the speed of the surrounding object, and wherein the collision risk determination module is further configured to compare the distance between the vehicle and the surrounding object with a preset time to determine the collision risk when the surrounding object is not stationary. ### Claim 8 (depends on 7) The vehicle control apparatus of claim 7, wherein the speed determination unit is further configured to determine that the surrounding object is not stationary when the speed of the surrounding object exceeds a stationary determination reference speed or the speed of the surrounding object is not maintained at the stationary determination reference speed or less than the stationary determination reference speed for a stationary determination reference time. ### Claim 9 (depends on 1) The vehicle control apparatus of claim 1, 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. ### Claim 10 (depends on 1) The vehicle control apparatus of claim 1, wherein the control unit is configured to provide a collision warning to an occupant of the vehicle and is configured to apply emergency braking to the vehicle when the collision risk determination unit concludes that there is the collision risk between the vehicle and the surrounding object. ### Claim 11 (depends on 1) The vehicle control apparatus of claim 1, wherein the position determination module is configured to determine whether the position of the vehicle is in the parking lot based on information on at least one of a lane, a parking line, a vehicle stopper, a pillar, a pedestrian, and another vehicle around the vehicle. ### Claim 12 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. ### Claim 13 (depends on 12) The vehicle control method of claim 12, wherein the estimating of the absolute speed of the surrounding object includes converting relative position information of the surrounding object into absolute position information of the surrounding object and estimating the absolute speed of the surrounding object using the absolute position information. ### Claim 14 (depends on 12) The vehicle control method of claim 12, wherein the determining of the collision risk includes: comparing the collision prediction time with a preset time to determine the collision risk when the surrounding object is stationary based on the absolute speed of the surrounding object. ### Claim 15 (depends on 14) The vehicle control method of claim 14, wherein the surrounding object is determined to be stationary when the absolute speed of the surrounding object is maintained at a stationary determination reference speed or less than the stationary determination reference speed for a stationary determination reference time. ### Claim 16 (depends on 12) The vehicle control method of claim 12, wherein the determining of the collision risk includes: comparing the distance between the vehicle and the surrounding object with the preset time to determine the collision risk when the surrounding object is not stationary. ### Claim 17 (depends on 16) The vehicle control method of claim 16, wherein the surrounding object is determined not to be stationary when the absolute speed of the surrounding object exceeds a stationary determination reference speed or the absolute speed of the surrounding object is not maintained at the stationary determination reference speed or less than the stationary determination reference speed for a stationary determination reference time. ### Claim 18 (depends on 12) The vehicle control method of claim 12, wherein the determining of whether the position of the vehicle is in the parking lot includes: determining whether the position of the vehicle is in the parking lot based on information on at least one of a lane, a parking line, a vehicle stopper, a pillar, a pedestrian, and another vehicle around the vehicle. ### Claim 19 (depends on 12) A non-transitory computer readable storage medium on which a program for performing the vehicle control method of claim 12 is recorded.