# US 12,179,839 B2 · Driving assistance 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 12,179,839 B2 - Document ID: US12179839B2 - Status: Granted - Kind: B2 - Application number: 17/806,536 - Filed: 2022-06-13 - 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: Yun Sik Kim - Web page: https://patentgrep.com/patent/US12179839B2 ## CPC - B62D 15/028: {Guided parking by providing commands to the driver, e.g. acoustically or optically} - B60K 35/213: {Virtual instruments} - B60K 35/22: Display screens - B60K 35/23: Head-up displays [HUD] (optical aspects of head-up displays G02B27/01) - B60K 35/28: characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver - B62D 5/0481: {monitoring the steering system, e.g. failures} - B62D 6/002: {computing target steering angles for front or rear wheels (B62D7/159 takes precedence)} - B62D 15/0275: {by overlaying a vehicle path based on present steering angle over an image without processing that image} - B62D 15/0285: {Parking performed automatically} - B60K 35/60: Instruments characterised by their location or relative disposition in or on vehicles (arrangements of lighting devices on dashboards B60Q3/10) - B60K 2360/1523: Matrix displays - B60K 2360/166: Navigation - B60K 2360/171: Vehicle or relevant part thereof displayed - B60K 2360/179: Distances to obstacles or vehicles - 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) - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES ## Abstract An embodiment driving assistance apparatus includes a sensor unit configured to search surroundings of a vehicle using one or more sensors, a steering device configured to control a traveling direction of the vehicle, a control unit configured to calculate a target trajectory of the vehicle using searching information received from the sensor unit and to calculate an expected trajectory of the vehicle based on a steering angle of the steering device, and an output unit configured to display the target trajectory and the expected trajectory for a driver, the display designed to assist a steering operation of the driver. ## Claims ### Claim 1 A driving assistance apparatus comprising: a sensor unit configured to search surroundings of a vehicle using one or more sensors; a steering device configured to control a traveling direction of the vehicle; a control unit configured to calculate a target trajectory of the vehicle using searching information received from the sensor unit and to calculate an expected trajectory of the vehicle based on a steering angle of the steering device; and a head-up display (HUD) configured to display the target trajectory and the expected trajectory for a driver, the display designed to assist a steering operation of the driver, wherein the HUD comprises: a virtual steering wheel; a steering assistance unit displayed outside of the virtual steering wheel and configured as a gradient bar to visually guide from current steering to target steering of the vehicle in order to guide the vehicle along the target trajectory from the current steering of the vehicle; and a steering guide unit displayed as a vertical bar connected to the steering assistance unit and configured to indicate the current steering of the vehicle. ### Claim 2 (depends on 1) The driving assistance apparatus of claim 1, wherein the HUD is configured to display light around the outside of the virtual steering wheel in response to the steering guide unit matching with the target steering of the steering assistance unit. ### Claim 3 (depends on 1) The driving assistance apparatus of claim 1, wherein the HUD is configured to display a color of the steering assistance unit connected to the steering guide unit on the steering guide unit. ### Claim 4 (depends on 1) The driving assistance apparatus of claim 1, wherein the control unit is configured to determine a target parking space of the vehicle using the searching information and to calculate the target trajectory of the vehicle. ### Claim 5 (depends on 1) The driving assistance apparatus of claim 1, wherein the control unit is configured to calculate a non-collision trajectory of the vehicle in a driving situation using the searching information and to calculate the target trajectory of the vehicle. ### Claim 6 (depends on 1) The driving assistance apparatus of claim 1, wherein the control unit is configured to continuously display the expected trajectory of the vehicle according to a change of the steering angle of the steering device. ### Claim 7 A driving assistance method comprising: searching surroundings of a vehicle using one or more sensors to generate searching information; calculating a target trajectory of the vehicle using the searching information; calculating an expected trajectory of the vehicle based on a steering angle of a steering device; and displaying the target trajectory and the expected trajectory on a head-up display (HUD), the displaying designed to assist steering by a driver, wherein the displaying comprises displaying a virtual steering wheel, a steering assistance unit displayed outside of the virtual steering wheel as a gradient bar to visually guide from current steering to target steering of the vehicle in order to guide the vehicle along the target trajectory from the current steering of the vehicle, and a steering guide unit displayed as a vertical bar connected to the steering assistance unit to indicate the current steering of the vehicle. ### Claim 8 (depends on 7) The driving assistance method of claim 7, further comprising displaying light around the outside of the virtual steering wheel in response to the steering guide unit matching with the target steering of the steering assistance unit. ### Claim 9 (depends on 7) The driving assistance method of claim 7, further comprising displaying a color of the steering assistance unit connected to the steering guide unit on the steering guide unit. ### Claim 10 (depends on 7) The driving assistance method of claim 7, wherein calculating the target trajectory of the vehicle comprises determining a target parking space of the vehicle using the searching information to calculate the target trajectory of the vehicle. ### Claim 11 (depends on 7) The driving assistance method of claim 7, wherein calculating the target trajectory of the vehicle comprises calculating a non-collision trajectory of the vehicle in a driving situation using the searching information to calculate the target trajectory of the vehicle. ### Claim 12 (depends on 7) The driving assistance method of claim 7, wherein displaying the target trajectory and the expected trajectory for the driver comprises continuously displaying the expected trajectory of the vehicle according to a change of the steering angle of the steering device. ### Claim 13 A driving assistance apparatus comprising: a sensor unit configured to search surroundings of a vehicle using one or more sensors, the sensor unit including a camera and an ultrasonic sensor; a steering device configured to control a traveling direction of the vehicle; a control unit configured to calculate a target trajectory of the vehicle using searching information received from the sensor unit and to calculate an expected trajectory of the vehicle based on a steering angle of the steering device; and a head-up display (HUD) configured to display the target trajectory and the expected trajectory for a driver, the display designed to assist a steering operation of the driver, wherein the HUD comprises: a virtual steering wheel; a steering assistance unit displayed outside of the virtual steering wheel and configured as a gradient bar to visually guide from current steering to target steering of the vehicle in order to guide the vehicle along the target trajectory from the current steering of the vehicle; and a steering guide unit displayed as a vertical bar connected to the steering assistance unit and configured to indicate the current steering of the vehicle. ### Claim 14 (depends on 13) The driving assistance apparatus of claim 13, wherein the HUD is configured to display light around the outside of the virtual steering wheel in response to the steering guide unit matching with the target steering of the steering assistance unit. ### Claim 15 (depends on 13) The driving assistance apparatus of claim 13, wherein the HUD is configured to display a color of the steering assistance unit connected to the steering guide unit on the steering guide unit. ### Claim 16 (depends on 13) The driving assistance apparatus of claim 13, wherein the control unit is configured to determine a target parking space of the vehicle using the searching information and to calculate the target trajectory of the vehicle. ### Claim 17 (depends on 13) The driving assistance apparatus of claim 13, wherein the control unit is configured to calculate a non-collision trajectory of the vehicle in a driving situation using the searching information and to calculate the target trajectory of the vehicle. ### Claim 18 (depends on 13) The driving assistance apparatus of claim 13, wherein the control unit is configured to continuously display the expected trajectory of the vehicle according to a change of the steering angle of the steering device.