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US 12,576,834 B2Granted
Vehicle and method of controlling the same
AssigneesHyundai Motor Company, Kia Corporation
InventorsTae-Geun An, Dae Seok Jeon, Dong Hyun Sung, Sangmin Lee, Hyoungjong Wi, Joon Ho Lee, Eungseo Kim, Yongseok Kwon
Life of this patent
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Abstract
A vehicle includes a camera and radar to detect a target in the external field of view. A controller processes the data to control braking or steering devices. The controller detects a target in an adjacent lane and calculates indexes based on the target's lateral velocity, heading angle, and collision probability. If the indexes meet predetermined values, the controller identifies a cut-in attempt and adjusts avoidance control timing by controlling braking or steering.
Claims14
A vehicle, comprising:
- a camera disposed on the vehicle to have an external field of view of the vehicle and configured to obtain image data for detecting a target in the external field of view;
- a radar disposed on the vehicle to have an external field of view of the vehicle and configured to obtain radar data for detecting the target in the external field of view;
- and
- a controller electrically connected to the camera and the radar and including at least one processor configured to process the image data and the radar data, and controlling at least one of a braking device and a steering device of the vehicle based on a result of the processing;
- wherein the controller is further configured to:
- detect the target in a lane adjacent to the vehicle;
- obtain a first index based on a lateral velocity of the target, a second index based on a heading angle of the target, and a third index based on a possibility of collision of the vehicle with the target, wherein the first index is determined as a predetermined output value when a magnitude of the lateral velocity of the target is equal to or greater than a first reference value, and
- when each of the first index, the second index and the third index corresponds to a predetermined output value, determine a cut-in attempt of the target, and control at least one of the braking device and the steering device for adjusting an avoidance control timing for the target, and
- obtain a collision prediction point which is a center point of the target based on an overall length of the vehicle,
- when a longitudinal distance between a specific point of a front of the vehicle and the collision prediction point is equal to or less than the overall length of the vehicle,
- maintain the avoidance control timing when the collision prediction point is located within the overall length in a first direction with respect to the front of the vehicle, and
- advance the avoidance control timing when the collision prediction point is located within the overall length in a second direction opposite to the first direction with respect to the front of the vehicle,
- wherein the controller is further configured to:
- when at least one of a second plurality of corner points at corners of the target crosses a lane on which the vehicle is traveling and a time (TTIS) at which a first plurality of corner points at corners of the vehicle enters a lane on which the target is traveling is equal to or less than a second reference value, determine the third index as the predetermined output value.
11 more elements
A method of controlling a vehicle, the method comprising:
- detecting, by at least one processor, a target in a lane adjacent to the vehicle;
- obtaining, by the at least one processor, a first index based on a lateral velocity of the target, a second index based on a heading angle of the target and a third index based on a possibility of collision of the vehicle with the target, wherein the first index is determined as a predetermined output value when a magnitude of the lateral velocity of the target is equal to or greater than a first reference value;
- recognizing, by the at least one processor, a cut-in attempt of the target when each of the first index, the second index, and the third index corresponds to a predetermined output value;
- controlling, by the at least one processor, at least one of a braking device and a steering device of the vehicle to adjust an avoidance control timing for the target;
- obtaining, by the at least one processor, a collision prediction point which is a center point of the target based on an overall length of the vehicle;
- when a longitudinal distance between a specific point of a front of the vehicle and the collision prediction point is equal to or less than the overall length of the vehicle,
- maintaining, by the at least one processor, the avoidance control timing when the collision prediction point is located within the overall length in a first direction with respect to a front of the vehicle;
- and
- advancing, by the at least one processor, the avoidance control timing when the collision prediction point is located within the overall length in a second direction opposite to the first direction with respect to the front of the vehicle,
- wherein obtaining the third index based on the possibility of collision of the vehicle with the target further includes:
- when at least one of a second plurality of corner points at corners of the target crosses a lane on which the vehicle is traveling and a time (TTIS) at which a first plurality of corner points at corners of the vehicle enters a lane on which the target is traveling is equal to or less than a second reference value, determining, by the at least one processor, the third index as the predetermined output value.
8 more elements
Dependencies are inferred from the claim text.