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US 12,715,473 B2Granted
Vehicle and control method thereof
AssigneesHyundai Motor Company, Kia Corporation
InventorJeongmin Cho
Life of this patent
Estimating the term…
Abstract
Described herein is a vehicle and a control method thereof. The vehicle includes a maneuver sensor provided to obtain maneuver data of the vehicle, a vehicle environment sensor provided to obtain lane information of a road on which the vehicle is traveling, and a controller electrically connected to the vehicle environment sensor, wherein the controller predicts a first trajectory of the vehicle based on a physics-based model using the maneuver data, predicts a second trajectory of the vehicle based on a maneuver-based model using the maneuver data and the lane information, and predicts a final trajectory of the vehicle based on the first trajectory and the second trajectory.
Claims15
A vehicle including:
- a maneuver sensor provided to obtain maneuver data of the vehicle;
- a vehicle environment sensor provided to obtain lane information of a road on which the vehicle is traveling;
- a steering device provided to change the traveling direction of the vehicle;
- a braking device provided to stop the vehicle;
- an accelerator provided to move the vehicle;
- and
- a controller electrically connected to the vehicle environment sensor, the steering device, the braking device and the accelerator,
- wherein the controller predicts a first trajectory of the vehicle based on a physics-based model using the maneuver data, predicts a second trajectory of the vehicle based on a maneuver-based model using the maneuver data and the lane information, and predicts a final trajectory of the vehicle based on the first trajectory and the second trajectory;
- wherein the controller is configured to apply a weighting to the first trajectory and the second trajectory based on an integrated model integrating the physics-based model and the maneuver-based model, and predict the final trajectory based on trajectories to which the weighting is applied;
- wherein the controller is configured to apply a weighting to the first trajectory and the second trajectory depending on prediction time for predicting the trajectory of the vehicle, and predict the final trajectory based on the first trajectory and the second trajectory to which the weighting is applied;
- wherein the controller is configured to predict the first trajectory as the final trajectory in a first prediction time interval, predict the final trajectory by applying the weighting to the first trajectory and the second trajectory in a second prediction time interval set longer than the first prediction time interval, and predict the second trajectory as the final trajectory in a third prediction time interval set longer than the second prediction time interval;
- wherein the controller is configured to generate a final trajectory by connecting the final trajectory determined in the first prediction time interval, the final trajectory determined in the second prediction time interval and the final trajectory determined in the third prediction time interval;
- and
- wherein the controller is configured to control the steering device, the braking device and the accelerator based on the final trajectory.
11 more elements
A control method of a vehicle including:
- obtaining maneuver data of the vehicle;
- obtaining lane information of a road on which the vehicle is traveling;
- predicting a first trajectory of the vehicle based on a physics-based model using the maneuver data;
- predicting a second trajectory of the vehicle based on a maneuver-based model using the maneuver data and the lane information;
- and
- predicting a final trajectory of the vehicle based on the first trajectory and the second trajectory,
- wherein the predicting of the final trajectory of the vehicle includes:
- applying a weighting to the first trajectory and the second trajectory based on an integrated model integrating the physics-based model and the maneuver-based model;
- predicting the final trajectory based on trajectories to which the weighting is applied;
- applying a weighting to the first trajectory and the second trajectory depending on prediction time for predicting the trajectory of the vehicle;
- predicting the final trajectory based on the first trajectory and the second trajectory to which the weighting is applied;
- predicting the first trajectory as the final trajectory in a first prediction time interval;
- predicting the final trajectory by applying the weighting to the first trajectory and the second trajectory in a second prediction time interval set longer than the first prediction time interval;
- predicting the second trajectory since the final trajectory in a third prediction time interval set longer than the second prediction time interval;
- and
- generating a final trajectory by connecting the final trajectory determined in the first prediction time interval, the final trajectory determined in the second prediction time interval and the final trajectory determined in the third prediction time interval,
- wherein the control method of the vehicle including:
- changing the traveling direction of the vehicle by a steering wheel;
- stopping the vehicle by a braking device;
- moving the vehicle by an accelerator;
- and
- controlling the steering device, the braking device and the accelerator based on the final trajectory.
19 more elements
Dependencies are inferred from the claim text.