# US 12,759,539 B2 · Vehicle and method of controlling the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,759,539 B2 - Document ID: US12759539B2 - Status: Granted - Kind: B2 - Application number: 18/189,755 - Filed: 2023-03-24 - Published: 2023-11-16 - Granted: 2026-10-13 - Earliest claimed: 2022-05-11 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Sangmin Lee; Dae Seok Jeon; Dong Hyun Sung; Tae-Geun An; Hyoungjong Wi; Joon Ho Lee; Eungseo Kim; Yongseok Kwon - Web page: https://patentgrep.com/patent/US12759539B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract A vehicle includes a camera configured to capture an outside of the vehicle, a radar configured to detect an object outside the vehicle, and a controller configured to acquire a virtual path of the vehicle based on image data output from the camera and radar data output from the radar and perform forward collision-avoidance braking based on maintaining a time in which the object intersects the virtual path of the vehicle. ## Claims ### Claim 1 A vehicle comprising: a camera configured to capture an outside of the vehicle; a radar configured to detect an object outside of the vehicle; and a controller configured to: acquire a virtual path of the vehicle based on image data from the camera and radar data from the radar, perform forward collision-avoidance braking based on a time for the object to intersect the virtual path of the vehicle, and block, based on a traveling straightness of the vehicle being less than a certain level, a forward collision-avoidance assist (FCA) function from being performed, wherein the controller is configured to, based on (i) a lane line being detected, (ii) the object intersecting a lane being detected while the vehicle travels at a center of the lane between lane lines, and (iii) a time for the object to intersect the lane of the vehicle being less than or equal to a certain time and being maintained for greater than or equal to a preset second time, increase an amount of braking of a braking device. ### Claim 2 (depends on 1) The vehicle of claim 1, wherein the controller is configured to: determine a first index indicating the traveling straightness of the vehicle based on at least one of a steering angle of the vehicle, a yaw rate of the vehicle, or a lateral movement amount of the vehicle, determine, based on the traveling straightness of the vehicle being greater than or equal to the certain level, the first index as one, and determine, based on the traveling straightness of the vehicle being less than the certain level, the first index as zero. ### Claim 3 (depends on 2) The vehicle of claim 2, wherein the controller is configured to: determine a second index indicating traveling straightness of the object based on at least one of a heading angle of the object or a lateral position of the object with respect to the vehicle, determine, based on the traveling straightness of the object being greater than or equal to a certain level, the second index as one, and determine, based on the traveling straightness of the object being less than the certain level, the second index as zero. ### Claim 4 (depends on 3) The vehicle of claim 3, wherein the controller is configured to: determine, based on (i) a first condition, in which the time for the object to intersect the virtual path of the vehicle is less than or equal to a certain time and is maintained for greater than or equal to a preset first time, being satisfied and (ii) a second condition, in which an area of a lateral overlap region where the virtual path of the vehicle overlaps a virtual path of the object is greater than or equal to a preset size, being satisfied, a third index as one, the third index indicating possibility of collision between the vehicle and the object, and determine, based on at least one of the first condition or the second condition not being satisfied, the third index as zero. ### Claim 5 (depends on 4) The vehicle of claim 4, wherein the controller is configured to, based on at least one of the first index, the second index, or the third index being zero, block the FCA function from being performed. ### Claim 6 (depends on 4) The vehicle of claim 4, wherein the controller is configured to set the preset second time to be greater than the preset first time. ### Claim 7 (depends on 1) The vehicle of claim 1, wherein the controller is configured to: determine, based on the object intersecting the lane being detected while the vehicle travels at the center of the lane, a fourth index as one, and determine, based on the object intersecting the lane not being detected, the fourth index as zero. ### Claim 8 (depends on 7) The vehicle of claim 7, wherein the controller is configured to: determine, based on (i) a third condition, in which the vehicle and the object are positioned on a same lane for time greater than or equal to a certain time, being satisfied and (ii) a fourth condition, in which the time for the object to intersect the lane of the vehicle is less than or equal to the certain time and is greater than or equal to the preset second time, being satisfied, a fifth index as one, the fifth index indicating possibility of collision between the vehicle and the object, and determine, based on at least one of the third condition or the fourth condition not being satisfied, the fifth index as zero. ### Claim 9 (depends on 8) The vehicle of claim 8, wherein the controller is configured to, based on at least one of the fourth index or the fifth index being zero, output the amount of braking as a pre-stored amount. ### Claim 10 A method of controlling a vehicle, comprising: acquiring a virtual path of the vehicle based on image data from a camera and radar data from a radar; performing forward collision-avoidance braking based on a time for an object to intersect the virtual path of the vehicle; blocking, based on a traveling straightness of the vehicle being less than a certain level, a forward collision-avoidance assist (FCA) function from being performed; and increasing, based on (i) a lane line being detected, (ii) the object intersecting a lane being detected while the vehicle travels at a center of the lane between lane lines, and (iii) a time for the object to intersect the lane of the vehicle being less than or equal to a certain time and being maintained for greater than or equal to a preset second time, an amount of braking of a braking device. ### Claim 11 (depends on 10) The method of claim 10, further comprising: determining a first index indicating the traveling straightness of the vehicle based on at least one of a steering angle of the vehicle, a yaw rate of the vehicle, or a lateral movement amount of the vehicle; determining, based on the traveling straightness of the vehicle being greater than or equal to the certain level, the first index as one; and determining, based on the traveling straightness of the vehicle being less than the certain level, the first index as zero. ### Claim 12 (depends on 11) The method of claim 11, further comprising: determining a second index indicating traveling straightness of the object based on at least one of a heading angle of the object or a lateral position of the object with respect to the vehicle; determining, based on the traveling straightness of the object being greater than or equal to a certain level, the second index as one; and determining, based on the traveling straightness of the object being less than the certain level, the second index as zero. ### Claim 13 (depends on 12) The method of claim 12, further comprising: determining, based on (i) a first condition, in which the time for the object to intersect the virtual path of the vehicle is less than or equal to a certain time and is maintained for greater than or equal to a preset first time, being satisfied and (ii) a second condition, in which an area of a lateral overlap region where the virtual path of the vehicle overlaps a virtual path of the object is greater than or equal to a preset size, being satisfied, a third index as one, the third index indicating possibility of collision between the vehicle and the object; and determining, based on at least one of the first condition or the second condition not being satisfied, the third index as zero. ### Claim 14 (depends on 13) The method of claim 13, further comprising blocking, based on at least one of the first index, the second index, or the third index being zero, the FCA function from being performed. ### Claim 15 (depends on 13) The method of claim 13, wherein the preset second time is set to be greater than the preset first time. ### Claim 16 (depends on 10) The method of claim 10, further comprising: determining, based on the object intersecting the lane being detected while the vehicle travels at the center of the lane, a fourth index as one; and determining, based on the object intersecting the lane not being detected, the fourth index as zero. ### Claim 17 (depends on 16) The method of claim 16, further comprising: determining, based on (i) a third condition, in which the vehicle and the object are positioned on a same lane for greater than or equal to a certain time, being satisfied and (ii) a fourth condition, in which the time for the object to intersect the lane of the vehicle is less than or equal to the certain time and is greater than or equal to the preset second time, being satisfied, a fifth index as one, the fifth index indicating possibility of collision between the vehicle and the object; and determining, based on at least one of the third condition or the fourth condition not being satisfied, the fifth index as zero. ### Claim 18 (depends on 17) The method of claim 17, further comprising outputting, based on at least one of the fourth index or the fifth index being zero, the amount of braking as a pre-stored amount.