# US 12,761,864 B2 · Apparatus and method for controlling a vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,761,864 B2 - Document ID: US12761864B2 - Status: Granted - Kind: B2 - Application number: 18/677,498 - Filed: 2024-05-29 - Published: 2025-04-10 - Granted: 2026-10-13 - Earliest claimed: 2023-10-10 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Dong Hoon Lee; Mun Seung Kang; Kug Hun Han; Yo Han Kim - Web page: https://patentgrep.com/patent/US12761864B2 ## CPC - G06F 3/165: {Management of the audio stream, e.g. setting of volume, audio stream path} - A61B 5/4842: {Monitoring progression or stage of a disease} - B60W 50/0097: {Predicting future conditions} - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - G06F 3/013: {Eye tracking input arrangements (G06F3/015 takes precedence)} - G07C 5/0833: {using audio means} - H04R 3/04: for correcting frequency response - B60W 60/001: {Planning or execution of driving tasks} - H04R 2499/13: Acoustic transducers and sound field adaptation in vehicles - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - 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 - G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE - H04R: LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; ELECTRIC HEARING AIDS; PUBLIC ADDRESS SYSTEMS (producing sounds with frequency not determined by supply frequency G10K) ## Abstract An apparatus for controlling a vehicle includes a communication device to receive first driving information of a front vehicle, at least one sensor to obtain second driving information of a host vehicle, and a processor. The processor is configured to generate real behavior information of the host vehicle based on the second driving information, generate predicted behavior information of the host vehicle based on at least one of the first driving information, the second driving information, or any combination thereof, and determine a manner of outputting a sound based on the real behavior information or the predicted behavior information. ## Claims ### Claim 1 An apparatus for controlling a host vehicle, the apparatus comprising: a communication device configured to receive first driving information of a front vehicle; at least one sensor configured to obtain second driving information of the host vehicle; and a processor configured to: generate real behavior information of the host vehicle based on the second driving information; determine a behavior of the front vehicle based on at least one of the first driving information, the second driving information, or any combination thereof; calculate a time point at which the host vehicle performs the behavior of the front vehicle; generate predicted behavior information of the host vehicle including the time point and the behavior of the front vehicle based on at least one of the first driving information, the second driving information, or any combination of the first driving information and the second driving information; determine a manner of outputting a sound based on the real behavior information or the predicted behavior information; output the sound through an output device based on the determined manner of outputting the sound; and determine a state of an occupant based on input information, wherein the input information is input through an input device by the occupant and includes feedback of a motion sickness extent experienced by the occupant. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the processor is configured to generate the real behavior information of the host vehicle by filtering only a behavior in a specific frequency band, which is selected from among the second driving information. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the processor is configured to output the sound through the output device, based on the determined manner of outputting the sound, when the manner of outputting the sound is determined based on the real behavior information of the host vehicle. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the processor is configured to: generate autonomous driving information of the host vehicle based on at least one of the first driving information, the second driving information or any combination thereof; and generate the predicted behavior information of the host vehicle based on the autonomous driving information. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein the processor is configured to: analyze a driving pattern of a driver, based on at least one of the first driving information, the second driving information or any combination thereof; and generate the predicted behavior information of the host vehicle based on the driving pattern of the driver. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the processor is configured to output the sound through the output device based on the determined manner of outputting the sound when the manner of outputting the sound is determined based on the predicted behavior information of the host vehicle. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein the processor is configured to increase an output intensity of the sound and output the sound through the output device based on the determined manner of outputting the sound, when a gaze of the occupant is determined to be directed to inside of the host vehicle based on information about the occupant obtained from a camera. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein the processor is configured to: determine that the manner of outputting the sound includes outputting the sound in an inaudible frequency band; and output the sound in the inaudible frequency band through the output device based on the determined manner of outputting the sound. ### Claim 9 (depends on 1) The apparatus of claim 1, wherein the processor is configured to: receive feedback of the motion sickness extent from the occupant through the input device; calculate a score of the motion sickness extent; shift the sound previously set to be in an inaudible frequency band to an audible frequency band when the calculated score of the motion sickness extent is determined as exceeding a reference value; increase an output intensity; determine that the manner of outputting the sound includes outputting the sound in the audible frequency band; and output the sound through the output device based on the determined manner of outputting the sound. ### Claim 10 A method for controlling a host vehicle, the method comprising: receiving first driving information of a front vehicle; obtaining second driving information of the host vehicle; generating real behavior information of the host vehicle based on the second driving information; generating predicted behavior information of the host vehicle based on at least one of the first driving information, the second driving information, or any combination thereof; determining a manner of outputting a sound based on the real behavior information or the predicted behavior information; outputting the sound through an output device based on the determined manner of outputting the sound; and determining a state of an occupant based on input information, wherein the input information is input through an input device by the occupant and includes feedback of a motion sickness extent experienced by the occupant, wherein generating the real behavior information of the host vehicle includes: determining a behavior of the front vehicle based on at least one of the first driving information, the second driving information, or any combination thereof; calculating a time point at which the host vehicle performs the behavior of the front vehicle; and generating the predicted behavior information including the time point and the behavior of the front vehicle. ### Claim 11 (depends on 10) The method of claim 10, wherein generating the real behavior information of the host vehicle includes generating the real behavior information of the host vehicle by filtering only a behavior in a specific frequency band, which is selected from among the second driving information. ### Claim 12 (depends on 10) The method of claim 10, further comprising: outputting the sound through the output device, based on the determined manner of outputting the sound, when the manner of outputting the sound is determined based on the real behavior information of the host vehicle. ### Claim 13 (depends on 10) The method of claim 10, wherein generating the real behavior information of the host vehicle includes: generating autonomous driving information of the host vehicle based on at least one of the first driving information, the second driving information, or any combination thereof; and generating the predicted behavior information of the host vehicle based on the autonomous driving information. ### Claim 14 (depends on 10) The method of claim 10, wherein generating the real behavior information of the host vehicle includes: analyzing a driving pattern of a driver based on at least one of the first driving information, the second driving information, or any combination thereof; and generating the predicted behavior information of the host vehicle based on the driving pattern of the driver. ### Claim 15 (depends on 10) The method of claim 10, further comprising: outputting the sound through the output device based on the determined manner of outputting the sound, when the manner of outputting the sound is determined based on the predicted behavior information of the host vehicle. ### Claim 16 (depends on 10) The method of claim 10, further comprising: increasing an output intensity of the sound; and outputting the sound through the output device in the determined manner of outputting the sound, when a gaze of the occupant is determined to be directed to inside the host vehicle based on information about the occupant obtained from a camera. ### Claim 17 (depends on 10) The method of claim 10, wherein: the determined manner includes outputting the sound in an inaudible frequency band; and the method further comprises outputting the sound in the inaudible frequency band through the output device based on the determined manner of outputting the sound. ### Claim 18 (depends on 10) The method of claim 10, further comprising: receiving feedback of the motion sickness extent from the occupant through the input device; calculating a score of the motion sickness extent; shifting the sound previously set to be in an inaudible frequency band to an audible frequency band when the calculated score of the motion sickness extent is determined as exceeding a reference value; increasing an output intensity; determining that the manner of outputting the sound includes outputting the sound in the audible frequency band; and outputting the sound through the output device based on the determined manner of outputting the sound.