# US 2019/0315367 A1 · Apparatus and method for providing driving path in vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0315367 A1 - Document ID: US20190315367A1 - Status: Published application - Kind: A1 - Application number: 16/378,203 - Filed: 2019-04-08 - Published: 2019-10-17 - Earliest claimed: 2018-04-11 - Assignees: Hyundai Motor Company; Kia Motors Corporation - Applicants: Hyundai Motor Company; Kia Motors Corporation - Inventors: Doo Jin UM; Hoi Won KIM; Beom Jun KIM; Dae Young KIM; Chan II PARK; Jin Su JEONG; Dong Eon OH - Web page: https://patentgrep.com/patent/US20190315367A1 ## CPC - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 30/10: Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)} - B60W 30/12: Lane keeping - B60W 50/087: {where the control system corrects or modifies a request from the driver} - B60W 50/10: Interpretation of driver requests or demands - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - B60W 2050/0068: {Giving intention of direction, e.g. by indicator lights, steering input} - B60W 2510/202: Steering torque - B60W 2510/205: Steering speed - B60W 2520/12: Lateral speed - B60W 2520/125: Lateral acceleration - B60W 2540/18: Steering angle - B60W 2540/20: Direction indicator values - B60W 2554/00: Input parameters relating to objects - B60W 2554/20: Static objects - 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 - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract An apparatus for providing a traveling in a vehicle is provided. The apparatus includes a plurality of sensors configured to obtain information about the vehicle and information about an external object, a steering device, an input device configured to receive a lane change command from a driver of the vehicle, and a control circuit configured to be electrically connected with the one or more sensors, the steering device, and the input device. The control circuit is configured to control the vehicle to travel along a deviated path in a driving path of the vehicle based on at least one of the information obtained by the plurality of sensors or an operation of the steering device, to complete a lane change, and to control the vehicle to travel along a deviated path in a target lane of the changed lane in response to the received lane change command. ## Claims ### Claim 1 An apparatus for providing a driving path in a vehicle, the apparatus comprising: a plurality of sensors configured to obtain information regarding the vehicle and information regarding an external object; a steering device; an input device configured to receive a lane change command from a driver of the vehicle; and a control circuit electrically connected with the plurality of sensors, the steering device, and the input device and configured to: control the vehicle to travel along a deviated path in a driving path of the vehicle based on at least one of the information regarding the vehicle, the information regarding the external object, or an operation of the steering device; and control the vehicle to complete a lane change and travel along the deviated path in a target lane of the changed lane in response to the received lane change command when the vehicle travels along the deviated path in the driving path. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the control circuit is further configured to: determine an intention of the driver to perform a deviated driving based on the operation of the steering device; and generate the deviated path in the target lane in response to the received lane change command when the driver is determined to intend to perform the deviated driving. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein the control circuit is configured to determine that the driver intends to perform the deviated driving when: a steering torque greater than a first predetermined value is generated at a first predetermined time; and the vehicle is away from a center of the driving lane at a distance greater than a predetermined distance. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the control circuit is further configured to: determine the intention of the driver to perform the deviated driving based on the operation of the steering device; and generate a lane center path in the target lane in response to the received lane change command when the driver is determined not to intend to perform the deviated driving. ### Claim 5 (depends on 4) The apparatus of claim 4, wherein the control circuit is configured to determine that the driver does not intend to perform the deviated driving when: the steering torque less than or equal to the first predetermined value is generated at the first predetermined time; and the vehicle is away from the center of the driving lane at the distance greater than the predetermined distance. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the control circuit is further configured to: generate the deviated path in the target lane such that the vehicle is away from the external object when the external object is detected in a specified area of a lane adjoining to the target lane. ### Claim 7 (depends on 6) The apparatus of claim 6, wherein the control circuit is configured to: determine whether to generate the deviated path in the target lane after the vehicle enters the target lane. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein the control circuit is further configured to: control the vehicle to travel along the lane center path in the target lane when a lateral position error is greater than a second predetermined value at a second predetermined time. ### Claim 9 (depends on 1) The apparatus of claim 1, wherein the control circuit is further configured to: control the vehicle to travel along the lane center path in the target lane when a lateral acceleration of the vehicle is greater than a third predetermined value. ### Claim 10 (depends on 1) The apparatus of claim 1, wherein the control circuit is further configured to: when a following vehicle approaches the vehicle from the lane adjoining to the target lane, control the vehicle to travel along the lane center path in the target lane until the following vehicle passes the vehicle; and control the vehicle to travel along the deviated path in the target lane after the following vehicle passes the vehicle. ### Claim 11 A method for providing a driving path in a vehicle, the method comprising: controlling, with a control circuit, the vehicle to travel along a deviated path in a driving path of the vehicle based on at least one of information regarding the vehicle, information regarding an external object, or an operation of a steering device of the vehicle; and controlling, with the control circuit, the vehicle to complete a lane change and travel along the deviated path in a target lane of the changed lane in response to a lane change command received from a driver of the vehicle when the vehicle travels along the deviated path in the driving path. ### Claim 12 (depends on 11) The method of claim 11, wherein the method further comprises: determining, with the control circuit, an intention of the driver to perform a deviated driving based on the operation of the steering device; and when it is determined that the driver intends to perform the deviated driving, generating, with the control circuit, the deviated path in the target lane in response to the received lane change command. ### Claim 13 (depends on 12) The method of claim 12, wherein the method further comprises: when it is determined that the driver does not intend to perform the deviated driving, generating, with the control circuit, a lane center path in the target lane in response to the received lane change command. ### Claim 14 (depends on 11) The method of claim 11, wherein controlling the vehicle to travel along the deviated path in the target lane comprises: when the external object is detected in a specified area of a lane adjoining to the target lane, generating, with the control circuit, the deviated path in the target lane such that the vehicle is away from the external object. ### Claim 15 (depends on 11) The method of claim 11, wherein the method further comprises: when a lateral position error is greater than a first predetermined value at a first predetermined time, controlling, with the control circuit, the vehicle to travel along the lane center path in the target lane. ### Claim 16 (depends on 11) The method of claim 11, wherein the method further comprises: when a lateral acceleration of the vehicle is greater than a second predetermined value, controlling, with the control circuit, the vehicle to travel along the lane center path in the target lane. ### Claim 17 (depends on 11) The method of claim 11, wherein controlling the vehicle to travel along the deviated path in the target lane comprises: when a following vehicle approaches the vehicle from the lane adjoining to the target lane, controlling, with the control circuit, the vehicle to travel along the lane center path in the target lane until the following vehicle passes the vehicle; and controlling, with the control circuit, the vehicle to travel along the deviated path in the target lane after the following vehicle passes the vehicle.