# US 2024/0199007 A1 · Device and Method for Controlling Vehicle

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- Number: US 2024/0199007 A1
- Document ID: US20240199007A1
- Status: Published application
- Kind: A1
- Application number: 18/214,095
- Filed: 2023-06-26
- Published: 2024-06-20
- Earliest claimed: 2022-12-14
- Assignees: Hyundai Motor Company; Kia Corporation
- Applicants: Hyundai Motor Company; Kia Corporation
- Inventors: Il Hwan Kim
- Web page: https://patentgrep.com/patent/US20240199007A1

## CPC

- B60W 30/095: Predicting travel path or likelihood of collision
- 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 30/12: Lane keeping
- B60W 40/04: Traffic conditions
- B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention
- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection}
- B60W 2420/54: Audio sensitive means, e.g. ultrasound
- B60W 2554/402: Type
- B60W 2554/4044: Direction of movement, e.g. backwards
- B60W 2554/4045: Intention, e.g. lane change or imminent movement
- B60W 2556/40: High definition maps
- B60W 2720/24: Direction of travel
- 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

A device for controlling a host vehicle includes a sensor for obtaining sound associated with a target vehicle, and a controller configured to determine, based on the sound associated with the target vehicle, an estimated path of the target vehicle, determine, based on a map of an area associated with the host vehicle, road information associated with the estimated path of the target vehicle, determine, based on the road information, whether the target vehicle is anticipated to merge onto a route of the host vehicle, and, based on a determination that the target vehicle is anticipated to merge onto the route of the host vehicle, cause the host vehicle to take an evasive action.

## Claims

### Claim 1

A device for controlling a host vehicle, the device comprising:
a sensor for obtaining sound associated with a target vehicle; and
a controller configured to:
determine, based on the sound associated with the target vehicle, an estimated path of the target vehicle;
determine, based on a map of an area associated with the host vehicle, road information associated with the estimated path of the target vehicle;
determine, based on the road information, whether the target vehicle is anticipated to merge onto a route of the host vehicle; and
based on a determination that the target vehicle is anticipated to merge onto the route of the host vehicle, cause the host vehicle to take an evasive action.

### Claim 2 (depends on 1)

The device of claim 1, wherein the controller is configured to determine the estimated path based on the host vehicle being in an ignition on state or a power on state.

### Claim 3 (depends on 1)

The device of claim 1, wherein the controller is further configured to determine that a second target vehicle is not anticipated to merge onto the route of the host vehicle based on a determination that:
a direction of an estimated path of the second target vehicle and a moving direction of the host vehicle are different from each other,
the estimated path of the second target vehicle is approaching the host vehicle, and
the estimated path of the second target vehicle is, according to the map, located on an overpass.

### Claim 4 (depends on 1)

The device of claim 1, wherein the controller is further configured to determine that a second target vehicle is not anticipated to merge onto the route of the host vehicle based on a determination that:
a direction of an estimated path of the second target vehicle and a moving direction of the host vehicle are different from each other,
the estimated path of the second target vehicle is approaching the host vehicle, and
a road corresponding to the estimated path of the second target vehicle, according to the map, lacks an adjoining section.

### Claim 5 (depends on 1)

The device of claim 1, wherein the controller is further configured to determine that the target vehicle is anticipated to merge onto the route of the host vehicle based on a determination that:
a direction of the estimated path of the target vehicle and a moving direction of the host vehicle are different from each other,
the estimated path of the target vehicle approaches the host vehicle,
a road corresponding to the estimated path of the target vehicle comprises an adjoining section, and
a curvature of the estimated path of the target vehicle, according to the map, matches a curvature of the road corresponding to the estimated path of the target vehicle.

### Claim 6 (depends on 1)

The device of claim 1, wherein the controller is further configured to output a message based on a determination that a second target vehicle is not anticipated to merge onto the route of the host vehicle.

### Claim 7 (depends on 6)

The device of claim 6, wherein the controller is configured to control, based on a determination that the second target vehicle is not anticipated to merge onto the route of the host vehicle, a driving assistance function of the host vehicle to cause the host vehicle to remain within a traveling lane of the host vehicle.

### Claim 8 (depends on 1)

The device of claim 1, wherein the controller is configured to output a message based on a determination that the target vehicle is anticipated to merge onto the route of the host vehicle.

### Claim 9 (depends on 8)

The device of claim 8, wherein the controller is configured to cause the host vehicle to take the evasive action by causing a driving assistance function of the host vehicle to create a passageway for the target vehicle.

### Claim 10 (depends on 1)

The device of claim 1, wherein the target vehicle comprises an emergency vehicle.

### Claim 11

A method for controlling a host vehicle, the method comprising:
obtaining sound associated with a target vehicle;
determining, based on the sound associated with the target vehicle, an estimated path of the target vehicle;
determining, based on a map of an area associated with the host vehicle, road information associated with the estimated path of the target vehicle;
determining, based on the road information, whether the target vehicle is anticipated to merge onto a route of the host vehicle; and
based on a determination that the target vehicle is anticipated to merge onto the route of the host vehicle, causing the host vehicle to take the evasive action.

### Claim 12 (depends on 11)

The method of claim 11, wherein determining the estimated path of the target vehicle is based on the host vehicle being in an ignition on state or a power on state.

### Claim 13 (depends on 11)

The method of claim 11, further comprising determining that the second target vehicle is not anticipated to merge onto the route of the host vehicle based on a determination that:
a direction of an estimated path of the second target vehicle and a moving direction of the host vehicle are different from each other,
the estimated path of the second target vehicle is approaching the host vehicle, and
the estimated path of the second target vehicle is, according to the map, located on an overpass.

### Claim 14 (depends on 11)

The method of claim 11, further comprising determining that a second target vehicle is not anticipated to merge onto the route of the host vehicle based on a determination that:
a direction of an estimated path of the second target vehicle and a moving direction of the host vehicle are different from each other,
the estimated path of the second target vehicle is approaching the host vehicle, and
the estimated path of the second target vehicle, according to the map, lacks an adjoining section.

### Claim 15 (depends on 11)

The method of claim 11, further comprising determining that the target vehicle is anticipated to merge onto the route of the host vehicle based on a determination that:
a direction of the estimated path of the target vehicle and a moving direction of the host vehicle are different from each other,
the estimated path of the target vehicle approaches the host vehicle,
a road corresponding to the estimated path of the target vehicle comprises an adjoining section, and
a curvature of the estimated path of the target vehicle, according to the map, matches a curvature of the road corresponding to the estimated path of the target vehicle.

### Claim 16 (depends on 11)

The method of claim 11, further comprising:
outputting a message based on a determination that a second target vehicle is not anticipated to merge onto the route of the host vehicle.

### Claim 17 (depends on 16)

The method of claim 16, further comprising:
controlling, based on a determination that a second target vehicle is not anticipated to merge onto the route of the host vehicle, a driving assistance function of the host vehicle to cause the host vehicle to remain within a traveling lane of the host vehicle.

### Claim 18 (depends on 11)

The method of claim 11, further comprising:
outputting a message based on a determination that the target vehicle is anticipated to merge onto the route of the host vehicle.

### Claim 19 (depends on 18)

The method of claim 18, wherein the causing the host vehicle to take the evasive action comprises:
causing a driving assistance function of the host vehicle to create a passageway for the target vehicle.

### Claim 20 (depends on 11)

The method of claim 11, wherein the target vehicle comprises an emergency vehicle.