# US 9,434,383 B2 · Integrative method and system for controlling blind spot detection system and lane keeping assist system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,434,383 B2 - Document ID: US9434383B2 - Status: Granted - Kind: B2 - Application number: 14/731,240 - Filed: 2015-06-04 - Published: 2016-06-02 - Granted: 2016-09-06 - Earliest claimed: 2014-12-01 - Assignees: Hyundai Motor Company - Applicants: Hyundai Motor Company - Inventors: Jong Chul Kim; Yon Jun Jang; Hoi Won Kim - Web page: https://patentgrep.com/patent/US9434383B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 10/184: with wheel brakes - B60W 10/20: including control of steering systems - B60W 30/12: Lane keeping - B60W 2520/10: Longitudinal speed - B60W 2554/80: Spatial relation or speed relative to 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 ## Abstract An integrative control system and a method for controlling a blind spot detection system (BSDS) and a lane keeping assist system (LKAS) for stable driving of a vehicle are provided, in which, when the vehicle is deviated from its lane and another vehicle is positioned in a blind spot, an estimated lateral distance is calculated using time-to-collision, and side brake control by the ABSD system and steering angle control by the LKAS are performed based on the estimated lateral distance. ## Claims ### Claim 1 An integrative control system, comprising: a driving system performing steering and driving of a vehicle; a blind spot detection (BSD) module calculating a time-to-collision against another vehicle, when said another vehicle is positioned in a blind spot of the vehicle; a lane keeping assist (LKA) module determining whether or not the vehicle is deviated from a lane, and sending a steering angle control command to the driving system upon determination that the vehicle is deviated from the lane; and an integrative control module calculating an estimated lateral distance when the vehicle is deviated from the lane and said another vehicle is positioned in the blind spot, by using the time-to-collision, and instructing the BSD module to send a side brake control command to the driving system and instructing the LKA module to send the steering angle control command to the driving system when the estimated lateral distance is equal to or greater than a predetermined value. ### Claim 2 (depends on 1) The integrative control system according to claim 1, wherein, when the estimated lateral distance is less than the predetermined value, the integrative control module only instructs the LKA module to send the steering angle control command to the driving system. ### Claim 3 (depends on 1) The integrative control system according to claim 1, wherein the BSD module sends the side brake control command to the driving system through an electronic stability control (ESC) module. ### Claim 4 (depends on 1) The integrative control system according to claim 1, wherein the LKA module sends the steering angle control command to the driving system through a motor driven power steering (MDPS) module. ### Claim 5 (depends on 1) The integrative control system according to claim 1, wherein the integrative control module calculates the estimated lateral distance using the time-to-collision, velocity of the vehicle, heading angle of the vehicle, yaw-rate of the vehicle, and curvature of the lane. ### Claim 6 (depends on 1) The integrative control system according to claim 1, wherein the BSD module calculates the time-to-collision against said another vehicle, only when velocity of the vehicle is equal to or greater than a predetermined velocity. ### Claim 7 An integrative control method of a blind spot detection system (BSDS) and a lane keeping assist system (LKAS) mounted to a vehicle, comprising: detecting, by the LKAS, a deviation from a lane; detecting, by the BSDS, positioning of another vehicle in a blind spot of the vehicle and calculating a time-to-collision against said another vehicle; calculating an estimated lateral distance using the time-to-collision; and when the estimated lateral distance is equal to or greater than a predetermined value, instructing the BSDS to send a side brake control command to a driving system and instructing the LKAS to send a steering angle control command to the driving system. ### Claim 8 (depends on 7) The integrative control method according to claim 7, further comprising, when the estimated lateral distance is less than the predetermined value, only instructing the LKAS to send the steering angle control command to the driving system. ### Claim 9 (depends on 7) The integrative control method according to claim 7, wherein the side brake control command is sent to the driving system through an electronic stability control (ESC) module. ### Claim 10 (depends on 7) The integrative control method according to claim 7, wherein the steering angle control command is sent through a motor driven power steering (MDPS) module. ### Claim 11 (depends on 7) The integrative control method according to claim 7, wherein the estimated lateral distance is calculated based on the time-to-collision, velocity of the vehicle, heading angle of the vehicle, yaw-rate of the vehicle, and curvature of the lane. ### Claim 12 (depends on 7) The integrative control method according to claim 7, wherein the time-to-collision against said another vehicle is calculated only when velocity of the vehicle is equal to or greater than a predetermined velocity.