Vehicle and vehicle control method

Patent metadata

Field	Value
Publication number	US-10369992-B2
Application number	US-201715621124-A
Country	US
Kind code	B2
Filing date	Jun 13, 2017
Priority date	Mar 3, 2017
Publication date	Aug 6, 2019
Grant date	Aug 6, 2019

Abstract

A vehicle includes a speed detector for detecting a driving speed of the vehicle, a sensor for detecting a target vehicle driving in a target lane into which the vehicle is to change lanes, and a controller for determining an acceleration of the vehicle based on a change amount of the driving speed detected at the time of the vehicle changing lanes, for calculating a time to collision (TTC) between the vehicle and the target vehicle when the lane change of the vehicle would be completed to the target lane based on the determined acceleration of the vehicle, and for transmitting a signal restricting the lane change of the vehicle based on the calculated time to collision.

First claim

What is claimed is:

1. A vehicle, comprising:
a speed detector for detecting a driving speed of the vehicle;
a sensor for detecting a target vehicle driving in a target lane into which the vehicle is to change from a driving lane of the vehicle; and
a controller for determining an acceleration of the vehicle based on a change amount of the driving speed detected at the time of the vehicle entering the target lane, for calculating a time to collision (TTC) between the vehicle and the target vehicle based on the acceleration of the vehicle when the vehicle enters the target lane, and for transmitting a signal for restricting a lane change of the vehicle based on the TTC,
wherein the sensor detects a first target vehicle driving in the target lane in front of the vehicle, and detects a second target vehicle driving in the target lane behind the vehicle,
wherein the controller does not transmit the signal for restricting the lane change if the acceleration of the vehicle is less than a reference value when the vehicle enters the target lane behind the first target vehicle, and
wherein the controller does not transmit the signal for restricting the lane change if the acceleration of the vehicle exceeds the reference value when the vehicle enters the target lane in front of the second target vehicle.

2. The vehicle of claim 1 , wherein the controller transmits the signal for restricting the lane change when the TTC is equal to or less than a reference TTC, and does not transmit the signal for restricting the lane change when the TTC exceeds the reference TTC.

3. The vehicle of claim 1 , wherein the controller calculates the TTC between the vehicle and the first target vehicle in the target lane when the vehicle enters the target lane behind the first target vehicle.

4. The vehicle of claim 3 , wherein the controller transmits the signal for restricting the lane change when the TTC between the vehicle and the first target vehicle is equal to or less than the reference TTC, and does not transmit the signal for restricting the lane change when the TTC between the vehicle and the first target vehicle exceeds the reference TTC.

5. The vehicle of claim 1 , wherein the controller calculates the TTC between the vehicle and the second target vehicle in the target lane when the vehicle enters the target lane in front of the second target vehicle.

6. The vehicle of claim 5 , wherein the controller transmits the signal for restricting the lane change when the TTC between the vehicle and the second target vehicle is equal to or less than a reference TTC, and does not transmit the signal for restricting the lane change when the TTC between the vehicle and the second target vehicle exceeds the reference TTC.

7. The vehicle of claim 1 , wherein the controller calculates a period of time taken for the vehicle to enter the target lane based on the driving speed of the vehicle and a lateral distance between the driving lane of the vehicle and the target lane.

8. The vehicle of claim 7 , wherein the controller calculates a relative distance between the vehicle and the target vehicle based on a relative speed of the vehicle and the target vehicle and the acceleration of the vehicle when the vehicle completely enters the target lane.

9. The vehicle of claim 8 , wherein the controller calculates the TTC between the vehicle and the target vehicle based on the period of time taken for the vehicle to enter the target lane and the relative distance when the vehicle completely enters the target lane.

10. The vehicle of claim 1 , wherein the sensor comprises one or more of a Radio Detection and Ranging (RADAR) and a Light Detection And Ranging (LiDAR) device.

11. A method for controlling a vehicle, comprising steps of:
detecting, by a sensor, a first target vehicle driving in a target lane, into which the vehicle is to enter from a driving lane of the vehicle, in front of the vehicle and a second target vehicle driving in the target lane behind the vehicle;
determining, by a controller, an acceleration of the vehicle based on a change amount of a driving speed detected at the time of the vehicle entering the target lane;
calculating, by the controller, a time to collision (TTC) between the vehicle and the target vehicle based on the acceleration of the vehicle when the vehicle completely enters the target lane;
transmitting, by the controller, a signal for restricting a lane change of the vehicle based on the TTC;
not transmitting the signal for restricting the lane change if the acceleration of the vehicle is less than a reference value when the vehicle enters the target lane behind the first target vehicle; and
not transmitting the signal for restricting the lane change if the acceleration of the vehicle exceeds the reference value when the vehicle enters the target lane in front of the second target vehicle.

12. The method of claim 11 , wherein the step of calculating the TTC comprises steps of:
calculating the TTC between the vehicle and the first target vehicle when the vehicle enters the target lane behind the first target vehicle; and
calculating the TTC between the vehicle and the second target vehicle when the vehicle enters the target lane in front of the second target vehicle.

13. The method of claim 12 , wherein the step of transmitting the signal for restricting the lane change comprises steps of:
transmitting the signal for restricting the lane change when the TTC between the vehicle and the first target vehicle is equal to or less than a reference TTC; and
not transmitting the signal for restricting the lane change when the TTC between the vehicle and the first target vehicle exceeds the reference TTC.

14. The method of claim 12 , wherein the step of transmitting the signal restricting the lane change comprises steps of:
transmitting the signal for restricting the lane change when the TTC between the vehicle and the second target vehicle is equal to or less than a reference TTC; and
not transmitting the signal for restricting, the lane change when the TTC between the vehicle and the second target vehicle exceeds the reference TTC.

15. The method of claim 11 , further comprising steps of:
calculating a period of time taken for the vehicle to enter the target lane based on the driving speed of the vehicle and a lateral distance between the driving lane of the vehicle and the target lane;
calculating a relative distance between the vehicle and the target vehicle based on a relative speed of the vehicle and the target vehicle and the acceleration of the vehicle when the vehicle completely enters the target lane; and
calculating the TTC between the vehicle and the target vehicle based on the period of time taken for the vehicle to enter the target lane and the calculated relative distance when the vehicle completely enters the target lane.

Assignees

• Hyundai Motor Co Ltd
• Kia Motors Corp

Inventors

• Ji Sungmin
• Choi Jaewoong
• Jang Yonjun

Classifications

• B60W50/14 Primary

  Means for informing the driver, warning the driver or prompting a driver intervention · CPC title

• B60W30/0953 Primary

  the prediction being responsive to vehicle dynamic parameters · CPC title

• B60W30/08

  Active safety systems} predicting or avoiding probable or impending collision {or attempting to minimise its consequences · CPC title

• B60W2520/105

  Longitudinal acceleration · CPC title

• B60W30/18163

  Lane change; Overtaking manoeuvres · CPC title