Vehicle and method for predicating collision

Patent metadata

Field	Value
Publication number	US-11195417-B2
Application number	US-201916696643-A
Country	US
Kind code	B2
Filing date	Nov 26, 2019
Priority date	Apr 9, 2019
Publication date	Dec 7, 2021
Grant date	Dec 7, 2021

Abstract

A vehicle includes: a capturer configured to detect at least one stopped vehicle stopped in a first lane crossing at a right side of a second lane in which the vehicle is located; a detection sensor configured to detect the target vehicle located in a third lane next to the at least one stopped vehicle to obtain position information and speed information of the target vehicle; and a controller configured to determine a first position of the vehicle for sensing the target vehicle between stopped vehicles, determine an expected position to move the target vehicle for a time it takes for the vehicle to move from the first position to a second position, determine a reliability of a possibility of collision between the vehicle and the target vehicle by comparing an actual position and the expected position of the target vehicle.

First claim

What is claimed is:

1. A vehicle comprising:
a capturer configured to detect at least one stopped vehicle stopped in a first lane crossing at a right side of a second lane in which the vehicle is located;
a detection sensor configured to detect a target vehicle located in a third lane next to the at least one stopped vehicle to obtain position information and speed information of the target vehicle; and
a controller configured to:
determine a first position of the vehicle for sensing the target vehicle between stopped vehicles,
determine an expected position to move the target vehicle from an actual position for a time it takes for the vehicle to move from the first position to a second position, and
determine a reliability of a possibility of collision between the vehicle and the target vehicle by comparing the actual position of the target vehicle and the expected position of the target vehicle.

2. The vehicle of claim 1 , wherein the controller is further configured to determine the target vehicle as a collision avoidance target vehicle when a distance between the actual position and the expected position of the target vehicle is less than or equal to a predetermined distance.

3. The vehicle of claim 1 , wherein the controller is further configured not to determine the target vehicle as a collision avoidance target vehicle when a distance between the actual position of the target vehicle and the expected position exceeds a predetermined distance.

4. The vehicle of claim 1 , wherein the first position is an actual position of the vehicle and the second position of the vehicle is a position to which the vehicle reaches by moving from the first position for a predetermined time.

5. The vehicle of claim 4 , wherein the controller is configured to determine the target vehicle as a collision avoidance target vehicle when the target vehicle is detected between stopped vehicles while the vehicle is at the first position or the target vehicle is detected between stopped vehicles while the vehicle is at the second position.

6. The vehicle of claim 4 , wherein the controller is configured not to determine the target vehicle as a collision avoidance target vehicle when the target vehicle is detected between stopped vehicles while the vehicle is at the first position and the target vehicle is not detected between stopped vehicles while the vehicle is at the second position.

7. The vehicle of claim 1 , wherein the controller is configured to determine the first position of the vehicle based on position information of the at least one stopped vehicle and an angle between the vehicle and the at least one stopped vehicle.

8. The vehicle of claim 1 , wherein the controller is further configured to determine a driving speed of the target vehicle.

9. The vehicle of claim 1 , wherein the controller is configured to:
determine a number of operations for determining the reliability of the possibility of collision between the vehicle and the target vehicle based on a number of stopped vehicles, and
determine the reliability of the possibility of collision between the vehicle and the target vehicle by considering whether a collision avoidance target vehicle is determined according to the number of operations.

10. The vehicle of claim 1 , wherein the controller is configured to:
determine a stopped vehicle search area based on the first lane and a width of the third lane, and
determine a number and a position of the at least one stopped vehicle detected in the stopped vehicle search area.

11. The vehicle of claim 1 , wherein the controller is further configured to change a driving control amount of the vehicle based on the reliability of the possibility of collision.

12. A method for controlling a vehicle comprising:
detecting at least one stopped vehicle stopped in a first lane crossing at a right side of a second lane in which the vehicle is located;
detecting a target vehicle located in a third lane next to the at least one stopped vehicle to obtain position information and speed information of the target vehicle;
determining a first position of the vehicle for sensing the target vehicle between stopped vehicles;
determining an expected position to move the target vehicle from an actual position for a time it takes for the vehicle to move from the first position to a second position; and
determining a reliability of a possibility of collision between the vehicle and the target vehicle by comparing the actual position and the expected position of the target vehicle.

13. The method of claim 12 , further comprising determining the target vehicle as a collision avoidance target vehicle when a distance between the actual position and the expected position of the target vehicle is less than or equal to a predetermined distance.

14. The method of claim 12 , further comprising not determining the target vehicle as a collision avoidance target vehicle when a distance between the actual position and the expected position of the target vehicle exceeds a predetermined distance.

15. The method of claim 12 , wherein, in the determining a first position of the vehicle, the first position is an actual position of the vehicle and the second position of the vehicle is a position to which the vehicle reaches by moving from the first position for a predetermined time.

16. The method of claim 15 , further comprising determining the target vehicle as a collision avoidance target vehicle when the target vehicle is detected between stopped vehicles while the vehicle is at the first position or the target vehicle is detected between stopped vehicles while the vehicle is at the second position.

17. The method of claim 15 , further comprising not determining the target vehicle as a collision avoidance target vehicle when the target vehicle is detected between stopped vehicles while the vehicle is at the first position and the target vehicle is not detected between stopped vehicles while the vehicle is at the second position.

18. The method of claim 12 , wherein the determining a first position of the vehicle includes determining the first position of the vehicle based on position information of the at least one stopped vehicle and an angle between the vehicle and the at least one stopped vehicle.

19. The method of claim 12 , wherein the determining an expected position includes determining a driving speed of the target vehicle.

20. The method of claim 12 , further comprising:
determining a number of operations for determining the reliability of the possibility of collision between the vehicle and the target vehicle based on a number of stopped vehicles; and
determining the reliability of the possibility of collision between the vehicle and the target vehicle by considering whether a collision avoidance target vehicle is determined according to the number of operations.

Assignees

• Hyundai Motor Co Ltd
• Kia Motors Corp

Inventors

• Ji Sungmin
• Choi Jaewoong
• Ko Hyungmin

Classifications

• B60W2554/802

  Longitudinal distance · CPC title

• G08G1/017 Primary

  identifying vehicles (G08G1/015, G08G1/054 take precedence) · CPC title

• B60W2520/04

  Vehicle stop · CPC title

• B60W30/08 Primary

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

• G08G1/052

  with provision for determining speed or overspeed {(speed measuring in general G01P)} · CPC title