Vehicle and control method for the same

Patent metadata

Field	Value
Publication number	US-11235741-B2
Application number	US-201916598865-A
Country	US
Kind code	B2
Filing date	Oct 10, 2019
Priority date	May 8, 2019
Publication date	Feb 1, 2022
Grant date	Feb 1, 2022

Abstract

A vehicle and a control method of the same are provided. The vehicle may include a braking, a camera configured to capture an image of a front side of the vehicle and obtain image data, a radar configured to obtain radar data including distance information with respect to another vehicle traveling in an opposite direction at an intersection and speed information of the other vehicle, and a controller configured to estimate a collision risk on a side of the other vehicle based on the image data and the radar data when the vehicle is turning at the intersection, and control the brake based on the collision risk on the side of the other vehicle.

First claim

What is claimed is:

1. A vehicle comprising:
a brake;
a camera configured to capture an image of a front side of the vehicle and obtain image data;
a radar configured to obtain radar data including distance information with respect to another vehicle traveling in an opposite direction at an intersection and speed information of the other vehicle; and
a controller configured to:
estimate an overall length of the other vehicle and a time to pass (TTP) of the other vehicle based on the image data and the radar data;
estimate a collision risk on a side of the other vehicle based on the overall length of the other vehicle and the TTP of the other vehicle when the vehicle is turning at the intersection; and
control the brake based on the collision risk on the side of the other vehicle.

2. The vehicle of claim 1 , wherein the controller is configured to:
determine that the collision risk on the side of the other vehicle is present when a steering angle exceeds a predetermined reference steering angle before the TTP of the other vehicle.

3. The vehicle of claim 1 , wherein the controller is configured to:
obtain a width and a height of the other vehicle based on the image data and the radar data; and
estimate the overall length of the other vehicle based on the width and the height of the other vehicle.

4. The vehicle of claim 3 , wherein the controller is configured to:
determine the overall length of the other vehicle based on an overall length data table stored in a memory.

5. The vehicle of claim 1 , wherein the controller is configured to:
estimate the TTP of the other vehicle from a time that the other vehicle passes a region of interest.

6. The vehicle of claim 5 , wherein the controller is configured to:
estimate the TTP of the other vehicle from a time that the other vehicle passes a first reference distance that is a longitudinal distance against the other vehicle.

7. The vehicle of claim 1 , wherein the controller is configured to:
release the brake after the TTP of the other vehicle.

8. The vehicle of claim 1 , wherein the vehicle further comprises:
a warning device configured to output a collision warning with the other vehicle.

9. The vehicle of claim 8 , wherein the warning device comprises at least one of an audio device outputting a voice warning message or a display outputting a visual warning message.

10. A method for controlling a vehicle, the method comprising:
capturing, by a camera, an image of a front side of the vehicle and obtaining image data;
obtaining, by a radar, radar data including distance information with respect to another vehicle traveling in an opposite direction at an intersection and speed information of the other vehicle;
estimating, by a controller, an overall length of the other vehicle based on the image data and the radar data;
estimating, by the controller, a time to pass (TTP) of the other vehicle;
estimating, by the controller, a collision risk on a side of the other vehicle based on the overall length of the other vehicle and the TTP of the other vehicle when the vehicle is turning at the intersection; and
controlling, by the controller, a brake based on the collision risk on the side of the other vehicle.

11. The method of claim 10 , wherein estimating the collision risk on the side of the other vehicle further comprises:
determining, by the controller, that the collision risk on the side of the other vehicle is present when an steering angle exceeds a predetermined reference steering angle before the TTP of the other vehicle.

12. The method of claim 10 , wherein estimating the overall length of the other vehicle comprises:
obtaining, by the controller, a width and a height of the other vehicle based on the image data and the radar data; and
estimating, by the controller, the overall length of the other vehicle based on the width and the height of the other vehicle.

13. The method of claim 12 , wherein estimating the overall length of the other vehicle further comprises:
determining, by the controller, the overall length of the other vehicle based on an overall length data table stored in a memory.

14. The method of claim 10 , wherein estimating the TTP of the other vehicle comprises:
estimating, by the controller, the TTP of the other vehicle from a time that the other vehicle passes a region of interest.

15. The method of claim 14 , wherein estimating the TTP of the other vehicle comprises:
estimating, by the controller, the TTP of the other vehicle from a time that the other vehicle passes a first reference distance that is a longitudinal distance against the other vehicle.

16. The method of claim 10 , wherein the method further comprises:
releasing, by the controller, the brake after the TTP of the other vehicle.

17. The method of claim 10 , wherein the method further comprises:
outputting, by a warning device, a collision warning with the other vehicle.

18. The method of claim 17 , wherein outputting the collision warning with the other vehicle comprises:
outputting at least one of a voice warning message by an audio or a visual warning message by a display.

Assignees

• Hyundai Motor Co Ltd
• Kia Motors Corp

Inventors

• Lee Sangyeob
• Kim Ilhwan
• Kim Donghyuk
• Bang Kyung-Joo

Classifications

• B60W2554/804

  Relative longitudinal speed · CPC title

• B60W2554/802

  Longitudinal distance · CPC title

• B60T2210/32

  Vehicle surroundings · CPC title

• B60W40/00

  Estimation or calculation of {non-directly measurable} driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, {e.g. by using mathematical models} · CPC title

• B60W2050/146

  Display means · CPC title