Apparatus for predicting risk of collision of vehicle and method of controlling the same

Patent metadata

Field	Value
Publication number	US-11767013-B2
Application number	US-202117242960-A
Country	US
Kind code	B2
Filing date	Apr 28, 2021
Priority date	Sep 8, 2020
Publication date	Sep 26, 2023
Grant date	Sep 26, 2023

Abstract

A vehicle for predicting a risk of collision includes a controller configured to: calculate distances between the vehicle and left and right lines of a first lane, respectively, using a position of the vehicle and first lane width information of the first lane, calculate distances between the surrounding vehicle and left and right lines of a second lane, respectively, using a position of the surrounding vehicle and second lane width information of the second lane, calculate a second distance between the vehicle and the surrounding vehicle by reflecting the calculated distances between the vehicle and the left and right lines of the first lane or the calculated distances between the surrounding vehicle and the left and right lines of the second lane to a first distance, and predict a risk of collision between the vehicle and the surrounding vehicle based on the second distance.

First claim

What is claimed is:

1. A vehicle comprising:
a detector configured to detect a position of the vehicle and a first distance between the vehicle and a surrounding vehicle; and
a controller configured to:
calculate, using the position of the vehicle and first lane width information of a first lane in which the vehicle drives, a distance between the vehicle and a left line of the first lane and a distance between the vehicle and a right line of the first lane,
calculate, using a position of the surrounding vehicle and second lane width information of a second lane in which the surrounding vehicle drives, a distance between the surrounding vehicle and a left line of the second lane and a distance between the vehicle and a right line of the second lane,
calculate a second distance between the vehicle and the surrounding vehicle based on the calculated distances between the vehicle and at least one of the left and right lines of the first lane, respectively, and the calculated distances between the surrounding vehicle and at least one of the left and right lines of the second lane, respectively, added to the first distance, and
predict a risk of collision between the vehicle and the surrounding vehicle based on the second distance.

2. The vehicle according to claim 1 , wherein the controller is configured to:
calculate the distances between the vehicle and the left and right lines of the first lane, respectively, using first full width information of the vehicle, and
calculate the distances between the surrounding vehicle and the left and right lines of the second lane, respectively, using second full width information of the surrounding vehicle.

3. The vehicle according to claim 1 , wherein the controller is configured to apply a weight to the distances between the vehicle and at least one of the left and right lines of the first lane, respectively, and the distances between the surrounding vehicle and at least one of the left and right lines of the second lane, respectively.

4. The vehicle according to claim 3 , wherein the controller is configured to determine the weight using at least one of a vehicle speed or a curvature of the road.

5. The vehicle according to claim 1 , wherein the controller is configured to:
calculate the distances between the vehicle and the left and right lines of the first lane, respectively, by setting at least one of a first virtual line or a first virtual point on outskirts of the vehicle, and
calculate the distances between the surrounding vehicle and the left and right lines of the second lane, respectively, by setting at least one of a second virtual line or a second virtual point on outskirts of the surrounding vehicle.

6. The vehicle according to claim 5 , wherein the controller is configured to:
automatically set lengths of the first virtual line and the second virtual line, respectively, based on the vehicle speed, and
set the lengths of the first virtual line and the second virtual line, respectively, when the vehicle speed is less than or equal to a predetermined speed to be smaller than those when the vehicle speed is greater than or equal to the predetermined speed.

7. The vehicle according to claim 5 , wherein the controller is configured to set the lengths of the first virtual line and the second virtual line, respectively, when a curvature of the road on which the vehicle drives is less than or equal to a predetermined curvature to be smaller than those when the curvature of the road is greater than or equal to the predetermined curvature.

8. The vehicle according to claim 1 , wherein the controller is configured to predict that the risk of collision to be less than a threshold in a case where the second distance is greater than a first predetermined value.

9. The vehicle according to claim 1 , wherein the controller is configured to determine whether the distance between the vehicle and the left line and the distance between the vehicle and the right line are maintained for a predetermined time based on the vehicle in a case where the second distance is less than a first predetermined value.

10. The vehicle according to claim 9 , wherein the controller is configured to predict that the risk of collision is higher than a threshold in a case where the distance to the between the vehicle and the left line and the distance between the vehicle and the right line are maintained for the predetermined time.

11. A method of controlling a vehicle, the method comprising:
detecting a position of a vehicle and a first distance between the vehicle and a surrounding vehicle using a radar;
calculating, by a controller, distances between the vehicle and right and left lines of a first lane, respectively, in which the vehicle drives, using the position of the vehicle and first lane width information of the first lane;
calculating, by the controller, distances between the surrounding vehicle and left and right lines of a second lane, respectively, in which the surrounding vehicle drives using a position of the surrounding vehicle and second lane width information of the second lane;
calculating, by the controller, a second distance between the vehicle and the surrounding vehicle based on the calculated distances between the vehicle and at least one of the right and left lines of the first lane, respectively, and the calculated distances between the surrounding vehicle and at least one of the right and left lines of the second lane, respectively, added to the first distance; and
predicting, by the controller, a risk of collision between the vehicle and the surrounding vehicle based on the second distance.

12. The method according to claim 11 , further comprising:
calculating, by the controller, the distances between the vehicle and the left and right lines of the first lane, respectively, using first full width information of the vehicle; and
calculating, by the controller, the distances between the surrounding vehicle and the left and right lines of the second lane, respectively, using second full width information of the surrounding vehicle.

13. The method according to claim 11 , further comprising applying, by the controller, a weight to the distances between the vehicle and at least one of the left and right lines of the first lane, respectively, and the distances between the surrounding vehicle and at least one of the left and right lines of the second lane, respectively.

14. The method according to claim 13 , further comprising determining, by the controller, the weight using at least one of a vehicle speed or a curvature of the road.

15. The method according to claim 11 , further comprising:
calculating, by the controller, the distances between the vehicle and the left and right lines of the first lane, respectively, by setting at least one of a first virtual line or a first virtual point on outskirts of the vehicle; and
calculating, by the controller, the distances between the surrounding vehicle and the left and right lines of the second lane, respectively, by setting at least one of a second virtual line or a second virtual point on outskirts of the surrounding vehicle.

16. The method according to claim 15 , further comprising:
automatically setting, by the controller, lengths of the first virtual line and the second virtual line, respectively, based on the vehicle speed; and
setting, by the controller, the lengths of the first virtual line and the second virtual line, respectively, when the vehicle speed is less than or equal to a predetermined speed to be smaller than those when the vehicle speed is greater than or equal to the predetermined s

Assignees

• Hyundai Motor Co Ltd
• Kia Corp

Inventors

• Chung Seunghwan

Classifications

• B60W30/0956 Primary

  the prediction being responsive to traffic or environmental parameters · CPC title

• B60W40/04

  Traffic conditions · CPC title

• B60W2420/52

  Operations & Transport · mapped topic

• B60W2520/10

  Longitudinal speed · CPC title

• B60W2520/12

  Lateral speed · CPC title