Driving assistance system for vehicle

Patent metadata

Field	Value
Publication number	US-11952012-B2
Application number	US-202117644038-A
Country	US
Kind code	B2
Filing date	Dec 13, 2021
Priority date	Jun 23, 2021
Publication date	Apr 9, 2024
Grant date	Apr 9, 2024

Abstract

An embodiment driving assistance system for a vehicle includes a driving information provision unit configured to acquire and provide driving information of a traveling vehicle, a control unit configured to generate and output a control signal for driving assistance when it is determined the vehicle travels on a rough road based on the driving information of the vehicle provided by the driving information provision unit and it is determined that the vehicle is currently in a rough road traveling state, and a steering actuator configured to generate and apply a steering assistance force according to a control value of the control signal for the driving assistance output by the control unit to a steering wheel.

First claim

What is claimed is:

1. A driving assistance system for a vehicle, the driving assistance system comprising:
a driving information provision unit configured to acquire and provide driving information of a traveling vehicle;
a control unit configured to generate and output a control signal for driving assistance when it is determined the vehicle travels on a rough road based on the driving information of the vehicle provided by the driving information provision unit and it is determined that the vehicle is currently in a rough road traveling state; and
a steering actuator configured to generate and apply a steering assistance force according to a control value of the control signal for the driving assistance output by the control unit to a steering wheel,
wherein the control unit is configured:
to calculate a power spectrum density (PSD) value at an interval of a first setting time using a root mean square (RMS) value calculated from a signal value of a sensor for the first setting time, wherein the sensor is configured to detect vehicle state information of the vehicle,
to calculate a sum power spectrum density (SPSD) value by summing and cumulating the PSD values for a predetermined second setting time, and
to determine a recommendation speed corresponding to the calculated SPSD value.

2. The driving assistance system of claim 1 , wherein the control unit is configured:
to determine a magnitude of an external force applied to a vehicle wheel from a road surface of the rough road, which is a traveling path, based on the driving information of the vehicle provided by the driving information provision unit when it is determined that the vehicle is in the rough road traveling state; and
to generate and output the control signal for applying the steering assistance force, which is a reverse force with a magnitude corresponding to the determined magnitude of the external force, to the steering wheel.

3. The driving assistance system of claim 2 , wherein the driving information provision unit comprises a steering angle sensor configured to detect a steering angle, which is a rotating angle of the steering wheel.

4. The driving assistance system of claim 3 , wherein the control unit is configured to determine the magnitude of the external force as a value proportional to the steering angle using a signal of the steering angle sensor.

5. The driving assistance system of claim 2 , wherein the control unit is configured to generate and output the control signal for applying a steering assistance force, which is a reverse force with the same magnitude as the determined magnitude of the external force, to the steering wheel while the vehicle travels in an autonomous traveling mode.

6. The driving assistance system of claim 1 , wherein the control unit is configured to notify a driver that the vehicle has entered a rough road section by operating an in-vehicle display, a sound output device, or a seat vibration device when it is determined that the vehicle is in the rough road traveling state.

7. A driving assistance system for a vehicle, the driving assistance system comprising:
a driving information provision unit configured to acquire and provide driving information of a traveling vehicle, wherein the driving information provision unit comprises:
a road surface information acquisition unit configured to acquire road surface state information of a road traveled by the vehicle; and
a sensor configured to detect vehicle state information of the vehicle;

a control unit configured to generate and output a control signal for driving assistance when it is determined the vehicle travels on a rough road based on the driving information of the vehicle provided by the driving information provision unit and it is determined that the vehicle is currently in a rough road traveling state; and
a steering actuator configured to generate and apply a steering assistance force according to a control value of the control signal for the driving assistance output by the control unit to a steering wheel,
wherein the control unit is configured:
to calculate a power spectrum density (PSD) value at an interval of a first setting time using an RMS value calculated from a signal value of the sensor for the first setting time,
to calculate a sum power spectrum density (SPSD) value by summing and cumulating the PSD values for a predetermined second setting time, and
to determine a recommendation speed corresponding to the calculated SPSD value.

8. The driving assistance system of claim 7 , wherein the sensor comprises:
an acceleration sensor configured to detect a longitudinal acceleration and a lateral acceleration of the vehicle;
a vehicle height sensor configured to detect a vehicle height; or
a steering angle sensor configured to detect a steering angle, which is a rotating angle of the steering wheel.

9. The driving assistance system of claim 8 , wherein the control unit is configured to adjust a control value for generating the steering assistance force of the control signal according to a change amount of an acceleration detected by the acceleration sensor, a change amount of the vehicle height detected by the vehicle height sensor, or a change amount of the steering angle detected by the steering angle sensor.

10. The driving assistance system of claim 7 , wherein the control unit is configured:
to use the signal value of the sensor representing the detected driving information of the vehicle;
to calculate the root mean square (RMS) value of the signal value of the sensor for the first setting time as predetermined as a cycle; and
to compare the calculated current RMS value with an RMS value for a previous first setting time to determine that the vehicle is currently in the rough road traveling state when the comparison result satisfies a condition where a change amount of the RMS value increases or a condition where the RMS value increases by a change amount of a predetermined threshold or more.

11. The driving assistance system of claim 10 , wherein, when it is determined that the vehicle is in the rough road traveling state, the control unit is configured to determine a recommendation speed from the signal value of the sensor.

12. The driving assistance system of claim 11 , wherein the control unit is configured:
to control an in-vehicle display to display the determined recommendation speed; or
to control a vehicle speed of the vehicle by setting the determined recommendation speed as a target speed.

13. The driving assistance system of claim 7 , wherein the road surface information acquisition unit comprises:
a camera mounted in the vehicle, the camera configured to acquire a road surface image of a traveling road; and
a radar mounted in the vehicle, the radar configured to detect any obstacles on a road in front of the vehicle,
wherein the control unit is configured to determine that the vehicle is in the rough road traveling state based on information on the road surface image acquired by the camera or the obstacles detected by the radar.

14. The driving assistance system of claim 13 , wherein the road surface information acquisition unit further comprises a navigation device configured to provide construction section information of the road on which the vehicle is to travel through a traveling path set by a driver, and wherein the control unit is configured to confirm a construction section from navigation information input by the navigation device to determine that the vehicle is in the rough road traveling state when the vehicle enters the construction section.

15. The driving assistance system of claim

Assignees

• Hyundai Motor Co Ltd
• Kia Corp

Inventors

• Lee Dong Won

Classifications

• B60W60/001 Primary

  Planning or execution of driving tasks · CPC title

• B60W10/20 Primary

  including control of steering systems · CPC title

• B60W40/06

  Road conditions · CPC title

• B60W40/13

  Load or weight · CPC title

• B60W50/082

  Selecting or switching between different modes of propelling · CPC title