Vehicle and method for controlling thereof

Patent metadata

Field	Value
Publication number	US-2018162386-A1
Application number	US-201715455408-A
Country	US
Kind code	A1
Filing date	Mar 10, 2017
Priority date	Dec 9, 2016
Publication date	Jun 14, 2018
Grant date	—

Abstract

A vehicle includes: a sensor configured to detect an object moving in front of the vehicle; a controller configured to determine a longitudinal driving time taken for the vehicle to drive to the object, and configured to transmit a deceleration avoidance control signal gradually reducing a driving speed of the vehicle so that the vehicle is stopped before colliding with the object or a cross avoidance control signal stopping the vehicle until the object escapes from a driving lane of the vehicle, based on the longitudinal driving time and a transverse moving time of the object; and a speed regulator configured to regulate the driving speed of the vehicle in response to the transmitted control signal.

First claim

What is claimed is:

1 . A vehicle comprising:
a sensor configured to detect an object moving in front of the vehicle; a controller configured to determine a longitudinal driving time taken for the vehicle to drive to the object, and configured to transmit a deceleration avoidance control signal gradually reducing a driving speed of the vehicle so that the vehicle stops before colliding with the object or a cross avoidance control signal stopping the vehicle until the object escapes from a driving lane of the vehicle, based on the longitudinal driving time and a transverse moving time of the object; and a speed regulator configured to regulate the driving speed of the vehicle in response to the transmitted control signal.

2 . The vehicle of claim 1 , wherein
the object is a bicycle.

3 . The vehicle of claim 2 , wherein
the controller determines a first period of time, in which the bicycle moves in a transverse direction from when the bicycle is detected until a front portion of the bicycle enters the driving lane of the vehicle, as a first moving time.

4 . The vehicle of claim 3 , wherein
the controller determines a second period of time, in which the bicycle moves in the transverse direction from when the bicycle is detected until a driver position of the bicycle is placed in a center of a front surface of the vehicle, as a second moving time.

5 . The vehicle of claim 4 , wherein
the controller determines a third period of time, in which the bicycle moves in the transverse direction from when the bicycle is detected until a rear portion of the bicycle is placed in the center of the front surface of the vehicle, as a third moving time.

6 . The vehicle of claim 5 , wherein
the controller determines a fourth period of time, in which the bicycle moves in the transverse direction from when the bicycle is detected until the rear portion of the bicycle escapes from the driving lane of the vehicle, as a fourth moving time.

7 . The vehicle of claim 4 , wherein
the controller transmits the deceleration avoidance control signal when the determined longitudinal driving time of the vehicle exceeds the first moving time and is equal to or less than the second moving time.

8 . The vehicle of claim 5 , wherein
the controller transmits the deceleration avoidance control signal when the determined longitudinal driving time of the vehicle exceeds the second moving time and is equal to or less than the third moving time.

9 . The vehicle of claim 6 , wherein
the controller transmits the cross avoidance control signal when the determined longitudinal driving time of the vehicle exceeds the third moving time and is equal to or less than the fourth moving time.

10 . The vehicle of claim 2 , wherein
the controller calculates a time to collision (TTC) between the vehicle and the bicycle and transmits the deceleration avoidance control signal gradually reducing the driving speed of the vehicle, based on the calculated time to collision.

11 . The vehicle of claim 2 , wherein
the controller transmits the cross avoidance control signal configured to temporarily stop the vehicle with a predetermined amount of deceleration until the bicycle escapes from the driving lane of the vehicle.

12 . The vehicle of claim 2 , wherein
the sensor comprises any one of a radar and a light detection and ranging (LiDAR), and acquires position information and speed information of the detected bicycle.

13 . A method for controlling a vehicle, the method comprising:
detecting, by a sensor an object moving in front of the vehicle; determining, by a controller, a longitudinal driving time taken for the vehicle to drive to the object; transmitting, by the controller, a deceleration avoidance control signal configured to gradually reduce a driving speed of the vehicle so that the vehicle stops before colliding with the object or a cross avoidance control signal configured to stop the vehicle until the object escapes from a driving lane of the vehicle, based on the longitudinal driving time and a transverse moving time of the object; and regulating the driving speed of the vehicle in response to the transmitted control signal.

14 . The method of claim 13 , wherein
the object is a bicycle.

15 . The method of claim 14 , wherein
a first period of time, in which the bicycle moves in the transverse direction from when the bicycle is detected until a front portion of the bicycle enters the driving lane of the vehicle, is determined as a first moving time.

16 . The method of claim 15 , wherein
a second period of time, in which the bicycle moves in the transverse direction from when the bicycle is detected until a driver position of the bicycle is placed in the center of the front surface of the vehicle, is determined as a second moving time.

17 . The method of claim 16 , wherein
a third period of time, in which the bicycle moves in the transverse direction from when the bicycle is detected until a rear portion of the bicycle is placed in the center of the front surface of the vehicle, is determined as a third moving time.

18 . The method of claim 17 , wherein
a fourth period of time, in which the bicycle moves in the transverse direction from when the bicycle is detected until a rear portion of the bicycle escapes from the driving lane of the vehicle, is determined as a fourth moving time.

19 . The method of claim 16 , wherein
the transmission of the deceleration avoidance control signal is performed by transmitting the deceleration avoidance control when the determined longitudinal driving time of the vehicle exceeds the first moving time and is equal to or less than the second moving time.

20 . The method of claim 17 , wherein
the transmission of the deceleration avoidance control signal is performed by transmitting the deceleration avoidance control when the determined longitudinal driving time of the vehicle exceeds the second moving time and is equal to or less than the third moving time.

21 . The method of claim 18 , wherein
the transmission of the cross avoidance control signal is performed by transmitting the cross avoidance control when the determined longitudinal driving time of the vehicle exceeds the third moving time and is equal to or less than the fourth moving time.

22 . The method of claim 14 , wherein
the transmission of the deceleration avoidance control signal is performed by calculating a time to collision between the vehicle and the bicycle and transmitting the deceleration avoidance control signal configured to gradually reduce the driving speed of the vehicle based on the calculated time to collision.

23 . The method of claim 14 , wherein
the transmission of the cross avoidance control signal is performed by transmitting the cross avoidance control signal configured to temporarily stop the vehicle with a predetermined amount of deceleration until the bicycle escapes from the driving lane of the vehicle.

24 . The method of claim 14 , wherein
the detection of the object moving in front of the vehicle comprises acquiring position information and speed information of the detected bicycle.

Assignees

• Hyundai Motor Co Ltd

Inventors

• Lee Taeyoung
• Sung Donghyun
• Kim Junghyun
• Lee Sangmin
• Kim Eungseo
• Kwon Yongseok

Classifications

• G08G1/166

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title

• B60W30/09 Primary

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• B60W2554/804

  Relative longitudinal speed · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title

• B60W10/18

  including control of braking systems · CPC title