Vehicle and method of controlling the same

Patent metadata

Field	Value
Publication number	US-2020254995-A1
Application number	US-202016751452-A
Country	US
Kind code	A1
Filing date	Jan 24, 2020
Priority date	Feb 12, 2019
Publication date	Aug 13, 2020
Grant date	—

Abstract

A vehicle includes: recognizing a forward vehicle in response to the processing of image data captured by an image sensor disposed at the vehicle so as to have a field of view of the outside of the vehicle; obtaining a distance from the forward vehicle in response to the processing of detecting data captured by a radar disposed at the vehicle so as to have a detecting area of the outside of the vehicle; obtaining a change amount of vertical movement of the forward vehicle in the image data in response to the distance from the forward vehicle that is equal to or less than a reference distance; obtaining a height of an obstacle on a road surface corresponding to the change amount; obtaining the height of the obstacle on the road surface in the image data in response to the distance from the forward vehicle that exceeds the reference distance; identifying a driving speed of the vehicle; identifying a reference height corresponding to the driving speed of the vehicle; and outputting deceleration guide information in response to the height of the obstacle on the road surface that is greater than or equal to the reference height.

First claim

What is claimed is:

1 . A vehicle comprising:
an image sensor disposed at the vehicle so as to have a field of view of the outside of the vehicle, configured to capture image data; a radar disposed at the vehicle so as to have a detecting area of the outside of the vehicle, configured to capture detecting data; a controller including at least one processor configured to process the image data and the detecting data, wherein the controller is configured to:
recognize a forward vehicle in response to the processing of the image data;
obtain a distance from the forward vehicle in response to the processing of the detecting data;
obtain a change amount of vertical movement of the forward vehicle in the image data in response to the distance from the forward vehicle that is equal to or less than a reference distance, and output deceleration guide information based on the change amount; and
recognize a height of an obstacle on a road surface in the image data in response to the distance from the forward vehicle that exceeds the reference distance, and output the deceleration guide information based on the height of the obstacle on the road surface.

2 . The vehicle according to claim 1 , further comprising:
a speed detector configured to detect a driving speed of the vehicle; and a storage configured to store a reference height for each driving speed, wherein the controller is configured to:
identify the reference height corresponding to the driving speed of the vehicle from the storage;
obtain the height of the obstacle on the road surface corresponding to the change amount; and
when the height of the obstacle on the road surface is greater than or equal to the reference height, output the deceleration guide information.

3 . The vehicle according to claim 2 , further comprising:
a suspension provided adjacent to the front, rear, left, and right wheels of the vehicle; and a brake device configured to generate a braking force, wherein the controller is configured to:
when a predetermined time has elapsed from the time of outputting the deceleration guide information, identify the reference height corresponding to the driving speed again when the predetermined time has elapsed; and
when the obtained height of the obstacle on the road surface is greater than or equal to the identified reference height, control the operation of at least one of the suspension and the brake device.

4 . The vehicle according to claim 3 , wherein the controller is configured to:
when obtaining the change amount of the vertical movement of the forward vehicle, obtain the change amount of the left and right vertical movement of the forward vehicle, respectively; and when the change amount of the left and right vertical movement of the forward vehicle is different, control the damping force of the left and right suspensions differently.

5 . The vehicle according to claim 3 , wherein the controller is configured to:
when obtaining the change amount of the vertical movement of the forward vehicle, obtain the change amount of the left and right vertical movement of the forward vehicle, respectively; and when the change amount of the left and right vertical movement of the forward vehicle is different, control the operation of the suspension so that the height of the left and right garages are different.

6 . The vehicle according to claim 1 , further comprising:
a speed detector configured to detect a driving speed of the vehicle; and a storage configured to store a reference height for each driving speed, wherein the controller is configured to:
identify the reference height corresponding to the driving speed of the vehicle from the storage;
obtain the height of the obstacle on the road surface; and
when the obtained height of the obstacle on the road surface is greater than or equal to the reference height, output the deceleration guide information.

7 . The vehicle according to claim 6 , further comprising:
a suspension provided adjacent to the front, rear, left, and right wheels of the vehicle; and a brake device configured to generate a braking force, wherein the controller is configured to:
when a predetermined time has elapsed from the time of outputting the deceleration guide information, identify the reference height corresponding to the driving speed again when the predetermined time has elapsed; and
when the obtained height of the obstacle on the road surface is greater than or equal to the identified reference height, control the operation of at least one of the suspension and the brake device.

8 . The vehicle according to claim 1 , further comprising:
an outputter configured to output the deceleration guide information, wherein the outputter comprises at least one of a sound outputter configured to output a warning sound and a display configured to light an indicator.

9 . A vehicle comprising:
an image sensor disposed at the vehicle so as to have a field of view of the outside of the vehicle, configured to capture image data; a speed detector configured to detect a driving speed of the vehicle; a storage configured to store a reference height for each driving speed; and a controller including at least one processor configured to process the image data, wherein the controller is configured to:
obtain a change amount of vertical movement of a forward vehicle in response to the processing of the image data, and obtain a height of an obstacle on a road surface corresponding to the obtained change amount; and
identify the reference height corresponding to the driving speed of the vehicle from the storage, and output deceleration guide information when the obtained height of the obstacle on the road surface is greater than or equal to the reference height.

10 . The vehicle according to claim 9 , further comprising:
a radar disposed at the vehicle so as to have a detecting area of the outside of the vehicle, configured to capture detecting data; wherein the controller is configured to:
recognize a height of an obstacle on the road surface in the image data in response to a distance from the forward vehicle that exceeds a reference distance; and
recognize the height of the obstacle on the road surface based on the change amount of the vertical movement of the forward vehicle in response to the distance from the forward vehicle that is equal to or less than the reference distance.

11 . The vehicle according to claim 9 , further comprising:
a suspension provided adjacent to the front, rear, left, and right wheels of the vehicle; and a brake device configured to generate a braking force, wherein the controller is configured to:
when a predetermined time has elapsed from the time of outputting the deceleration guide information, identify the reference height corresponding to the driving speed again when the predetermined time has elapsed; and
when the obtained height of the obstacle on the road surface is greater than or equal to the identified reference height, control the operation of at least one of the suspension and the brake device.

12 . The vehicle according to claim 11 , wherein the controller is configured to:
when obtaining the change amount of the vertical movement of the forward vehicle, obtain the change amount of the left and right vertical movement of the forward vehicle, respectively; and when the change amount of the left and right vertical movement of the forward vehicle is different, control the damping force of the left and right suspensions differently.

13 . The vehicle according to claim 11 , wherein the controller is configured to:
when obtaining the c

Assignees

• Mando Corp

Inventors

• Lee Sang Yeob

Classifications

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• G06V20/58

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• G01S13/867 Primary

  Combination of radar systems with cameras · CPC title

• B60W10/22

  including control of suspension systems · CPC title

• B60G2500/326

  only left or right side · CPC title