Vehicle and method for controlling distance between traveling vehicles

• US 10,000,212 B2
• Filed: 03/31/2016
• Issued: 06/19/2018
• Est. Priority Date: 10/15/2015
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Oh, Youngchul, Kwon, Hyoung Geun, Shin, Kicheol, Heo, MyungSeon, You, Byungyong
• Primary Examiner(s): Butler, Rodney A
• Application Number:
  US15/087,085
• Publication Number:
  US 20170106861A1
• Time in Patent Office: 810 Days
• CPC Class Codes: B60W 2050/0027 Minimum/maximum value selectors
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

A vehicle and a method for controlling the same are provided to determine a traveling speed based on travel information of a first preceding vehicle and a second preceding vehicle. The vehicle includes a drive unit that provides rotational force for vehicle traveling and a distance sensor that detects an object located in a forward direction. A controller first preceding vehicle and a second preceding vehicle located ahead of the first preceding vehicle, which travel on the same traffic road as a traveling road based on the result detected by the distance sensor. The drive unit is operated to adjust a vehicle speed to be at a traveling speed determined based on travel information of the first preceding vehicle and the second preceding vehicle.

Claims

1. A vehicle, comprising:

a drive unit configured to provide rotational force for vehicle traveling;

a distance sensor configured to detect one or more objects located in a forward direction of a subject vehicle; and

a controller configured to determine the presence of a first preceding vehicle and a second preceding vehicle located ahead of the first preceding vehicle, which travel on the same traffic road as a traveling road of the subject vehicle based on the result detected by the distance sensor, and to operate the drive unit to adjust vehicle speed of the subject vehicle to be at a traveling speed detected based on travel information of the first preceding vehicle and the second preceding vehicle,

wherein the controller is configured to determine a first object present on the traveling road having at least a predetermined first reference width to be the first preceding vehicle according to the detection result of the distance sensor,

wherein the controller is configured to determine a second object present on the traveling road having at least a second reference width acquired by a position of the first preceding vehicle to be the second preceding vehicle, according to the detection result of the distance sensor, and

wherein the controller is configured to determine the second object having a width equal to or larger than the second reference width, the width gradually increasing during a predetermined reference time, to be the second preceding vehicle.

2. The vehicle according to claim 1, when a curvature of the traveling road is less than a predetermined reference curvature, the controller is configured to determine the second object having a width equal to or larger than the second reference width, the width gradually increasing during the predetermined reference time, to be the second preceding vehicle.

3. The vehicle according to claim 1, wherein the controller is configured to acquire the second reference width based on a distance to the second object and the position of the first preceding vehicle.

4. The vehicle according to claim 1, wherein when a curvature of the traveling road is equal to or greater than a predetermined reference curvature, the controller is configured to determine the second object, several surfaces of which are detected by the distance sensor, having at least the second reference width, to be the second preceding vehicle.

5. The vehicle according to claim 1, wherein when several objects each having at least the second reference width are detected by the distance sensor, the controller is configured to determine a specific object located closest to the first preceding vehicle to be the second preceding vehicle.

6. The vehicle according to claim 1, wherein the controller is configured to operate the drive unit to adjust the vehicle speed to be at any one of a first traveling speed that corresponds to travel information of the first preceding vehicle and a second traveling speed that corresponds to travel information of the second preceding vehicle.

7. The vehicle according to claim 6, wherein the controller is configured to operate the drive unit to adjust the vehicle speed to be at a lesser one of the first traveling speed and the second traveling speed.

8. The vehicle according to claim 1, wherein when a curvature of the traveling road is less than a predetermined first reference curvature and the first preceding vehicle deviates from the traveling road, the controller is configured to operate the drive unit to adjust the vehicle speed to be at a traveling speed determined based on travel information of the first preceding vehicle and the second preceding vehicle.

9. The vehicle according to claim 8, wherein the controller is configured to determine whether the first preceding vehicle deviates from the traveling road using a speed and position of the first preceding vehicle obtained from the detection result of the distance sensor.

10. The vehicle according to claim 1, wherein the distance sensor includes a light detection and ranging (LiDAR).

11. The vehicle according to claim 1, further comprising:

an imaging device configured to capture a front-view image,

wherein the controller is configured to acquire information regarding the traveling road from the front-view image captured by the imaging device.

12. A method for controlling a vehicle, comprising:

detecting, by a controller, one or more objects located in a forward direction of a subject vehicle;

determining, by the controller, the presence of a first preceding vehicle and a second preceding vehicle, which travel on the same traffic road as a traveling road of the subject vehicle based on the result detected by the distance sensor; and

adjusting, by the controller, vehicle speed of the subject vehicle to be at a traveling speed determined based on travel information of the first preceding vehicle and the second preceding vehicle,

wherein the determination of the presence of the first preceding vehicle includes;

determining, by the controller, a first object present on the traveling road having at least a predetermined first reference width to be the first preceding vehicle according to the detection result,

wherein the determination of the presence of the second preceding vehicle includes;

determining, by the controller, a second object present on the traveling road having at least a second reference width acquired by a position of the first preceding vehicle to be the second preceding vehicle, according to the detection result,

wherein the determination of the presence of the second preceding vehicle includes;

determining, by the controller, the second object having a width equal to or larger than the second reference width, the width gradually increasing during a predetermined reference time, to be the second preceding vehicle.

13. The method according to claim 12, wherein the determination of the presence of the second preceding vehicle includes:

when a curvature of the traveling road is less than a predetermined reference curvature, determining, by the controller, the second object having a width equal to or larger than the second reference width, the width gradually increasing during a predetermined reference time, to be the second preceding vehicle.

14. The method according to claim 12, wherein the determination of the presence of the second preceding vehicle includes:

acquiring, by the controller, the second reference width based on a distance to the second object and the position of the first preceding vehicle; and

determining, by the controller, the second object present on the traveling road having at least the acquired second reference width to be the second preceding vehicle.

15. The method according to claim 12, wherein the adjustment of the vehicle speed to be at a traveling speed determined based on travel information of the first preceding vehicle and the second preceding vehicle includes:

acquiring, by the controller, a first traveling speed that corresponds to travel information of the first preceding vehicle;

acquiring, by the controller, a second traveling speed that corresponds to travel information of the second preceding vehicle; and

adjusting, by the controller, the vehicle speed to be at any one of the first traveling speed and the second traveling speed,

wherein the adjustment of the vehicle speed to be at any one of the first traveling speed and the second traveling speed includes;

adjusting, by the controller, the vehicle speed to be at a lesser one of the first traveling speed and the second traveling speed.

16. The vehicle according to claim 12, wherein the adjustment of the vehicle speed to be at a traveling speed determined based on travel information of the first preceding vehicle and the second preceding vehicle includes:

when a curvature of the traveling road is less than a predetermined first reference curvature, determining, by the controller, whether the first preceding vehicle deviates from the traveling road; and

when the first preceding vehicle deviates from the traveling road, adjusting, by the controller, the vehicle speed to be at a traveling speed determined based on travel information of the first preceding vehicle and the second preceding vehicle,

wherein the determination of whether the first preceding vehicle deviates from the traveling road includes;

determining, by the controller, whether the first preceding vehicle deviates from the traveling road using a speed and position of the first preceding vehicle obtained from the detection result.