Vehicle and method for controlling thereof

• US 10,127,817 B2
• Filed: 03/01/2017
• Issued: 11/13/2018
• Est. Priority Date: 11/24/2016
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Jeon, Dae Seok, Ko, HyeongMin
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Lewandroski, Sara J
• Application Number:
  US15/446,682
• Publication Number:
  US 20180144635A1
• Time in Patent Office: 622 Days
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/162 event-triggered
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/207 with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries

Abstract

A vehicle turning in an intersection includes a speed detector configured to detect a driving speed of the vehicle; a sensor configured to determine a cross time between the vehicle and a target vehicle driving in the intersection, and a controller configured to calculate a turning radius of the vehicle in the intersection, based on a minimum turning radius of the intersection, configured to estimate a time to collision between the vehicle turning in the intersection and the target vehicle and a time to collision avoidance allowing the vehicle to pass cross the target vehicle without colliding with the target vehicle, based on at least one of the driving speed of the vehicle and the calculated turning radius, and configured to transmit a warning signal by estimating that the vehicle collides with the target vehicle when the determined cross time is equal to or more than the estimated time to collision and equal to or less than the estimated time to collision avoidance.

Claims

1. A vehicle turning in an intersection, the vehicle comprising:

a speed detector configured to detect a driving speed of the vehicle;

a sensor configured to determine a cross time between the vehicle and a target vehicle driving in the intersection; and

a controller configured to calculate a turning radius of the vehicle in the intersection, based on a minimum turning radius of the intersection, configured to estimate a time to collision between the vehicle turning in the intersection and the target vehicle and a time to collision avoidance allowing the vehicle to pass cross the target vehicle without colliding with the target vehicle, based on the driving speed of the vehicle and the calculated turning radius, and configured to transmit a warning signal by estimating that the vehicle collides with the target vehicle when the determined cross time is equal to or more than the estimated time to collision and equal to or less than the estimated time to collision avoidance.

2. The vehicle of claim 1, wherein

the controller estimates a yaw rate in a state in which the vehicle turns in the intersection, based on the driving speed of the vehicle and the calculated turning radius.

3. The vehicle of claim 2, wherein

the controller estimates the time to collision and the time to collision avoidance based on the estimated yaw rate.

4. The vehicle of claim 1, wherein

when the vehicle turns in the intersection, the controller estimates the time to collision based on a driving distance in which the vehicle drives before crossing the target vehicle in a horizontal direction.

5. The vehicle of claim 1, wherein

when the vehicle turns in the intersection, the controller estimates the time to collision avoidance based on a driving distance in which the vehicle passes cross the target vehicle in the horizontal direction.

6. The vehicle of claim 1, wherein

the controller estimates the time to collision avoidance based on a driving speed of the target vehicle detected by the sensor.

7. The vehicle of claim 1, wherein

the sensor determines a relative speed between the vehicle and the target vehicle by detecting the driving speed of the target vehicle, and determines the cross time based on the determined relative speed and a relative distance between the vehicle and the target vehicle.

8. The vehicle of claim 1, wherein

the controller determines the minimum turning radius of the intersection based on at least one of map information, navigation information, and lane recognition information of the intersection.

9. The vehicle of claim 1, wherein

the controller calculates the turning radius of the vehicle in the intersection based on at least one of the minimum turning radius, information about a lane on which the vehicle drives, and information about a lane on which the target vehicle drives.

10. The vehicle of claim 1, further comprising:

a display configured to display whether the vehicle collides with the target vehicle or not, based on the transmitted warning signal.

11. A method for controlling a vehicle turning in an intersection, comprising steps of:

determining, by a sensor, a cross time of the vehicle and a target vehicle driving in the intersection;

calculating, by a controller, a turning radius of the vehicle in the intersection, based on a minimum turning radius of the intersection;

estimating, by the controller, a time to collision between the vehicle turning in the intersection and the target vehicle and a time to collision avoidance allowing the vehicle to pass cross the target vehicle without colliding with the target vehicle, based on a driving speed of the vehicle and the calculated turning radius;

estimating, by the controller, that the vehicle collides with the target vehicle when the determined cross time is equal to or more than the estimated time to collision and equal to or less than the estimated time to collision avoidance; and

transmitting, by the controller, a warning signal based on a result of the estimation.

12. The method of claim 11, further comprising a step of:

estimating a yaw rate in a state in which the vehicle turns in the intersection, based on the driving speed of the vehicle, and the calculated turning radius.

13. The method of claim 12, wherein

the step of estimating the time to collision and the time to collision avoidance comprises estimating the time to collision and the time to collision avoidance based on the estimated yaw rate.

14. The method of claim 11, wherein

the step of estimating the time to collision comprises estimating the time to collision based on a driving distance in which the vehicle drives before crossing the target vehicle in a horizontal direction, when the vehicle turns in the intersection.

15. The method of claim 11, wherein

the step of estimating the time to collision avoidance comprises estimating the time to collision avoidance based on a driving distance in which the vehicle passes cross the target vehicle in the horizontal direction, when the vehicle turns in the intersection.

16. The method of claim 11, wherein

the step of estimating the time to collision avoidance comprises estimating the time to collision avoidance based on a driving speed of the target vehicle.

17. The method of claim 11, wherein

the step of determining the cross time comprises determining a relative speed between the target vehicle and the vehicle and determining the cross time based on the determined relative speed and a relative distance between the vehicle and the target vehicle.

18. The method of claim 11, further comprising a step of:

determining the minimum turning radius of the intersection based on at least one of map information, navigation information, and lane recognition information of the intersection.

19. The method of claim 11, wherein

the step of calculating the turning radius of the vehicle in the intersection comprises calculating the turning radius of the vehicle in the intersection, based on at least one of the minimum turning radius, information about a lane on which the vehicle drives, and information about a lane on which the target vehicle drives.

20. The method of claim 11, further comprising:

displaying whether the vehicle collides with the target vehicle or not, based on the transmitted warning signal.