APPARATUS AND METHOD FOR CONTROLLING DRIVE OF VEHICLE

• US 20190315358A1
• Filed: 11/29/2018
• Published: 10/17/2019
• Est. Priority Date: 04/11/2018
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group), Kia Motors Corporation (Kia Corp.)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: KIM, Beom Jun, KIM, Hoi Won, UM, Doo Jin, KIM, Dae Young, PARK, Chan Il, JEONG, Jin Su, OH, Dong Eon
• Granted Patent: US 11,084,490 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 2050/0068 Giving intention of direction, e.g. by indicator lights, steering input
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2540/20 Direction indicator values
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: B60W 50/085 Changing the parameters of the control units, e.g. changing limit values, working points by control input
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

An apparatus for controlling drive of a vehicle includes an input device, and a control circuit. The control circuit performs a lane keeping control on a driving lane of the vehicle for a first time duration, when receiving a first input for changing a lane from the driver through the input device, performs a line access control such that the vehicle moves toward a line positioned in a direction of a target lane for the changing of the lane, after completing the lane keeping control for the first time duration, when receiving a second input for changing the lane from the driver through the input device after receiving the first input, and performs a lane entrance control toward the target lane when the line access control is completed within a second time duration.

Claims

1. An apparatus for controlling drive of a vehicle, the apparatus comprising:

at least one input device configured to receive an input from a driver of the vehicle; and

a control circuit electrically connected with the at least one input device,

wherein the control circuit is configured to;

perform a lane keeping control on a driving lane of the vehicle for a first time duration, when receiving a first input for changing a lane from the driver through the at least one input device,

when receiving a second input for changing the lane from the driver through the at least one input device after receiving the first input, perform a line access control such that the vehicle moves toward a line positioned in a direction of a target lane for the changing of the lane, after completing the lane keeping control for the first time duration, and

perform a lane entrance control toward the target lane when the line access control is completed within a second time duration.

2. The apparatus of claim 1, wherein the at least one input device includes:

a first input device and a second input device,

wherein the first input is received through the first input device, and

wherein the second input is received through the second input device.

3. The apparatus of claim 2, wherein the first input device is a turn signal lever, and

wherein the second input device is a steering wheel, a switch, or a button.

4. The apparatus of claim 1, further comprising:

an output device,

wherein the control circuit is configured to output a message associated with changing the lane through the output device, when receiving the first input.

5. The apparatus of claim 1, wherein the control circuit is configured to:

stop the lane change, when a specified cancellation condition is satisfied while the lane keeping control or the line access control is being performed.

6. The apparatus of claim 5, wherein the specified cancellation condition is satisfied:

when a dangerous situation is sensed;

when a system is shut down by the driver;

when the system reaches a limit situation;

when hands-off of the driver is sensed;

when a turn signal lamp is turned off by the driver;

when initiation of the changing of the lane is delayed;

or when lateral-movement is discontinuous.

7. The apparatus of claim 5, wherein the specified cancellation condition is satisfied when it is predicted that completion of the line access control is impossible within the second time duration.

8. The apparatus of claim 5, wherein the control circuit is configured to:

stop changing the lane and continuously perform the lane keeping control on the driving lane, when the specified cancellation condition is satisfied during the lane keeping control.

9. The apparatus of claim 5, wherein the control circuit is configured to:

stop changing the lane and perform a lane return control to return the vehicle to a centerline of the driving lane, when the specified cancellation condition is satisfied during the line access control.

10. The apparatus of claim 9, wherein the control circuit is configured to:

stop the lane return control, when the specified cancellation condition is canceled during the lane return control; and

perform the line access control, when the first input and the second input are received.

11. The apparatus of claim 1, further comprising:

an output device,

wherein the control circuits is configured to;

output a warning through the output device, and

maintain the lane entrance control, when a specified cancellation condition is satisfied during the lane entrance control.

12. The apparatus of claim 11, wherein the specified cancellation condition is satisfied when it is predicted that completion of the lane entrance control is impossible for a third time duration.

13. The apparatus of claim 1, wherein the control circuit is configured to:

perform the lane keeping control on the target lane, when the lane entrance control is completed within a third time duration.

14. A method for controlling drive of a vehicle, the method comprising:

performing, by a control circuit, a lane keeping control on a driving lane of the vehicle for a first time duration, when receiving a first input for changing a lane from the driver of the vehicle;

when receiving a second input for changing the lane from the driver after receiving the first input, performing, by the control circuit, a line access control such that the vehicle moves toward a line positioned in a direction of a target lane for the changing of the lane, after the lane keeping control is completed for the first time duration; and

performing, by the control circuit, a lane entrance control toward the target lane when the line access control is completed within a second time duration.

15. The method of claim 14, further comprising:

stopping, by the control circuit, changing the lane, when a specified cancellation condition is satisfied while the lane keeping control or the line access control is being performed.

16. The method of claim 15, wherein stopping changing the lane includes:

stopping changing the lane and continuously performing the lane keeping control on the driving lane, when the specified cancellation condition is satisfied during the lane keeping control.

17. The method of claim 15, wherein stopping changing the lane includes:

stopping changing the lane and performing a lane return control to return the vehicle to a centerline of the driving lane, when the specified cancellation condition is satisfied during the line access control.

18. The method of claim 17, further comprising:

stopping, by the control circuit, the lane return control, when the specified cancellation condition is canceled during the lane return control; and

performing the line access control, when the first input and the second input are received.

19. The method of claim 14, further comprising:

outputting a warning through an output device, and

maintaining the lane entrance control, when the specified cancellation condition is satisfied during the lane entrance control.

20. The method of claim 14, further comprising:

performing, by the control circuit, the lane keeping control on the target lane, when the lane entrance control is completed for a third time duration.