System and method for controlling inter-vehicle distance using side and rear sensor

• US 8,676,443 B2
• Filed: 03/15/2012
• Issued: 03/18/2014
• Est. Priority Date: 12/26/2011
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Han, Sang Wook, Jo, Joon Sang
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US13/421,149
• Publication Number:
  US 20130166150A1
• Time in Patent Office: 733 Days
• Field of Search: 701/41, 701/70, 701/93, 701/96, 701/117, 701/300, 701/301, 340/409, 340/435, 340/436, 340/438, 340/903, 340/905, 340/942, 180/167, 180/168, 180/169, 180/170, 180/178, 180/179, 356/3.14, 356/4.02, 356/5.01, 342/70, 342/71, 342/72, 342/455, 348/118, 348/169, 318/587, 250/201.6, 396/121, 123/352, 382/106
• US Class Current: 701/42
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering

Abstract

A system and method are provided for controlling inter-vehicle distance. The system includes a front sensor, a side and rear sensor, an inter-vehicle distance controlling unit, and a steering controlling unit. The front sensor obtains information relating to a preceding vehicle. The side and rear sensor obtains information relating to vehicles in right and left lanes. The inter-vehicle distance controlling unit determines an avoidance direction for a lane change from data detected by the side and rear sensor when it is determined from data detected by the front sensor that a front end collision is unavoidable through just brake input. The steering controlling unit receives information relating to the avoidance direction determined by the inter-vehicle distance controlling unit and applies a steering force to a steering device to guide a driver to a lane in the determined avoidance direction.

Claims

1. A system for controlling inter-vehicle distance, comprising:

a first sensor configured to obtain information relating to a preceding vehicle relative to a subject vehicle;

at least one second sensor configured to obtain information relating to one or more vehicles in right and left lanes relative to the subject vehicle;

an inter-vehicle distance controller configured to determine an avoidance direction for a lane change from data detected by the at least one second sensor when it is determined from data detected by the first sensor that an end collision is unavoidable via only brake input; and

a steering controller configured to receive information relating to the avoidance direction determined by the inter-vehicle distance controlling unit and apply a steering force to a steering device to guide a driver to a lane in the determined avoidance direction.

2. The system of claim 1, wherein first sensor is disposed in a front portion of the subject vehicle and the at least one second sensor is disposed on a side portion of the subject vehicle and the inter-vehicle distance controller is configured to determine a crash risk with the preceding vehicle based on the data detected by the first sensor and determines whether the collision is avoidable through only brake input.

3. The system of claim 1, wherein the inter-vehicle distance controller determines a side and rear risk by the vehicles in the right and left lanes based on the data detected by the at least one second sensor, and determines the avoidance direction for the lane change from the side and rear risk.

4. The system of claim 1, wherein the inter-vehicle distance controller warns the driver of a dangerous situation through a warning unit while cancelling control of an inter-vehicle distance controlling operation when it is determined that a front end collision is unavoidable via only brake input, and indicates the avoidance direction to the driver by a directional indicating unit.

5. The system of claim 1, wherein the at least one second sensor comprises a camera collecting image data from which a general lane and a center lane are readable.

6. The system of claim 1, wherein the steering controller applies a steering-assistant force when a direction of driver'"'"'s steering wheel manipulation detected by a steering angle sensor and the avoidance direction are equal to each other, and applies a steering reaction force to restrain the driver'"'"'s steering wheel manipulation when the direction of the driver'"'"'s steering wheel manipulation and the avoidance direction are opposite to each other.

7. A method for controlling an inter-vehicle distance, comprising:

determining, by a processor, whether a front end collision of a subject vehicle is avoidable through just brake input from data detected by a first sensor for obtaining information relating to a preceding vehicle during operation of inter-vehicle distance control;

determining, by the processor, an avoidance direction for a lane change of the subject vehicle from data detected by at least one second sensor for obtaining information relating to vehicles in right and left lanes relative to the subject vehicle in response to determining that the front end collision is unavoidable through just brake input; and

transmitting, by processor, information relating to the avoidance direction to a steering controller to apply a steering force to a steering device to guide a driver to a lane in the determined avoidance direction.

8. The method of claim 7, wherein the processor determines a crash risk with the preceding vehicle based on the data detected by the first sensor and determines a front end collision avoidance possibility by the driver'"'"'s brake input from the crash risk.

9. The method of claim 8, wherein the crash risk is defined as a remaining time value until a maximum braking of a subject vehicle regarding a current relative distance and a current relative velocity with respect to a preceding vehicle, and the processor determines a time value corresponding to the current relative distance and the current relative velocity from a table in which time values are defined according to the relative distance and the relative velocity and then, when the determined time value falls within a predetermined reference value, determines that the front collision is unavoidable through just brake input.

10. The method of claim 7, wherein the processor determines a side and rear risk by the vehicles in the right and left lanes based on the data detected by the at least one second sensor, and determines the avoidance direction for the lane change from the side and rear risk.

11. The method of claim 10, wherein the side and rear risk is defined as a remaining time value until a crash with a vehicle in a side lane regarding a current relative distance and a current relative velocity with respect to the vehicles in the right and left lanes, and the processor determines a time value corresponding to the current relative distance and the current relative velocity from a table in which time values are defined according to the relative distance and the relative velocity and then a direction in which the determined time value falls within a predetermined reference value is determined as the avoidance direction.

12. The method of claim 7, wherein the processor warns a driver of a dangerous situation through a warning unit while cancelling control of an inter-vehicle distance controlling operation when it is determined that the front end collision is unavoidable through just brake input, and indicates the avoidance direction to the driver by a directional indicating unit.

13. The method of claim 7, wherein the at least one second sensor comprises a camera collecting image data from which a general lane and a center lane are readable.

14. The method of claim 13, wherein the processor distinguishes between a general lane and a center lane from the image data collected by the at least one second sensor, and excludes a lane direction in which the center lane exists from the avoidance direction.

15. The method of claim 7, wherein the steering controller applies a steering-assistant force when a direction of driver'"'"'s steering wheel manipulation detected by a steering angle sensor and the avoidance direction are equal to each other, and applies a steering reaction force to restrain the driver'"'"'s steering wheel manipulation when the direction of the driver'"'"'s steering wheel manipulation and the avoidance direction are opposite to each other.

16. The method of clam 7, wherein the processor delivers a both-direction risk signal to the steering controller when determining that both directions are dangerous in the determining of the avoidance direction, to apply a steering reaction force in both right and left directions during the driver'"'"'s steering input to restrain driver'"'"'s steering wheel manipulation.

17. A non-transitory computer readable medium containing program instructions executed by a processor or controller, the computer readable medium comprising:

program instructions that determine whether a front end collision of a subject vehicle is avoidable through just brake input from data detected by a first sensor for obtaining information relating to a preceding vehicle during operation of inter-vehicle distance control;

program instructions that determine an avoidance direction for a lane change of the subject vehicle from data detected by at least one second sensor for obtaining information relating to vehicles in right and left lanes relative to the subject vehicle in response to determining that the front end collision is unavoidable through just brake input; and

program instructions that interpret information relating to the determined avoidance direction and apply a steering force to a steering device to guide a driver to a lane in the determined avoidance direction.