Apparatus and method for providing a crash prevention control functionality for a vehicle
First Claim
1. An apparatus for providing crash prevention control functionality to a vehicle, the apparatus comprising:
- a dangerous situation determining unit configured to determine whether a dangerous situation is developing with respect to a side approaching vehicle based on information relating to the side approaching vehicle approaching the vehicle from a side direction;
a lane keeping assist system (LKAS) control area calculation unit configured to calculate a control area to apply to an LKAS to cause the vehicle to move in a direction transverse to a direction of travel of the vehicle while remaining in a current lane of the vehicle to avoid the side approaching vehicle when it is determined that the side approaching vehicle is causing a dangerous situation according to the determination result;
a smart cruise control (SCC) control value calculation unit configured to calculate a control value to apply to an SCC system to avoid the side approaching vehicle when it is determined that the side approaching vehicle is causing a dangerous situation according to the determination result;
and a drive control unit configured to determine at least one of the LKAS and the SCC system to which a control signal should be output based on the result of determining whether the side approaching vehicle is causing a dangerous situation, and to selectively output the control signal to the determined at least one of the LKAS and the SCC system according to the result of determining whether the side approaching vehicle is causing a dangerous situation;
wherein the LKAS is configured to perform a proportional-integral-derivative CPID)-based feedback control to maintain the vehicle on or near a reference line R to be followed by the vehicle, wherein the PID-based feedback control is performed based on a steering angle α and
a distance ε
the center of the vehicle measured relative to the reference line R;
wherein the LKAS is further configured to perform a feed-forward control in response to determining a road curvature or a reference line R curvature, wherein the feed-forward control includes maintaining PID feedback control based on the steering angle α
while suspending the PID feedback control based on the distance ε
to the center of the vehicle until the vehicle direction is stabilized.
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Accused Products
Abstract
An apparatus for providing crash prevention control functionality to a vehicle includes: a dangerous situation determining unit determining whether a dangerous situation is developing with respect to a side approaching vehicle based on information relating to the vehicle approaching from a side direction; a lane keeping assist system (LKAS) control area calculation unit calculating a control area to apply to a LKAS so as to avoid the approaching vehicle when the approaching vehicle is causing a dangerous situation; a smart cruise control (SCC) control value calculation unit calculating a control value to apply to an SCC system so as to avoid the approaching vehicle when the approaching vehicle is causing a dangerous situation; and a drive control unit configured to output a control signal to at least one of the LKAS and the SCC system according to the calculation results.
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Citations
19 Claims
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1. An apparatus for providing crash prevention control functionality to a vehicle, the apparatus comprising:
- a dangerous situation determining unit configured to determine whether a dangerous situation is developing with respect to a side approaching vehicle based on information relating to the side approaching vehicle approaching the vehicle from a side direction;
a lane keeping assist system (LKAS) control area calculation unit configured to calculate a control area to apply to an LKAS to cause the vehicle to move in a direction transverse to a direction of travel of the vehicle while remaining in a current lane of the vehicle to avoid the side approaching vehicle when it is determined that the side approaching vehicle is causing a dangerous situation according to the determination result; a smart cruise control (SCC) control value calculation unit configured to calculate a control value to apply to an SCC system to avoid the side approaching vehicle when it is determined that the side approaching vehicle is causing a dangerous situation according to the determination result; and a drive control unit configured to determine at least one of the LKAS and the SCC system to which a control signal should be output based on the result of determining whether the side approaching vehicle is causing a dangerous situation, and to selectively output the control signal to the determined at least one of the LKAS and the SCC system according to the result of determining whether the side approaching vehicle is causing a dangerous situation; wherein the LKAS is configured to perform a proportional-integral-derivative CPID)-based feedback control to maintain the vehicle on or near a reference line R to be followed by the vehicle, wherein the PID-based feedback control is performed based on a steering angle α and
a distance ε
the center of the vehicle measured relative to the reference line R;wherein the LKAS is further configured to perform a feed-forward control in response to determining a road curvature or a reference line R curvature, wherein the feed-forward control includes maintaining PID feedback control based on the steering angle α
while suspending the PID feedback control based on the distance ε
to the center of the vehicle until the vehicle direction is stabilized. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 18)
- a dangerous situation determining unit configured to determine whether a dangerous situation is developing with respect to a side approaching vehicle based on information relating to the side approaching vehicle approaching the vehicle from a side direction;
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11. A method for providing crash prevention control functionality to a vehicle, the method comprising:
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determining whether a dangerous situation is developing with respect to a side approaching vehicle based on information relating to the side approaching vehicle approaching the vehicle from a side direction; calculating a control area to apply to a lane keeping assist system (LKAS) to cause the vehicle to move in a direction transverse to a direction of travel of the vehicle while remaining in a current lane of the vehicle, and a control value to apply to a smart cruise control (SCC) system, to avoid the side approaching vehicle when it is determined that the side approaching vehicle is causing a dangerous situation according to the determination result; determining at least one of the LKAS and the SCC system to which a control signal should be output based on the result of determining whether the side approaching vehicle is causing a dangerous situation; and selectively outputting the control signal to the determined at least one of the LKAS and the SCC system according to the result of determining whether the side approaching vehicle is causing a dangerous situation; and performing a proportional-integral-derivative (PID)-based feedback control in the LKAS to maintain the vehicle on or near a reference line R to be followed by the vehicle, wherein the PID based feedback control is performed based on a steering angle α and
a distance ε
to the center of the vehicle measured relative to the reference line R;and performing a feed-forward control in the LKAS in response to determining a road curvature or a reference line R curvature, wherein the performing of the feed-forward control includes maintaining PID feedback control based on the steering angle ε
while suspending the PID feedback control based on the distance ε
to the center of the vehicle until the vehicle direction is stabilized. - View Dependent Claims (12, 13, 14, 15, 16, 17, 19)
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Specification