Automatic speed controllable vehicle and method for controlling speed thereof

• US 9,221,463 B2
• Filed: 04/10/2014
• Issued: 12/29/2015
• Est. Priority Date: 11/26/2013
• Status: Active Grant

• Current Assignee: Hyundai Mobis Co., Ltd.
• Original Assignee: Hyundai Mobis Co., Ltd.
• Inventors: Choi, A Ra
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): MAZZARA, ANNE MARIE
• Application Number:
  US14/249,502
• Publication Number:
  US 20150149059A1
• Time in Patent Office: 628 Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 2556/45 External transmission of data to or from the vehicle
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/146 Speed limiting
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

Disclosed are an automatic speed controllable vehicle and a speed controlling method thereof. The vehicle collects vehicle information and transmitted collected vehicle information to an RSE, and the RSE receives vehicle information from each vehicle within a management section and transmits again, to each vehicle, information required for each vehicle to adjust a speed. The vehicle receiving information required to adjust the speed may adjust the speed of the vehicle based on the received information and may display a warning notification for a driver.

Claims

1. A vehicle control comprising:

a vehicle to everything (V2X) terminal configured to

collect driving information from vehicles,

transmit a transmission message to roadside equipment (RSE), and

generate control data and display data

wherein the RSE analyzes the number of vehicles within a management section, position information, and speed information from the driving information and transmits a reception message about driving limit information including a speed limit of the management section and neighboring vehicle information to at least a vehicle,

wherein the V2X analyzes the driving limit information from the RSE and converts the driving limit information to control data and display data;

an integrated controller configured to

receive the control data,

calculate a deceleration level, and

gradually decelerate a speed of a vehicle to be less than or equal to the speed limit based on the calculated deceleration level; and

an interface unit configured to receive the display data, and to transmit the received display data to an audio/video/navigation (AVN) system capable of displaying a warning notification for a driver, wherein the management section comprises subsections for the setting of speed limits in the management section.

2. The vehicle control of claim 1, wherein the V2X terminal comprises:

a controller area network (CAN) information collector configured to collect vehicle information including the vehicle speed from a plurality of sensors within the vehicle using a CAN communication;

a differential global positioning system (DGPS) information collector configured to obtain position information of the vehicle;

a basic safety message (BSM) generator configured to receive the vehicle information and the position information, to obtain the driving information, and to generate the driving information as a transmission BSM that is the transmission message corresponding to a wireless access in vehicular environments (WAVE) communication format;

a WAVE data handler configured to receive the transmission BSM, to transmit the transmission BSM to the RSE, and to receive a reception BSM transmitted from the RSE;

a driving limit information analyzer configured to receive the reception BSM, and to obtain the speed limit and the neighboring vehicle information included in the reception BSM, and warning data;

a data converter configured to convert, to the control data, the speed limit, the neighboring vehicle information, and a warning level included in the warning data, and to transmit the control data to the integrated controller; and

a CAN information generator configured to transmit the display data to the interface unit through the CAN communication.

3. The vehicle control of claim 1, wherein when the neighboring vehicle information is not included in the control data, the integrated controller calculates the deceleration level according to an equation:

RP=(SP_cr−

SP_lm)/(WL*10),

where RP denotes the deceleration level, SP_cr denotes a current driving speed of the vehicle, SP_lm denotes a driving speed limit of the vehicle, and WL denotes a warning level,

and decelerates the speed of the vehicle based on the calculated deceleration level.

4. The vehicle control of claim 1, wherein when the neighboring vehicle information is included in the control data, the integrated controller calculates a relative speed that is a difference between the vehicle speed of the vehicle information and a speed of a vehicle at the back included in the neighboring vehicle information, and when the relative speed has a negative value, calculates the deceleration level in consideration of a relative acceleration that is a difference between an acceleration of the vehicle and an acceleration of the vehicle at the back according to an equation:

RS=(|(relative acceleration/10)|*(SP_cr−

SP_lm))/(WL*10),

where RS denotes the deceleration level, SP_cr denotes a current driving speed of the vehicle, SP_lm denotes a driving speed limit of the vehicle, and WL denotes a warning level, and decelerates the speed of the vehicle based on the calculated deceleration level.

5. The vehicle control of claim 1, wherein when information about a vehicle at the back is included in the neighboring vehicle information, the integrated controller adjusts a deceleration interval based on a relative distance between the vehicle and the vehicle at the back.

6. The vehicle control of claim 1, wherein the RSE receives a transmission BSM, analyzes driving information of each of an at least one vehicle, obtains the number of vehicles within the management section, the position information, and the speed information from the driving information, generates the neighboring vehicle information including the position information and the driving information of another vehicle based on each of the at least one vehicle, generates a reception BSM that is the reception message including the neighboring vehicle information and the speed limit and warning data predetermined and thereby stored, and transmits the reception BSM.

7. The vehicle control of claim 1, wherein the RSE generates a reception BSM about a vehicle of which a driving speed is greater than or equal to the speed limit among an at least one vehicle, and transmits the reception BSM.

8. The vehicle control of claim 1, wherein the interface unit receives the display data, converts the display data to a format capable of being output on the AVN system, and transmits the converted display data.

9. A method of controlling a speed of at least one vehicle configured to perform communication with Road Side Equipment (RSE) using a Wireless Access in Vehicular Environments (WAVE) communication, the method comprising:

collecting, by each of the at least one vehicle, driving information including speed information and position information of a vehicle, generating a transmission Basic Safety Message (BSM) corresponding to a WAVE communication format, and transmitting the transmission BSM to the RSE;

receiving, by each of the at least one vehicle, a reception BSM that is transmitted from the RSE by analyzing the number of vehicles within a management section and driving information of each of the at least one vehicle, and by including driving limit information and neighboring vehicle information; and

obtaining, by each of the at least one vehicle, a speed limit of the management section included in the driving limit information and the neighboring vehicle information, calculating a deceleration level based on a current speed of a vehicle exceeding the speed limit and the speed limit, and decelerating the speed of the vehicle based on the calculated deceleration level,

wherein the management section comprises subsections for the setting of speed limits in the management section.

10. The method of claim 9, wherein the receiving of the reception BSM comprises:

receiving, by the RSE, the transmission BSM from each of the at least one vehicle, and analyzing the number of vehicles within the management section of the RSE and the driving information of each of the at least one vehicle;

determining, by the RSE, whether a speed of each of the at least one vehicle exceeds the predetermined speed limit;

obtaining, by the RSE, a warning level corresponding to the speed of the vehicle exceeding the speed limit in the driving information from among a plurality of predetermined warning levels;

determining, by the RSE, whether a vehicle driving at the back of the vehicle of which the vehicle speed exceeds the speed limit is present within the management section;

obtaining, by the RSE, neighboring vehicle information including position information and speed information of the vehicle driving at the back when the vehicle driving at the back is determined to be present;

generating, by the RSE, the reception BSM including the warning level, the neighboring vehicle information, and the speed limit as the driving limit information;

transmitting, by the RSE, the reception BSM to each vehicle exceeding the speed limit through the WAVE communication; and

receiving, by the vehicle of which the vehicle speed exceeds the speed limit among the at least one vehicle, the reception BSM.

11. The method of claim 9, wherein the decelerating of the speed comprises:

obtaining, by a V2X terminal of the vehicle of which the vehicle speed exceeds the speed limit, the speed limit, the neighboring vehicle information, and a warning level corresponding to the speed of the vehicle from among a plurality of warning levels predetermined at the RSE, from the driving limit information included in the reception BSM, and generating control data;

receiving, by an integrated controller of the vehicle of which the vehicle speed exceeds the speed limit, the control data from the V2X terminal, and when the neighboring vehicle information is not included in the control data, calculating the deceleration level according to an equation;

RP=(SP_cr−

SP_lm)/(WL*10),

where RP denotes the deceleration level, SP_cr denotes a current driving speed of the vehicle, SP_lm denotes a driving speed limit of the vehicle, and WL denotes the warning level; and

decelerating the speed of the vehicle based on the calculated deceleration level.

12. The method of claim 9, wherein the decelerating of the speed comprises:

obtaining, by a V2X terminal of the vehicle of which the vehicle speed exceeds the speed limit, the speed limit, the neighboring vehicle information, and a warning level corresponding to the speed of the vehicle from among a plurality of warning levels predetermined at the RSE, from the driving limit information included in the reception BSM, and generating control data;

receiving, by an integrated controller of the vehicle of which the vehicle speed exceeds the speed limit, the control data from the V2X terminal, and when the neighboring vehicle information is included in the control data, calculating a relative speed that is a difference between the vehicle speed of the vehicle information and a speed of a vehicle at the back included in the neighboring vehicle information, and when the relative speed has a negative value, calculating the deceleration level in consideration of a relative acceleration that is a difference between an acceleration of the vehicle and an acceleration of the vehicle at the back according to an equation;

RS=(|(relative acceleration/10)|*(SP_cr−

SP_lm))/(WL*10),

where RS denotes the deceleration level, SP_cr denotes a current driving speed of the vehicle, SP_lm denotes a driving speed limit of the vehicle, and WL denotes the warning level; and

decelerating the speed of the vehicle based on the calculated deceleration level.

13. The method of claim 9, wherein the decelerating of the speed comprises adjusting a deceleration interval based on a relative distance between the vehicle and a vehicle at the back when information about the vehicle at the back is included in the neighboring vehicle information.