Vehicle control apparatus and method for driving safety

• US 9,744,969 B2
• Filed: 03/10/2016
• Issued: 08/29/2017
• Est. Priority Date: 10/12/2015
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Kim, Dong Hyuk
• Primary Examiner(s): Tissot, Adam
• Assistant Examiner(s): BERNS, MICHAEL ANDREW
• Application Number:
  US15/066,720
• Publication Number:
  US 20170101096A1
• Time in Patent Office: 537 Days
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/162 Speed limiting therefor
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres

Abstract

A method for controlling a vehicle is provided with a smart cruise control (SCC) system. The vehicle determines whether a neighboring vehicle sensed by a blind spot detection (BSD) device meets a particular condition. When the neighboring vehicle meets the particular condition, the speed of the vehicle is adjusted based on a comparison result between the vehicle speed and neighboring vehicle speed.

Claims

1. A method for controlling a subject vehicle including a smart cruise control (SCC) system, comprising:

providing driving under a smart cruise control (SCC) system;

determining whether a neighboring vehicle sensed by a blind spot detection (BSD) device or an imaging device a particular condition;

adjusting the speed of the subject vehicle based on a comparison result between the subject vehicle speed and neighboring vehicle speed when the neighboring vehicle meets the particular condition; and

reinstating the subject vehicle speed when an abort condition is met,

wherein the abort condition includes at least one selected from the group consisting of;

a first abort condition in which the neighboring vehicle is over at least 10 meters away from the subject vehicle,

a second abort condition in which a distance between the neighboring vehicle and the subject vehicle is greater than a safe distance from vehicles ahead or behind, predetermined by the smart cruise control (SCC) system, and

a third abort condition in which the adjustment of the subject vehicle speed is continuously performed over at least 5 seconds.

2. The method according to claim 1, further comprising:

determining whether the subject vehicle speed is equal to or greater than a reference speed.

3. The method according to claim 1, wherein the particular condition includes:

a first condition regarding a distance between the subject vehicle and the neighboring vehicle; and

a second condition regarding a relative velocity between the subject vehicle and the neighboring vehicle.

4. The method according to claim 3, wherein the first condition is that the distance is less than 4 meters and the second condition is that the relative velocity is less than ±

3 km/h.

5. The method according to claim 4, wherein the particular condition further includes:

a third condition that the first and second conditions are maintained over at least 1 second.

6. The method according to claim 1, wherein the adjusting of the subject vehicle speed includes:

speeding up the subject vehicle when the subject vehicle speed is greater than the neighboring vehicle speed; and

slowing down the subject vehicle when the subject vehicle speed is less than the neighboring vehicle speed.

7. The method according to claim 6, wherein the subject vehicle speed is adjusted by about 2 km/h at a time.

8. The method according to claim 1, further comprising:

recognizing a type of neighboring vehicle when the neighboring vehicle meets the particular condition.

9. The method according to claim 8, further comprising:

classifying, the neighboring vehicle as a commercial vehicle when a height of the neighboring vehicle is greater than a predetermined range, and ceasing acceleration of the subject vehicle speed.

10. An apparatus for controlling a subject vehicle including a smart cruise control (SCC) system, the apparatus comprising:

a controller configured to adjust the speed of the subject vehicle based on the smart cruise control (SCC) system;

a blind spot detection (BSD) device or an imaging device configured to detect a neighboring vehicle located adjacent to the subject vehicle; and

a parallel driving determination unit configured to instruct the controller to adjust the subject vehicle speed based on a comparison result between the subject vehicle speed and neighboring vehicle speed when the neighboring vehicle meets a particular condition, and to reinstate the subject vehicle speed when an abort condition is met,

wherein the abort condition includes at least one selected from the group consisting of;

a first abort condition in which the neighboring vehicle is over at least 10 meters away from the subject vehicle,

a second abort condition in which a distance between the neighboring vehicle and the subject vehicle is greater than a safe distance from vehicles ahead or behind, predetermined by the smart cruise control (SCC) system, and

a third abort condition in which the adjustment of the subject vehicle speed is continuously performed over at least 5 seconds.

11. The apparatus according to claim 10, wherein the parallel driving determination unit is configured to determine whether the neighboring vehicle meets the particular condition when the subject vehicle speed is equal to or greater than a reference speed based on a location of the subject vehicle.

12. The apparatus according to claim 11, wherein the particular condition includes:

a first condition regarding a distance between the subject vehicle and the neighboring vehicle;

a second condition regarding a relative velocity between the subject vehicle and the neighboring vehicle; and

a third condition that the first and second conditions are maintained over at least 1 second.

13. The apparatus according to claim 12, wherein the first condition is that the distance is less than 4 meters and the second condition is that the relative velocity is less than 3 km/h.

14. The apparatus according to claim 10, wherein the parallel driving determination unit is configured to speed up the subject vehicle when the subject vehicle speed is greater than the neighboring vehicle speed, and slow down the subject vehicle when the subject vehicle speed is less than the neighboring vehicle speed.

15. The apparatus according to claim 13, wherein the subject vehicle speed is adjusted by about 2 km/h at a time.

16. The apparatus according to claim 10, further comprising:

a vehicle model recognition unit configured to recognize a type of neighboring vehicle when the neighboring vehicle meets the particular condition.

17. The apparatus according to claim 16, wherein, when a height of the neighboring vehicle is greater than a predetermined range, the controller is configured to cease acceleration of the subject vehicle speed.

18. An apparatus for controlling a subject vehicle including a smart cruise control (SCC) system comprising a processing system that comprises at least one data processor and at least one non-transitory computer-readable memory storing a computer program, wherein the processing system is configured to cause the apparatus to:

drive on the smart cruise control (SCC) system;

determine whether a speed of the subject vehicle is equal to or greater than a reference speed based on a location of the subject vehicle;

determine whether a neighboring vehicle sensed by a blind spot detection (BSD) device or an imaging device meets a particular condition;

adjust the speed of the subject vehicle based on a comparison result between the subject vehicle speed and neighboring vehicle speed when the neighboring vehicle meets the particular condition; and

reinstating the subject vehicle speed when an abort condition is met,

wherein the abort condition includes at least one selected from the group consisting of;

a first abort condition in which the neighboring vehicle is over at least 10 meters away from the subject vehicle,

a second abort condition in which a distance between the neighboring vehicle and the subject vehicle is greater than a safe distance from vehicles ahead or behind, predetermined by the smart cruise control (SCC) system, and

a third abort condition in which the adjustment of the subject vehicle speed is continuously performed over at least 5 seconds.

19. The apparatus according to claim 18, wherein the processing system is further configured to cause the apparatus to determine whether the subject vehicle speed is equal to or greater than a reference speed.

20. The apparatus according to claim 18, wherein the particular condition includes:

a first condition regarding a distance between the subject vehicle and the neighboring vehicle;

a second condition regarding a relative velocity between the subject vehicle and the neighboring vehicle; and

a third condition that the first and second conditions are maintained over at least 1 second.