Apparatus and method for controlling vehicle

• US 9,849,877 B2
• Filed: 01/20/2016
• Issued: 12/26/2017
• Est. Priority Date: 01/22/2015
• Status: Active Grant

• Current Assignee: HL Klemove Corporation
• Original Assignee: Mando Corporation
• Inventors: Na, Hyuck Min
• Primary Examiner(s): Kan, Yuri
• Application Number:
  US15/002,290
• Publication Number:
  US 20160214619A1
• Time in Patent Office: 706 Days
• CPC Class Codes: B60K 28/06 responsive to incapacity of driver
• CPC Class Codes: B60K 28/066 actuating a signalling device B60K28/063 takes precedence
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2040/0827 due to sleepiness
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2540/221 Physiology, e.g. weight, heartbeat, health or special needs
• CPC Class Codes: B60W 2540/225 Direction of gaze
• CPC Class Codes: B60W 2540/229 Attention level, e.g. attentive to driving, reading or sleeping
• CPC Class Codes: B60W 2540/26 Incapacity
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 40/08 related to drivers or passengers
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention

Abstract

An apparatus and method for controlling a vehicle are disclosed. A method for controlling a vehicle by monitoring a driver'"'"'s state includes: a region setting step for establishing a first steering control region, a first steering warning region, a braking control region, and a first braking warning region of the vehicle; a driver state decision step for determining the driver state by monitoring a state of the driver; and a region resetting step for including, if the driver state is in an abnormal state in the driver state decision step, resetting a first steering control region of the vehicle, a first steering warning region, and a first braking warning region in the region setting region, and thus setting a second steering control region, a second steering warning region, and a second braking warning region.

Claims

1. A method for controlling a vehicle by monitoring a driver'"'"'s state, the method comprising:

setting a first steering control region, a first steering warning region, a braking control region, and a first braking warning region of the vehicle;

determining the driver'"'"'s state by monitoring a state of a driver; and

if the determined driver'"'"'s state is in an abnormal state, resetting the first steering control region, the first steering warning region, and the first braking warning region of the vehicle, to set a second steering control region, a second steering warning region, and a second braking warning region,

wherein

the braking control region, the first braking warning region, and the second braking warning region are formed on the basis of a distance to a front vehicle,

a distance of the first braking warning region is shorter than a distance of the second braking warning region, and

a distance of the braking control region is shorter than a distance of the first braking warning region, and

wherein

the first braking warning region includes a first plurality of sections according to respective distances, and

the second braking warning region includes a second plurality of sections according to respective distances in response to the first braking warning region composed of the first plurality of sections.

2. The method according to claim 1, wherein

the second steering control region is larger in size than the first steering control region,

the second steering warning region is larger in size than the first steering warning region, and

the second braking warning region is larger in size than the first braking warning region.

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

determining whether the vehicle enters the second steering control region;

if the vehicle enters the second steering control region, steering the vehicle;

determining whether the vehicle enters the second steering warning region;

if the vehicle enters the second steering warning region, warning the driver that the vehicle has entered the second steering warning region;

determining whether the vehicle enters the second braking warning region;

if the vehicle enters the second braking warning region, warning the driver that the vehicle has entered the second braking warning region;

determining whether the vehicle enters the braking control region; and

if the vehicle enters the braking control region, performing braking of the vehicle.

4. The method according to claim 1, wherein

the first steering control region, the first steering warning region, the second steering warning control region, and the second steering warning region are formed along a vehicle lane,

the first steering control region is larger in width than the first steering warning region, and

the second steering control region is larger in width than the second steering warning region.

5. The method according to claim 1, wherein

the first steering control region, the first steering warning region, the second steering control region, and the second steering warning region are formed along a vehicle lane,

the second steering warning region is larger in width than the first steering control region, and

the first steering control region is larger in width than the first steering warning region.

6. A method for controlling a vehicle by monitoring a driver'"'"'s state, the method comprising:

setting a first steering control region, a first steering warning region, a braking control region, and a first braking warning region of the vehicle;

determining the driver'"'"'s state by monitoring a state of a driver; and

if the determined driver'"'"'s state is in an abnormal state, resetting the first steering control region, the first steering warning region, and the first braking warning region of the vehicle, to set a second steering control region, a second steering warning region, and a second braking warning region,

wherein

the braking control region, the first braking warning region, and the second braking warning region are formed on the basis of a distance to a front vehicle,

a distance of the first braking warning region is shorter than a distance of the second braking warning region, and

a distance of the braking control region is shorter than a distance of the first braking warning region, and

wherein

the first braking warning region includes a first warning region, a second warning region, and a third warning region, and

the second braking warning region includes a first early warning region and a second early warning region, and

wherein

a warning start time of the first early warning region is earlier than a warning start time of the first warning region and

a warning start time of the second early warning region is earlier than a warning start time of the second warning region.

7. The method according to claim 6, wherein the distance of the braking control region is identical to a distance of the third warning region.

8. An apparatus for controlling a vehicle by monitoring a driver'"'"'s state, comprising:

a sensor unit configured to detect at least two of a steering angle, a steering-angle speed, lateral acceleration, and vehicle speed;

a front camera configured to capture a front-view image of the vehicle;

a driver camera configured to capture an image of a driver;

a driver state decision unit configured to determine, based on the image captured by the driver camera, whether the driver is in an abnormal state;

a controller configured to control steering and braking of the vehicle according to a determined result of the driver state decision unit; and

a warning unit configured to warn the driver of a dangerous state according to a control signal of the controller,

wherein

a steering control region for determining steering control of the vehicle, a steering warning region for determining steering warning of the vehicle, a braking control region for determining braking control of the vehicle, and a braking warning region for determining braking warning of the vehicle are established in the controller, and

the controller performs resetting of the steering control region, the steering warning region, and the braking warning region according to the determined result of the driver state decision unit,

wherein

the controller, if the driver is in an abnormal state according to the determined result of the driver state decision unit, performs resetting of respective regions in a manner that the steering control region, the steering warning region, and the braking warning region are extended in size, and

wherein

the braking warning region includes a first warning region, a second warning region, and a third warning region according to a distance to a front vehicle; and

the controller, if the driver is in the abnormal state according to the determined result of the driver state decision unit, performs resetting in a manner that the first warning region and the second warning region are extended in size.

9. The apparatus according to claim 8, wherein the driver state decision unit, based on the detected at least two of the steering angle, the steering angle speed, the lateral acceleration, and the vehicle speed, further determines whether the driver is in the abnormal state.