Apparatus and method for determining driving state

• US 10,279,814 B2
• Filed: 05/25/2017
• Issued: 05/07/2019
• Est. Priority Date: 11/09/2016
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group), Kia Motors Corporation (Kia Corp.)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group), Kia Motors Corporation (Kia Corp.)
• Inventors: Kim, Jin Kwon, Ryu, Seong Sook, Lee, Byoung Joon, Kim, Sam Yong
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US15/605,272
• Publication Number:
  US 20180127002A1
• Time in Patent Office: 712 Days
• Field of Search: 701 323
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 30/025 related to comfort of drivers or passengers
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

An apparatus and a method for determining a driving state are provided. The apparatus includes a jerk calculator configured to determine a minimum prediction jerk generated in an interval until an ego vehicle arrives at a location of a preceding vehicle, using location, velocity, and acceleration information of the ego vehicle at a current time and location, velocity, and acceleration information of the preceding vehicle and determine a permission jerk of a driver of the ego vehicle, a determiner configured to determine whether the minimum prediction jerk is greater than the permission jerk of the driver and determine a careless driving state based on a driving operation state of the driver when the minimum prediction jerk is greater than the permission jerk of the driver, and a signal processor configured to output an alert when it is determined as the careless driving state.

Claims

1. An apparatus for determining a driving state, the apparatus comprising:

a jerk calculator configured to determine a minimum prediction jerk generated in an interval until an ego vehicle arrives at a location of a preceding vehicle, using location, velocity, and acceleration information of the ego vehicle at a current time and location, velocity, and acceleration information of the preceding vehicle and determine a permission jerk of a driver of the ego vehicle;

a determiner configured to determine whether the minimum prediction jerk determined in the interval is greater than the permission jerk of the driver and determine a careless driving state based on a driving operation state of the driver when the minimum prediction jerk is greater than the permission jerk of the driver; and

a signal processor configured to output an alert when it is determined as the careless driving state by the determiner.

2. The apparatus of claim 1, wherein the jerk calculator is configured to:

define the current time as a start time;

define a time when the ego vehicle is configured to be stopped before colliding with the preceding vehicle as an end time; and

determine a prediction jerk at each of the start time and the end time in an interval between the start time and the end time.

3. The apparatus of claim 2, wherein the jerk calculator is configured to:

determine the prediction jerk by differentiating a location of the ego vehicle at each of the start time and the end time three times in the interval between the start time and the end time.

4. The apparatus of claim 3, wherein the jerk calculator is configured to:

define the location of the ego vehicle at each of the start time and the end time in the interval between the start time and the end time using an Equation below,

5. The apparatus of claim 4, wherein the jerk calculator is configured to:

define a first location, a first velocity, and a first acceleration of the ego vehicle at the start time and a second location, a second velocity, and a second acceleration of the ego vehicle at the end time using the Equation above.

6. The apparatus of claim 5, wherein the first location, the second velocity, and the second acceleration of the ego vehicle have a value of “

0”

.

7. The apparatus of claim 6, wherein the jerk calculator is configured to:

determine each coefficient of the Equation above using the first location, the first velocity, and the first acceleration of the ego vehicle at the start time and the second location, the second velocity, and the second acceleration of the ego vehicle at the end time.

8. The apparatus of claim 7, wherein the jerk calculator is configured to:

determine the second location, the second velocity, and the second acceleration of the ego vehicle at the end time using a location, velocity, and acceleration based on a driving state of the preceding vehicle at the start time.

9. The apparatus of claim 8, wherein the jerk calculator is configured to:

determine an end time when the prediction jerk is “

0”

, using an Equation below when the preceding vehicle is a driving state at the end time,

x(T)=x_lv_lT+½

a_lT² 

 

[Equation]

where T denotes an end point, x(T) denotes a location of the ego vehicle at the end time, x_l denotes a location of the preceding vehicle at the start time, v_l denotes a velocity of the preceding vehicle at the start time, and a_l denotes an acceleration of the preceding vehicle at the start time.

10. The apparatus of claim 8, wherein the jerk calculator is configured to:

determine an end time when the prediction jerk is “

0”

, using an Equation below when the preceding vehicle is a stop state at the end time,

11. The apparatus of claim 2, wherein the jerk calculator is configured to:

determine a sum of squares of the prediction jerk at each of the start time and the end time in the interval between the start time and the end time as the minimum prediction jerk.

12. The apparatus of claim 2, wherein the determiner is configured to:

when the minimum prediction jerk in the interval between the start time and the end time is greater than the permission jerk of the driver, determine the careless driving state here is no separate driving operation by the driver.

13. The apparatus of claim 1, wherein the jerk calculator is configured to:

determine the permission jerk of the driver using an increasing velocity distribution of master cylinder pressure (MCP) when a brake of the ego vehicle is configured to be operated in a state where a jerk is “

0”

.

14. The apparatus of claim 1, further including:

a sensor configured to obtain the location, velocity, and acceleration information of the ego vehicle and the location, velocity, and acceleration information of the preceding vehicle.

15. The apparatus of claim 1, further including:

a communicator configured to receive the location, velocity, and acceleration information of the preceding vehicle through vehicle-to-vehicle (V2V) communication with the preceding vehicle.

16. An apparatus for determining a driving state, the apparatus comprising:

a jerk calculator configured to determine a minimum prediction jerk generated in an interval until an ego vehicle arrives at a location of a preceding vehicle, using location, velocity, and acceleration information of the ego vehicle at a current time and location, velocity, and acceleration information of the preceding vehicle and determine a permission jerk of a driver of the ego vehicle;

a determiner configured to determine whether the minimum prediction jerk determined in the interval is greater than the permission jerk of the driver and determine a careless driving state based on a driving operation state of the driver when the minimum prediction jerk is greater than the permission jerk of the driver; and

a signal processor configured to output an alert when it is determined as the careless driving state and transmit a message including information about the careless driving state to a collision control system in the ego vehicle.

17. A method for determining a driving state, the method comprising:

obtaining location, velocity, and acceleration information of an ego vehicle at a current time and location, velocity, and acceleration information of a preceding vehicle;

determining a minimum prediction jerk generated in an interval until the ego vehicle arrives at a location of the preceding vehicle, using the location, velocity, and acceleration information of the ego vehicle at the current time and the location, velocity, and acceleration information of the preceding vehicle and determining a permission jerk of a driver of the ego vehicle;

determining whether the minimum prediction jerk determined in the interval is greater than the permission jerk of the driver and determine a careless driving state based on a driving operation state of the driver when the minimum prediction jerk is greater than the permission jerk of the driver; and

outputting an alert, when it is configured to be determined the careless driving state.

18. The method of claim 17, wherein the determining of the minimum prediction jerk includes:

defining the current time as a start time;

defining a time when the ego vehicle is configured to be stopped before colliding with the preceding vehicle as an end time; and

determining a prediction jerk at each of the start time and the end time in an interval between the start time and the end time.

19. The method of claim 18, wherein the determining of the minimum prediction jerk includes:

determining the prediction jerk by differentiating a location of the ego vehicle at each of the start time and the end time three times in the interval between the start time and the end time.

20. The method of claim 18, wherein the determining of the minimum prediction jerk includes:

determining a sum of squares of the prediction jerk at each of the start time and the end time in the interval between the start time and the end time as the minimum prediction jerk.