Vehicle control device mounted on vehicle and method for controlling the vehicle

• US 10,816,982 B2
• Filed: 01/09/2018
• Issued: 10/27/2020
• Est. Priority Date: 07/11/2017
• Status: Active Grant

• Current Assignee: LG Electronics, Inc. (LG Corporation)
• Original Assignee: LG Electronics, Inc. (LG Corporation)
• Inventors: Lee, Hansung, Oh, Jaesaek, Yu, Junyoung
• Primary Examiner(s): Lonsberry, Hunter B
• Assistant Examiner(s): Martinez Borrero, Luis A
• Application Number:
  US15/866,013
• Publication Number:
  US 20190018419A1
• Time in Patent Office: 1,022 Days
• 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 2556/55 using telemetry
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 30/181 Preparing for stopping
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93
• CPC Class Codes: G08G 1/09 Arrangements for giving variable traffic instructions railroad crossing signals B61L; reflectors E01F, G08B; indicating arrangements for variable information by selection or combination of individual elements G09F9/00
• CPC Class Codes: G08G 1/096708 where the received information might be used to generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096725 where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/09675 where a selection from the received information takes place in the vehicle
• CPC Class Codes: G08G 1/096783 where the origin of the information is a roadside individual element
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A vehicle control device for a vehicle includes: a communication unit configured to receive vehicle-to-everything (V2X) information, the V2X information including position data; and a control unit configured to generate a control signal associated with driving of the vehicle based on the V2X information. The control unit generates the control signal associated with driving of the vehicle by: determining an expected driving route of the vehicle; based on the determination of the expected driving route of the vehicle, determining a region of interest; and based on the determination of the region of interest, selectively receiving first V2X information associated with the region of interest by: transmitting, through the communication unit, a request for transmission of the first V2X information associated with the region of interest to communication-enabled devices; and receiving, through the communication unit, the first V2X information transmitted by the communication-enabled devices.

Claims

1. A vehicle control device for a vehicle, the vehicle control device comprising:

a transceiver configured to receive vehicle-to-everything (V2X) information, the V2X information comprising position data; and

a controller configured to generate a control signal associated with driving of the vehicle based on the V2X information,

wherein the controller generates the control signal associated with driving of the vehicle by;

determining an expected driving route of the vehicle;

based on the determination of the expected driving route of the vehicle, determining a region of interest; and

based on the determination of the region of interest, selectively receiving first V2X information associated with the region of interest by;

transmitting, through the transceiver, a request for transmission of the first V2X information associated with the region of interest to communication-enabled devices; and

selectively receiving, through the transceiver, the first V2X information transmitted by the communication-enabled devices that includes position data falling within the region of interest,

wherein the controller is further configured to;

determine that the expected driving route of the vehicle comprises entering an intersection;

determine an operation of the vehicle at the intersection; and

determine the region of interest based on (i) the determination that the expected driving route of the vehicle comprises entering an intersection, and (ii) the determined operation of the vehicle.

2. The vehicle control device of claim 1, wherein the controller is configured to determine the expected driving route of the vehicle based on at least one of a turn indicator lamp status, route information, manipulation of a steering wheel of the vehicle, or lane information of a road currently travelled by the vehicle.

3. The vehicle control device of claim 2, wherein the controller is configured to determine the region of interest based on traffic signal information associated with an intersection corresponding to a location of the vehicle.

4. The vehicle control device of claim 2, wherein the controller is configured to:

determine that the expected driving route of the vehicle comprises changing a driving lane of the vehicle to another lane;

based on the determination that the expected driving route of the vehicle comprises changing the driving lane of the vehicle to another lane, include at least a portion of the other lane in the region of interest;

based on the first V2X information, calculate an entry time configured to reduce risk of collision with another vehicle driving on the other lane; and

based on the calculated entry time, generate a control signal to switch the driving lane of the vehicle to the other lane.

5. The vehicle control device of claim 1, wherein the controller is configured to:

determine that the expected driving route of the vehicle comprises entering an intersection;

based on the determination that the expected driving route of the vehicle comprises entering the intersection, include the intersection in the region of interest;

based on the determination that the expected driving route of the vehicle comprises entering an intersection, determine that the first V2X information comprises traffic signal information;

based on the determination that the first V2X information comprises traffic signal information, determine a waiting time associated with the traffic signal; and

based on the waiting time, generate a control signal to stop the vehicle for the waiting time.

6. The vehicle control device of claim 1, wherein the controller is configured to:

determine that a first road traveled by the vehicle in entering an intersection comprises a first plurality of lanes;

based on the expected driving route of the vehicle, determine an exit lane of a second road to be taken by the vehicle upon exiting the intersection;

based on (i) the exit lane of the second road to be taken by the vehicle upon exiting the intersection, and (ii) a driving direction of the vehicle, select an entry lane from the first plurality of lanes configured to reduce travel distance through the intersection; and

based on selection of the entry lane, generate a control signal to drive the vehicle to the selected entry lane.

7. The vehicle control device of claim 5, wherein the controller is configured to:

based on the traffic signal information and information associated with other vehicles in the region of interest, determining a risk of collision with the other vehicles within the intersection;

based on the determined risk of collision, determine an entry time for entering the intersection; and

based on the determination of the entry time, generate a control signal to drive the vehicle into the intersection.

8. The vehicle control device of claim 1, wherein the controller is configured to:

determine that the expected driving route of the vehicle comprises entering an exit ramp branching from a road currently traveled by the vehicle;

based on the determination that the expected driving route of the vehicle comprises entering the exit ramp, include the exit ramp in the region of interest;

based on the first V2X information, determine at least one of traffic congestion situations of the road or the exit ramp; and

based on the at least one of the traffic congestion situations of the road or the exit ramp, generate a control signal to drive the vehicle to the exit ramp.

9. The vehicle control device of claim 8, wherein the controller is configured to generate the control signal to drive the vehicle to the exit ramp by:

based on the at least one of the traffic congestion situations of the road or the exit ramp, calculating a first driving route from a current location of the vehicle to the exit ramp configured to reduce travel time; and

based on the calculated first driving route, generating the control signal to drive the vehicle to the exit ramp.

10. The vehicle control device of claim 9, wherein the controller is configured to:

determine that the first driving route of the vehicle comprises changing a driving lane of the vehicle to another lane;

based on the determination that the first driving route of the vehicle comprises changing the driving lane of the vehicle to another lane, include at least a portion of the other lane in the region of interest;

based on the first V2X information, calculate an entry time configured to reduce risk of collision with another vehicle driving on the other lane; and

based on the calculated entry time, generate a control signal to switch the driving lane of the vehicle to the other lane.

11. The vehicle control device of claim 9, wherein the controller is configured to:

based on the first V2X information, calculate a first speed configured to reduce travel time of the first driving route; and

generate a control signal to drive the vehicle at the first speed.

12. The vehicle control device of claim 8, wherein the controller is configured to:

based on the first V2X information, determine that the vehicle is unable to enter the exit ramp according to the control signal to drive the vehicle to the exit ramp; and

based on the determination that the vehicle is unable to enter the exit ramp, determine an alternate route.

13. The vehicle control device of claim 1, wherein the controller is configured to:

determine that the expected driving route of the vehicle comprises entering an intersection;

determine that a left turn indicator lamp or a right turn indicator lamp is on;

based on the determination that a left turn indicator lamp or a right turn indicator lamp is on, classify roads associated with the intersection into a first group by;

determining, based on information associated with the intersection, first potential driving routes of other vehicles entering the intersection;

classifying the first potential driving routes that overlaps with the expected driving route of the vehicle into second potential driving routes; and

classifying into the first group, (i) roads associated with the expected driving route of the vehicle, and (ii) roads associated with the second potential driving routes; and

include the first group of roads in the region of interest.

14. A vehicle control device for a vehicle, the vehicle control device comprising:

a transceiver configured to receive vehicle-to-everything (V2X) information, the V2X information comprising position data; and

a controller configured to generate a control signal associated with driving of the vehicle based on the V2X information,

wherein the controller generates the control signal associated with driving of the vehicle by;

determining an expected driving route of the vehicle;

based on the determination of the expected driving route of the vehicle, determining a region of interest; and

based on the determination of the region of interest, receiving first V2X information associated with the region of interest by;

receiving, through the transceiver, available V2X information;

determining that the position data of the received V2X information is within the region of interest;

based on the determination that the position data of the received V2X information is within the region of interest, classifying the received V2X information as the first V2X information; and

performing one or more of;

processing the first V2X information; and

displaying, through a display unit of the vehicle, the first V2X information,

wherein the controller is further configured to;

determine that the expected driving route of the vehicle comprises entering an intersection;

determine an operation of the vehicle at the intersection; and

determine the region of interest based on (i) the determination that the expected driving route of the vehicle comprises entering an intersection, and (ii) the determined operation of the vehicle.

15. The vehicle control device of claim 14, wherein the controller is configured to determine the expected driving route of the vehicle based on at least one of a turn indicator lamp status, route information, manipulation of a steering wheel of the vehicle, or lane information of a road currently travelled by the vehicle.

16. The vehicle control device of claim 14, wherein the controller is configured to:

determine that the expected driving route of the vehicle comprises entering an intersection;

determine that a left turn indicator lamp or a right turn indicator lamp is on;

based on the determination that a left turn indicator lamp or a right turn indicator lamp is on, classify roads associated with the intersection into a first group by;

determining, based on information associated with the intersection, first potential driving routes of other vehicles entering the intersection;

classifying the first potential driving routes that overlaps with the expected driving route of the vehicle into second potential driving routes; and

classifying into the first group, (i) roads associated with the expected driving route of the vehicle, and (ii) roads associated with the second potential driving routes; and

include the first group of roads in the region of interest.

17. The vehicle control device of claim 14, wherein the controller is configured to:

determine that the expected driving route of the vehicle comprises entering an intersection;

based on the determination that the expected driving route of the vehicle comprises entering the intersection, include the intersection in the region of interest;

based on the determination that the expected driving route of the vehicle comprises entering an intersection, determine that the first V2X information comprises traffic signal information;

based on the determination that the first V2X information comprises traffic signal information, determine a waiting time associated with the traffic signal; and

based on the waiting time, generate a control signal to stop the vehicle for the waiting time.

18. A method of controlling a vehicle, the method comprising:

determining an expected driving route of the vehicle;

based on the determination of the expected driving route of the vehicle, determining a region of interest; and

based on the determination of the region of interest, selectively receiving, through a transceiver configured to receive vehicle-to-everything (V2X) information, first V2X information associated with the region of interest by;

transmitting, through the transceiver, a request for transmission of the first V2X information associated with the region of interest to communication-enabled devices; and

selectively receiving, through the transceiver, the first V2X information transmitted by the communication-enabled devices that includes position data falling within the region of interest; and

based on the first V2X information, generating a control signal associated with driving of the vehicle,

wherein the method further comprises;

determining that the expected driving route of the vehicle comprises entering an intersection;

determining an operation of the vehicle at the intersection; and

determining the region of interest based on (i) the determination that the expected driving route of the vehicle comprises entering an intersection, and (ii) the determined operation of the vehicle.

19. The method of claim 18, comprising:

determining that the expected driving route of the vehicle comprises entering an intersection;

determining that a left turn indicator lamp or a right turn indicator lamp is on;

based on the determination that a left turn indicator lamp or a right turn indicator lamp is on, classifying roads associated with the intersection into a first group by;

determining, based on information associated with the intersection, first potential driving routes of other vehicles entering the intersection;

classifying the first potential driving routes that overlaps with the expected driving route of the vehicle into second potential driving routes; and

classifying into the first group, (i) roads associated with the expected driving route of the vehicle, and (ii) roads associated with the second potential driving routes; and

including the first group of roads in the region of interest.

20. The method of claim 18, comprising:

determining that the expected driving route of the vehicle comprises entering an intersection;

based on the determination that the expected driving route of the vehicle comprises entering the intersection, including the intersection in the region of interest;

based on the determination that the expected driving route of the vehicle comprises entering an intersection, determining that the V2X information comprises traffic signal information;

based on the determination that the V2X information comprises traffic signal information, determining a waiting time associated with the traffic signal; and

based on the waiting time, generating a control signal to stop the vehicle for the waiting time.

21. A vehicle control device for a vehicle, the vehicle control device comprising:

a transceiver configured to receive vehicle-to-everything (V2X) information, the V2X information comprising position data; and

a controller configured to generate a control signal associated with driving of the vehicle based on the V2X information,

wherein the controller generates the control signal associated with driving of the vehicle by;

determining an expected driving route of the vehicle;

based on the determination of the expected driving route of the vehicle, determining a region of interest; and

based on the determination of the region of interest, selectively receiving first V2X information associated with the region of interest by;

receiving, through the transceiver, a portion of available V2X information, the portion comprising position data;

determining that the position data of the available V2X information is within the region of interest; and

based on the determination that the position data of the available V2X information is within the region of interest, receiving the first V2X information by receiving a remaining portion of the available V2X information,

wherein the controller is further configured to;

determine that the expected driving route of the vehicle comprises entering an intersection;

determine an operation of the vehicle at the intersection; and

determine the region of interest based on (i) the determination that the expected driving route of the vehicle comprises entering an intersection, and (ii) the determined operation of the vehicle.