Apparatus and method for calculating inter-vehicle distance

• US 9,126,595 B2
• Filed: 10/11/2012
• Issued: 09/08/2015
• Est. Priority Date: 07/24/2012
• Status: Active Grant

• Current Assignee: Hyundai Mobis Co., Ltd.
• Original Assignee: Hyundai Mobis Co., Ltd.
• Inventors: Seo, Kyung II, Moon, Seung Wuk
• Primary Examiner(s): Jabr, Fadey
• Assistant Examiner(s): Mahne, Kevin P
• Application Number:
  US13/649,717
• Publication Number:
  US 20140032078A1
• Time in Patent Office: 1,062 Days
• Field of Search: 701/96
• US Class Current: 1/1
• CPC Class Codes: B60W 2050/0215 Sensor drifts or sensor failures
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G08G 1/163 involving continuous checking

Abstract

Disclosed are an apparatus and a method for calculating an inter-vehicle distance that calculates a more accurate inter-vehicle distance by setting a physical limit value, by recognizing an inter-vehicle distance error occurring due to reasons such as an installation location of a sensor, a type of a vehicle, illegal remodeling of the vehicle, and the like, and thereby correcting an inter-vehicle distance.

Claims

1. An apparatus configured to calculate an inter-vehicle distance, the apparatus comprising:

an information obtainment unit configured to obtain information about an inter-vehicle distance with a preceding vehicle at a temporal interval;

an estimation unit configured to estimate an inter-vehicle distance with the preceding vehicle to be obtained by the information obtainment unit at a subsequent interval, based on the information obtained by the information obtainment unit;

a physical limit determining unit configured to determine whether an absolute value obtained by subtracting a subsequent inter-vehicle distance estimated by the estimation unit from the inter-vehicle distance obtained by the information obtainment unit at the subsequent interval is greater than or equal to a predetermined inter-vehicle distance change range (Dth) wherein the physical limit determining unit sets a physical limit and determines whether an error is present within the inter-vehicle distance;

a correction unit configured to correct the inter-vehicle distance obtained by the information obtainment unit by determining that an error is present within the inter-vehicle distance obtained by the information obtainment unit at the subsequent interval, when the absolute value is greater than or equal to the predetermined inter-vehicle distance change range; and

an information transmitter configured to transmit the inter-vehicle distance corrected by the correction unit to a vehicle control system for vehicle control.

2. The apparatus of claim 1, wherein:

the information obtainment unit is further configured to obtain information about a relative speed with the preceding vehicle at the temporal interval,

the estimation unit is further configured to estimate a relative speed with the preceding vehicle to be obtained by the information obtainment unit at the subsequent interval, based on information about the relative speed obtained by the information obtainment unit,

the physical limit determining unit is further configured to determine whether a value obtained by subtracting a subsequent relative speed estimated by the estimation unit from the relative speed obtained by the information obtainment unit at the subsequent interval is greater than or equal to a predetermined relative speed change range (VRth), and

the correction unit is further configured to correct the inter-vehicle distance obtained by the information obtainment unit by determining that an error is present within the inter-vehicle distance obtained by the information obtainment unit at the subsequent interval, when the value is greater than or equal to the predetermined relative speed change range.

3. The apparatus of claim 1, wherein:

the information obtainment unit is further configured to obtain information about a speed of the preceding vehicle at the temporal interval,

the physical limit determining unit is further configured to determine whether a value obtained by subtracting a relative speed obtained by the information obtainment unit at a previous interval from a relative speed obtained by the information obtainment unit is greater than or equal to a predetermined physical change range (Pth), and

the correction unit is further configured to correct the inter-vehicle distance obtained by the information obtainment unit by determining that an error is present within the inter-vehicle distance obtained by the information obtainment unit at the subsequent interval, when the value is greater than or equal to the predetermined physical change range.

4. The apparatus of claim 1, further comprising:

an identical vehicle determining unit configured to determine whether the preceding vehicle that is a target of information obtained by the information obtainment unit is identical to a preceding vehicle that is a target of information previously obtained by the information obtainment unit.

5. The apparatus of claim 4, wherein:

the information transmitter is further configured to transmit, to a smart cruise control system, information about the inter-vehicle distance obtained by the information obtainment unit when the physical limit determining unit determines that the value is less than the predetermined inter-vehicle distance change range, or when the identical vehicle determining unit determines that the preceding vehicle is different, and to transmit, to the smart cruise control system, the inter-vehicle distance corrected by the correction unit when the identical vehicle determining unit determines that the preceding vehicle is identical and when the physical limit determining unit determines that the value is greater than or equal to the predetermined inter-vehicle distance change range.

6. The apparatus of claim 1, wherein the estimation unit is further configured to estimate the inter-vehicle distance by a longitudinal and traverse relative distance and a longitudinal and traverse relative speed.

7. The apparatus of claim 1, wherein the inter-vehicle distance and a relative distance are measured at intervals of about 50 ms.

8. The apparatus of claim 1, wherein the predetermined inter-vehicle distance change range (Dth) is a variable due to brake performance of the vehicle, a brake distance of the vehicle, a safety distance, acceleration or deceleration performance of the vehicle, a measurement interval of a sensor, or a request of a vehicle manufacturer or a user.

9. The apparatus of claim 8, wherein the predetermined inter-vehicle distance change range (Dth) is a value between 1 m and 2 m.

10. The apparatus of claim 1, wherein an inter-vehicle distance change range determining unit, a relative speed change range determining unit, and a physical change range determining unit determine that the error is present within the inter-vehicle distance.

11. The apparatus of claim 10, wherein the inter-vehicle distance change range determining unit, or the relative speed change range determining unit, or the physical change range determining unit determine that the error is present within the inter-vehicle distance.

12. The apparatus of claim 1, wherein the preceding vehicle travels within a physically predictable area.

13. The apparatus of claim 1, wherein the physical limit determining unit includes an inter-vehicle distance change range determining unit, a relative speed change range determining unit and a physical change range determining unit.

14. The apparatus of claim 1, wherein a control vehicle is stopped within a target stoppage distance, by the vehicle control system.

15. A method of calculating an inter-vehicle distance implemented by a processor, the method comprising:

an information obtaining operation of obtaining information about an inter-vehicle distance with a preceding vehicle at a temporal interval by an information obtainment hardware unit;

an estimating operation of estimating an inter-vehicle distance with the preceding vehicle to be obtained at a subsequent interval in the information obtaining operation, based on the information obtained in the information obtaining operation by an estimation hardware unit;

a physical limit determining operation of determining whether a value obtained by subtracting a subsequent inter-vehicle distance estimated in the estimating operation from the inter-vehicle distance obtained at the subsequent interval in the information obtaining operation is greater than or equal to a predetermined inter-vehicle distance change range (Dth) by a physical limit determining hardware unit wherein the physical limit determining hardware unit sets a physical limit and determines whether an error is present with in the inter-vehicle distance;

a correcting operation of correcting the inter-vehicle distance in the information obtaining operation by determining that an error is present within the inter-vehicle distance obtained at the subsequent interval in the information obtaining operation, when the value is greater than or equal to the predetermined inter-vehicle distance change range by a correction hardware unit; and

a transmitting operation of transmitting the inter-vehicle distance corrected by the correcting operation to vehicle control system for vehicle control.

16. The method of claim 15, wherein:

obtaining the information obtaining operation obtains information about a relative speed with the preceding vehicle at the temporal interval,

the estimating operation estimates a relative speed with the preceding vehicle to be obtained at the subsequent interval in the information obtaining operation, based on information about the relative speed obtained in the information obtaining operation,

the physical limit determining operation determines whether a value obtained by subtracting a subsequent relative speed estimated in the estimating operation from the relative speed obtained at the subsequent interval in the information obtaining operation is greater than or equal to a predetermined relative speed change range (VRth), and

the correcting operation corrects the inter-vehicle distance obtained in the information obtaining operation by determining that an error is present within the subsequent inter-vehicle distance obtained at the subsequent interval in the information obtaining operation, when the value is greater than or equal to the predetermined relative speed change range.

17. The method of claim 15, wherein:

the information obtaining operation obtains information about a speed of the preceding vehicle at the temporal interval,

the physical limit determining operation determines whether a value obtained by subtracting a relative speed obtained at a previous interval in the information obtaining operation from a relative speed obtained in the information obtaining operation is greater than or equal to a predetermined physical change range (Pth), and

the correcting operation corrects the inter-vehicle distance obtained in the information obtaining operation by determining that an error is present within the inter-vehicle distance obtained at the subsequent interval in the information obtaining operation, when the value is greater than or equal to the predetermined physical change range.

18. The method of claim 15, further comprising:

an identical vehicle determining operation of determining whether the preceding vehicle that is a target of information obtained in the information obtaining operation is identical to a preceding vehicle that is a target of information previously obtained in the information obtaining operation.

19. The method of claim 18, further comprising:

an information transmitting operation of transmitting, to a smart cruise control system, information about the inter-vehicle distance obtained in the information obtaining operation when the physical limit determining operation determines that the value is less than the predetermined inter-vehicle distance change range, or when the identical vehicle determining operation determines that the preceding vehicle is different, and of transmitting, to the smart cruise control system, the inter-vehicle distance corrected in the correcting operation when the identical vehicle determining operation determines that the preceding vehicle is identical and when the physical limit determining operation determines that the value is greater than or equal to the predetermined inter-vehicle distance change range.

20. The method of claim 15, wherein the physical limit is based on acceleration or deceleration performance of a vehicle.