公开(公告)号：US20180162388A1

公开(公告)日：2018-06-14

申请号：US15496585

申请日：2017-04-25

Applicant: Hyundai Motor Company

Inventor： Byung Yong You ,  Ki Cheol Shin ,  Myung Seon Heo ,  Young Chul Oh

IPC: B60W30/09 ,  B60W30/18 ,  B60W50/14 ,  G08G1/16 ,  B60R1/00 ,  B60Q9/00 ,  G06K9/00

Abstract: An apparatus for preventing a pedestrian collision accident, a system having the same, and a method thereof are provided. The apparatus includes a pedestrian sensing unit that senses a pedestrian moving into a dangerous area and calculates velocity and direction information of the pedestrian. A communication unit transmits the velocity and direction information of the pedestrian to a surrounding vehicle. A time-to-collision (TTC) calculating unit calculates a TTC using velocity and direction information of a subject vehicle and second velocity and direction information of the pedestrian, when the TTC calculating unit receives the second velocity and direction information of the pedestrian from another vehicle. A controller outputs based on the TTC a warning to a driver of the subject vehicle or the pedestrian.

公开(公告)号：US09522701B2

公开(公告)日：2016-12-20

申请号：US14278518

申请日：2014-05-15

Applicant: Hyundai Motor Company

Inventor： Ki Cheol Shin ,  Chang Jae Lee ,  Ee Suk Jung

IPC: B62D15/02 ,  G06K9/00 ,  G06T11/20

CPC classification number: B62D15/0295 ,  G06K9/00805 ,  G06T11/20

Abstract: The present invention provides a steering risk decision system and method that determine and provide a steering risk of a vehicle to a driver. The system includes an obstacle sensor that senses an obstacle to generate first sensor data and a driving state sensor senses a driving state of a vehicle to generate second sensor data. In addition, a processor extracts feature points from first sensor data to indicate the obstacle in point and line shapes and predicts a driving region of the vehicle using second sensor data. Further, the processor calculates a relationship between the vehicle and the obstacle using information for the obstacle indicated in the point and line shapes and information for the driving region to determine a steering risk of the vehicle based on the calculated result.

Abstract translation: 本发明提供了一种向驾驶员确定和提供车辆的转向风险的转向风险决定系统和方法。 该系统包括：障碍物传感器，其感测障碍物以产生第一传感器数据，并且驾驶状态传感器感测车辆的驾驶状态以产生第二传感器数据。 此外，处理器从第一传感器数据提取特征点以指示点和线形状中的障碍物，并使用第二传感器数据预测车辆的驾驶区域。 此外，处理器使用基于计算结果的点和线形状的信息和驾驶区域的信息来计算车辆与障碍物之间的关系，以确定车辆的转向风险。

公开(公告)号：US09278695B2

公开(公告)日：2016-03-08

申请号：US14518910

申请日：2014-10-20

Applicant: HYUNDAI MOTOR COMPANY

Inventor： Ki Cheol Shin ,  Chang Jae Lee ,  Ee Suk Jung

IPC: B60W40/06 ,  B60W30/10 ,  B60W40/072 ,  G01S17/42 ,  G01S17/93

CPC classification number: B60W40/06 ,  B60W30/10 ,  B60W40/072 ,  B60W2420/52 ,  B60W2520/10 ,  B60W2540/18 ,  B60W2550/146 ,  G01S17/42 ,  G01S17/936

Abstract: A method for detecting a narrow road includes calculating relative heights of points from a distance measuring sensor to a ground based on distance information. A left boundary point and a right boundary point, at which a difference in relative heights from adjacent points becomes maximal, are acquired. A road boundary line of a driving road is acquired based on the left boundary point and the right boundary point depending on a movement trajectory of the vehicle when a difference in relative heights at the left boundary point and the right boundary point is more than or equal to a reference value. A road width of the driving road is calculated based on the road boundary line. It is detected whether the driving road of the vehicle is a narrow road based on the road width.

Abstract translation: 用于检测窄路的方法包括基于距离信息计算距离测量传感器到地面的点的相对高度。 获取左边界点和右边界点，其中相邻高度的相对高度的差成为最大值。 当左边界点和右边界点的相对高度差大于或等于时，根据车辆的移动轨迹，基于左边界点和右边界点获取驾驶道路的道路边界线 参考值。 基于道路边界线计算行驶道路的道路宽度。 根据道路宽度来检测车辆的行驶道路是否是狭窄的道路。

公开(公告)号：US09134732B2

公开(公告)日：2015-09-15

申请号：US14065863

申请日：2013-10-29

Applicant: Hyundai Motor Company

Inventor： Ki Cheol Shin

IPC: G05D1/02

CPC classification number: G05D1/0212 ,  B60W30/09 ,  B60W30/095 ,  B60W2520/10 ,  B60W2550/10 ,  B60W2550/14 ,  B60W2550/146

Abstract: An apparatus and a method for controlling driving of a vehicle are provided and the apparatus includes a sensor unit that has at least one sensor disposed at sides of a vehicle. In addition, a controller uses sensing information received from the sensor unit to confirm whether the vehicle enters a path and detects obstacles located in the path. The controller calculates a left and right width of the path based on the obstacles and then confirms whether the path is a narrow road. Further, the controller is configured to output a driving guidance to the confirmed narrow road.

Abstract translation: 提供了一种用于控制车辆驾驶的装置和方法，并且该装置包括传感器单元，其具有布置在车辆侧面的至少一个传感器。 此外，控制器使用从传感器单元接收的感测信息来确认车辆是否进入路径并且检测位于路径中的障碍物。 控制器基于障碍物计算路径的左右宽度，然后确认路径是否是狭窄的道路。 此外，控制器被配置为向所确认的狭窄道路输出驾驶引导。

公开(公告)号：US11884295B2

公开(公告)日：2024-01-30

申请号：US17074993

申请日：2020-10-20

Applicant: HYUNDAI MOTOR COMPANY ,  KIA MOTORS CORPORATION

Inventor： Ki Cheol Shin ,  Hyun Kyu Kim

IPC: B60W60/00 ,  B60W30/095 ,  B60W30/16 ,  B60W40/10 ,  B60W30/09

CPC classification number: B60W60/0015 ,  B60W30/09 ,  B60W30/0953 ,  B60W30/0956 ,  B60W30/16 ,  B60W40/10 ,  B60W2554/4044 ,  B60W2720/106

Abstract: A method of controlling autonomous driving of a vehicle includes: selecting a target object ahead of the vehicle based on driving information, generating a velocity profile for maintaining a desired distance to the target object, calculating a desired acceleration based on the velocity profile and a delay time of the vehicle, and controlling an actuator of the vehicle based on the desired acceleration.

公开(公告)号：US11415999B2

公开(公告)日：2022-08-16

申请号：US16691745

申请日：2019-11-22

Applicant: Hyundai Motor Company ,  Kia Motors Corporation

Inventor： Kang Hoon Lee ,  Eun Jin Choi ,  Ji Un Kim ,  Hae Ryong Lee ,  Young Chul Oh ,  Ki Cheol Shin

IPC: G05D1/02 ,  G05D1/00 ,  G01S17/931

Abstract: A traveling control system of an autonomous vehicle includes a 2D LIDAR sensor, a wheel speed sensor for detecting a speed of the vehicle, a yaw rate sensor for detecting a rotational angular speed of the vehicle, and an error corrector for determining a straight-line situation using a LIDAR point detected by the 2D LIDAR sensor, extracting a straight lateral distance value according to the result of determination, accumulating the LIDAR point according to the trajectory of traveling of the vehicle detected by the wheel speed sensor and the yaw rate sensor, estimating an error between the accumulated point and the extracted straight line, and calculating and feeding back an offset correction parameter of the yaw rate sensor when the estimated error value is greater than a predetermined threshold value to automatically correct an error parameter of the yaw rate sensor.

公开(公告)号：US11066070B2

公开(公告)日：2021-07-20

申请号：US15833496

申请日：2017-12-06

Applicant: Hyundai Motor Company ,  Kia Motors Corporation

Inventor： Yoon Soo Kim ,  Myung Seon Heo ,  Dong Gyu Noh ,  Young Chul Oh ,  In Yong Jung ,  Su Lyun Sung ,  Hyoung Geun Kwon ,  Dae Sung Hwang ,  Ki Cheol Shin ,  Jong Rok Park ,  Cho Rong Ryu ,  Jun Sik Hwang ,  Min Byeong Lee ,  Seung Wook Park ,  Hahk Rel Noh ,  Byung Yong You

IPC: G08G1/16 ,  B60W50/14 ,  B60W30/16 ,  B60W30/14 ,  B60W50/00

Abstract: An apparatus and method for controlling a vehicle speed based on information about forward vehicles that travel in the same lane may be acquired using Vehicle to Everything (V2X) communications in a cooperative adaptive cruise control (CACC) system. The CACC system includes a communication unit receiving vehicle information from neighboring vehicles using V2V communications; an information collection unit collecting vehicle information of the neighboring vehicles and the subject vehicle using sensors; and a control unit determining a forward vehicle and a far-forward vehicle using the sensors, selecting first and second target vehicles for being followed by the subject vehicle based on the vehicle information of the forward vehicle and the far-forward vehicle and the vehicle information of the neighboring vehicles, and controlling the driving speed of the subject vehicle based on speed information of the first and second target vehicles.

公开(公告)号：USRE47834E1

公开(公告)日：2020-02-04

申请号：US15655411

申请日：2017-07-20

Applicant: HYUNDAI MOTOR COMPANY

Inventor： Ki Cheol Shin ,  Chang Jae Lee ,  Ee Suk Jung

IPC: B60W40/06 ,  B60W30/10 ,  B60W40/072 ,  G01S17/42 ,  G01S17/93

Abstract: A method for detecting a narrow road includes calculating relative heights of points from a distance measuring sensor to a ground based on distance information. A left boundary point and a right boundary point, at which a difference in relative heights from adjacent points becomes maximal, are acquired. A road boundary line of a driving road is acquired based on the left boundary point and the right boundary point depending on a movement trajectory of the vehicle when a difference in relative heights at the left boundary point and the right boundary point is more than or equal to a reference value. A road width of the driving road is calculated based on the road boundary line. It is detected whether the driving road of the vehicle is a narrow road based on the road width.

公开(公告)号：US10279806B2

公开(公告)日：2019-05-07

申请号：US15365122

申请日：2016-11-30

Applicant: HYUNDAI MOTOR COMPANY

Inventor： Young Chul Oh ,  Ki Cheol Shin ,  Byung Yong You ,  Myung Seon Heo

IPC: G05D1/02 ,  G06K9/00 ,  G08G1/16 ,  B60W30/12

Abstract: The present disclosure provides a lane estimating apparatus and method. The apparatus includes: a lane determiner, an obstacle position calculator, a vehicle position corrector, and a lane estimator. The lane determiner compares a first lane detected by a first sensor with a lane on an actual road or a second lane on a local map to determine reliability of the first lane. The obstacle position calculator detects, when the reliability of the detected first lane is less than a preset reference, a first obstacle in the vicinity of a vehicle and a second obstacle on the local map, and calculates a difference between slopes and positions of straight lines extracted from the first obstacle and the second obstacle. The vehicle position corrector corrects a heading direction and a position of the vehicle based on the difference between the slopes and positions of the straight lines. In addition, the lane estimator estimates a driving lane on the local map.

公开(公告)号：US20160297436A1

公开(公告)日：2016-10-13

申请号：US14870043

申请日：2015-09-30

Applicant: Hyundai Motor Company

Inventor： Ki Cheol Shin ,  Myung Seon Heo ,  Young Chul Oh

IPC: B60W30/16 ,  B60W40/04

CPC classification number: B60W30/16 ,  B60W40/04 ,  B60W2550/302 ,  B60W2550/308 ,  B60W2550/408 ,  G08G1/161 ,  G08G1/163

Abstract: An apparatus and method for identifying surrounding vehicles is provided. The apparatus includes a sensor that measures position coordinates of a first surrounding vehicle and a yaw rate and a speed of a subject vehicle and a V2V communication unit that receives a coordinate history and a speed from the plurality of surrounding vehicles. Additionally, a controller generates a traveling trajectory and a speed pattern as first identification information by applying accumulated behaviors of the subject vehicle to the position coordinates of the first surrounding vehicle and calculate each traveling trajectory and speed pattern as n-th identification information based on the coordinate history and the speed received via the V2V communication unit. The controller then compares the first identification information with the n-th identification information to recognize the surrounding vehicle corresponding to identification information most similar to the first identification information as the first surrounding vehicle.

Abstract translation: 提供一种用于识别周围车辆的装置和方法。 该装置包括测量第一周围车辆的位置坐标的传感器以及主车辆的偏航率和速度以及从多个周围车辆接收坐标历史和速度的V2V通信单元。 此外，控制器通过将本车辆的累积行为施加到第一周围车辆的位置坐标来生成行驶轨迹和速度模式作为第一识别信息，并且基于第一识别信息计算每个行驶轨迹和速度模式作为第n个识别信息 坐标历史和通过V2V通信单元接收的速度。 然后，控制器将第一识别信息与第n个识别信息进行比较，以识别与第一识别信息最相似的识别信息的周围车辆作为第一周围车辆。