US-12623655-B2 - Vehicle for avoiding collision and method of operating the vehicle

US12623655B2US 12623655 B2US12623655 B2US 12623655B2US-12623655-B2

Abstract

Various embodiments of the present disclosure relate to a vehicle for avoiding collisions and a method of operating the vehicle. In an embodiment, a vehicle for avoiding a collision can include a plurality of sensors configured to obtain surrounding environment information and a processor operatively connected to the plurality of sensors. The processor can determine whether a line of a driving lane is at least partially detected based on line detection information included in the surrounding environment information, determine a maximum lateral movement distance for in-lane collision avoidance based on a position of the line when the line is at least partially detected, and determine the maximum lateral movement distance for in-lane collision avoidance based on a preset value when the line is not detected.

Inventors

Jong Sung Park
Young Bin Min
Jong Hyuck Lee
Chan Jong Jang
Bong Sob SONG
Ji Min Lee
Sung Woo Lee

Assignees

HYUNDAI MOTOR COMPANY
KIA CORPORATION
AJOU UNIVERSITY INDUSTRY-ACADEMIC COOPERATION FOUNDATION

Dates

Publication Date: 20260512
Application Date: 20231121
Priority Date: 20221125

Claims (20)

1 . A vehicle comprising: a plurality of sensors configured to obtain surrounding environment information; and a processor operatively coupled to the plurality of sensors, the processor being configured to: determine whether a line of a driving lane is at least partially detected based on line detection information included in the surrounding environment information, determine a maximum lateral movement distance for in-lane collision avoidance based on a position of the line in response to the line being at least partially detected, and determine the maximum lateral movement distance for in-lane collision avoidance based on a preset value in response to the line being not detected, wherein the maximum lateral movement distance is determined to maintain the driving lane while avoiding a collision with surrounding objects; and a controller configured so the vehicle will avoid the collision based on the maximum lateral movement distance.
2 . The vehicle of claim 1 , wherein the processor is configured to: estimate line information on an undetected line in response to the line being at least partially detected; and determine the maximum lateral movement distance based on the estimated line information, the estimated line information including one of or any combination of a position or curvature of the undetected line, a rate of change in the curvature, and a road slope.
3 . The vehicle of claim 1 , wherein the case where a line is at least partially detected includes one of or both of, a case where one line of lines on both sides of the driving lane is detected and the other line is not detected, and a case where there is detected information on a previous line located in a rear area of the vehicle but current lines on both sides of the vehicle located in a front area of the vehicle are not detected, and wherein the maximum lateral movement distance in response to the other line being not detected and the maximum lateral movement distance in response to the current lines on the both sides being not detected, are determined differently from each other.
4 . The vehicle of claim 3 , wherein the processor is configured to: estimate information on the other line based on information on the detected one line in response to the one line being detected and the other line being not detected, among the lines on both sides of the driving lane, and determine a maximum lateral movement distance to the other line based on the information on the other line and a specified first maximum lateral movement distance.
5 . The vehicle of claim 4 , wherein the maximum lateral movement distance to the other line is calculated by subtracting a lateral distance between the one line and the vehicle from the specified first maximum lateral movement distance.
6 . The vehicle of claim 3 , wherein the processor is configured to: estimate information on the current lines on the both sides based on the detected information on the previous line in response to there being the detected information on the previous line located in the rear area of the vehicle but the current lines on both sides of the vehicle located in the front area of the vehicle being not detected, and determine a maximum lateral movement distance to one of the current lines on both sides based on the information on the current lines on both sides and a specified second maximum lateral movement distance.
7 . The vehicle of claim 6 , wherein the maximum lateral movement distance to one of the current lines on both sides is determined based on a distance between the current lines on both sides, a width of the vehicle, or a lateral position of the vehicle at a time that detects the previous line, and is limited to a value less than or equal to the specified second maximum lateral movement distance, and wherein the specified second maximum lateral movement distance has a value less than a specified first maximum lateral movement distance.
8 . The vehicle of claim 1 , wherein the processor is configured to: determine whether there is a preceding vehicle based on surrounding object information included in the surrounding environment information in response to the line being not detected; estimate information on the lines on both sides based on a driving trajectory of the preceding vehicle in response to there being the preceding vehicle; and determine a maximum lateral movement distance to one of the estimated lines on both sides based on the estimated information on the lines on both sides.
9 . The vehicle of claim 8 , wherein the maximum lateral movement distance to one of the estimated lines on both sides is determined based on a lateral position of the vehicle at a previous time point and is limited to a value less than or equal to a specified third maximum lateral movement distance, and wherein the specified third maximum lateral movement distance has a value less than a specified second maximum lateral movement distance.
10 . The vehicle of claim 9 , wherein the processor is configured to determine when to start an in-lane collision avoidance operation in response to there being no preceding vehicle, wherein the maximum lateral movement distance for in-lane collision avoidance is limited to a value less than or equal to a default maximum lateral movement distance which is the preset value, and wherein the default maximum lateral movement distance has a value less than the specified second maximum lateral movement distance.
11 . The vehicle of claim 10 , wherein when to start the in-lane collision avoidance operation is determined based on a lateral distance between the vehicle and a surrounding vehicle with which the vehicle is expected to collide among objects around the vehicle.
12 . An operation method of a vehicle for avoiding a collision, comprising: obtaining surrounding environment information; determining whether a line of a driving lane is at least partially detected based on line detection information included in the surrounding environment information; determining a maximum lateral movement distance for in-lane collision avoidance based on a position of the line in response to the line being at least partially detected; and determining the maximum lateral movement distance for in-lane collision avoidance based on a preset value in response to the line being not detected, wherein the maximum lateral movement distance is determined to maintain the driving lane while avoiding the collision with surrounding objects; and controlling the vehicle to avoid the collision based on the maximum lateral movement distance.
13 . The operation method of claim 12 , wherein the determining of the maximum lateral movement distance for in-lane collision avoidance based on the position of the line comprises: estimating information on an undetected line in response to the line being at least partially detected; and determining the maximum lateral movement distance based on the estimated information on the line, wherein the estimated information on the line includes one of or any combination of a position or curvature of the undetected line, a rate of change in the curvature, and a road slope.
14 . The operation method of claim 12 , wherein the case where a line is at least partially detected includes one of or both of a case where one line of lines on both sides of the driving lane is detected and the other line is not detected, and a case where there is detected information on a previous line located in a rear area of the vehicle but current lines on both sides of the vehicle located in a front area of the vehicle are not detected, and wherein the maximum lateral movement distance in response to the other line being not detected and the maximum lateral movement distance in response to the current lines on the both sides being not detected, are determined differently from each other.
15 . The operation method of claim 14 , wherein the determining of the maximum lateral movement distance for in-lane collision avoidance based on the position of the line comprises: estimating information on the other line based on information on the detected one line in response to the one line being detected and the other line being not detected among the lines on both sides of the driving lane; and determining a maximum lateral movement distance to the other line based on the information on the other line and a specified first maximum lateral movement distance.
16 . The operation method of claim 15 , wherein the determining of the maximum lateral movement distance for in-lane collision avoidance based on the position of the line comprises: estimating information on the current lines on the both sides based on the detected information on the previous line in response to there being detected information on the previous line located in the rear area of the vehicle but the current lines on both sides of the vehicle located in the front area of the vehicle being not detected; and determining a maximum lateral movement distance to one of the current lines on both sides based on the information on the current lines on both sides and a specified second maximum lateral movement distance, wherein the specified second maximum lateral movement distance has a value less than the specified first maximum lateral movement distance.
17 . The operation method of claim 16 , wherein the determining of the maximum lateral movement distance for in-lane collision avoidance based on the preset value comprises: determining whether there is a preceding vehicle based on the surrounding environment information; estimating information on the lines on both sides based on a driving trajectory of the preceding vehicle in response to there being the preceding vehicle; and determining a maximum lateral movement distance to one of the estimated lines on both sides based on the estimated information on the lines on both sides and the preset value.
18 . The operation method of claim 17 , wherein the maximum lateral movement distance to one of virtual lines on both sides is determined based on a lateral position of the vehicle at a previous time point and is limited to a value less than or equal to a specified third maximum lateral movement distance, and wherein the specified third maximum lateral movement distance has a value less than the specified second maximum lateral movement distance.
19 . The operation method of claim 18 , wherein the determining of the maximum lateral movement distance for in-lane collision avoidance based on the preset value comprises determining when to start the in-lane collision avoidance operation in response to there being no preceding vehicle, wherein the maximum lateral movement distance for in-lane collision avoidance is limited to a value less than or equal to a default maximum lateral movement distance which is the preset value, wherein the default maximum lateral movement distance is a value less than the specified second maximum lateral movement distance, and wherein when to start the in-lane collision avoidance operation is determined based on a lateral distance between the vehicle and a surrounding vehicle with which the vehicle is expected to collide among objects around the vehicle.
20 . A vehicle comprising: a plurality of sensors configured to obtain surrounding environment information; and a processor operatively coupled to the plurality of sensors, the processor being configured to: determine whether a line of a driving lane is at least partially detected based on line detection information included in the surrounding environment information, determine a maximum lateral movement distance for in-lane collision avoidance based on a position of the line in response to the line being at least partially detected, and determine the maximum lateral movement distance for in-lane collision avoidance based on a preset value in response to the line being not detected, determine whether there is a preceding vehicle based on surrounding object information included in the surrounding environment information in response to the line being not detected, estimate information on the lines on both sides based on a driving trajectory of the preceding vehicle in response to there being the preceding vehicle, and determine a maximum lateral movement distance to one of the estimated lines on both sides based on the estimated information on the lines on both sides, wherein the maximum lateral movement distance to one of the estimated lines on both sides is determined based on a lateral position of the vehicle at a previous time point and is limited to a value less than or equal to a specified third maximum lateral movement distance, the specified third maximum lateral movement distance having a value less than a specified second maximum lateral movement distance; and a controller configured so the vehicle will avoid the collision based on the maximum lateral movement distance.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of Korean Patent Application No. 10-2022-0160436, filed on Nov. 25, 2022, which application is hereby incorporated herein by reference. TECHNICAL FIELD Various embodiments of the present disclosure relate to a vehicle for performing collision avoidance. BACKGROUND An autonomous driving system or a driver assistance system refers to a system that controls a vehicle such that the vehicle itself drives without a driver's intervention, or intervenes in a driver's driving behavior to assist the driving behavior. Such an autonomous driving system or driver assistance system controls the behavior of the vehicle by detecting environment around the vehicle. For example, the autonomous driving system or driver assistance system detects an object located in a front area using a sensor device mounted in a vehicle, predicts a possibility of collision with the detected object, and determines whether it is necessary to control the behavior of the vehicle to avoid a collision. Meanwhile, various systems for avoiding a collision with a front object in a vehicle have been provided. Examples of systems for collision avoidance may include an Autonomous Emergency Brake (AEB) system, a Forward Vehicle Collision Mitigation System (FVCMS), a Pedestrian Detection and Collision Mitigation System (PDCMS), and a Collision Evasive Lateral Manoeuvre (CELM) system. SUMMARY Various embodiments of the present disclosure relate to a vehicle for performing in-lane steering for collision avoidance and a method of operating the vehicle. Among the collision avoidance systems described above, the CELM system controls the lateral movement of a vehicle within a lane to avoid collision with surrounding vehicles. Accordingly, when a situation in which line detection is difficult occurs due to surrounding environment and/or abnormal operation of sensors, it can be difficult to flexibly cope with a collision situation. Accordingly, various embodiments of the disclosure provide a vehicle and a method of operating the same, which determine a vehicle's lateral movement distance when lines are at least partially undetected. Various embodiments of the disclosure provide a vehicle and a method of operating the same, which determine a collision avoidance strategy in consideration of a vehicle's lateral movement distance when lines are at least partially undetected. The technical tasks to be achieved in the present disclosure are not necessarily limited to the technical tasks mentioned above, and other technical tasks not mentioned can be clearly understood by those of ordinary skill in the art to which the present disclosure belongs from the description below. According to various embodiments of the present disclosure, a vehicle for avoiding a collision can include a plurality of sensors configured to obtain surrounding environment information, and a processor operatively connected to the plurality of sensors, wherein the processor can determine whether a line of a driving lane is at least partially detected based on line detection information included in the surrounding environment information, determine a maximum lateral movement distance for in-lane collision avoidance based on a position of the line when the line is at least partially detected, and determine the maximum lateral movement distance for in-lane collision avoidance based on a preset value when the line is not detected. According to an embodiment, the processor can estimate line information on an undetected line when the line is at least partially detected, and determine the maximum lateral movement distance based on the estimated line information, the estimated line information including at least one of a position or curvature of the undetected line, a rate of change in the curvature, and a road slope. According to an embodiment, the case where a line is at least partially detected includes a case where one line of lines on both sides of the driving lane is detected and the other line is not detected and/or a case where there is detected information on a previous line located in a rear area of the vehicle but current lines on both sides of the vehicle located in a front area of the vehicle are not detected, and a maximum lateral movement distance when a line on the other side is not detected and a maximum lateral movement distance when the current lines on the both sides are not detected are determined differently from each other. According to an embodiment, the processor can estimate information on the other line based on information on the detected one line when the one line is detected and the other line is not detected among the lines on both sides of the driving lane, and determine a maximum lateral movement distance to the other line based on the information on the other line and a specified first maximum lateral movement distance. According to an embodiment, the maximum lateral movement distance to the other li