US 12,252,155 B2
Vehicle and method of controlling cut-in response
Tae Dong Oh, Seoul (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed on Dec. 7, 2021, as Appl. No. 17/457,959.
Claims priority of application No. 10-2020-0186461 (KR), filed on Dec. 29, 2020.
Prior Publication US 2022/0204041 A1, Jun. 30, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 40/04 (2006.01)
CPC B60W 60/0027 (2020.02) [B60W 40/04 (2013.01); B60W 2554/4045 (2020.02); B60W 2554/4046 (2020.02); B60W 2554/80 (2020.02); B60W 2555/60 (2020.02); B60W 2720/103 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method of controlling a vehicle cut-in response, the method comprising:
obtaining driving situation information;
drawing an integrated lane-line, the drawing comprising:
determining, based on the obtained driving situation information and a predetermined road condition, which one of a lanelink, a laneside, or a point level path (PLP) to use; and
drawing the integrated lane-line based on the determined one;
determining a cut-in target among at least one nearby vehicle that is predicted to enter the integrated lane-line based on the integrated lane-line and a predicted path of each of the at least one nearby vehicle;
calculating a control point to be followed for driving control of an ego vehicle based on an intersection of the predicted path of the cut-in target and the integrated lane-line;
generating a speed profile and a driving path based on the calculated control point; and
performing the driving control based on a parameter corresponding to the speed profile and the driving path,
wherein calculating the control point comprises:
determining orthographic points on a lane of the ego vehicle with respect to the intersection and at least one of box points of the cut-in target within the integrated lane-line,
determining a shortest point on the lane of the ego vehicle among the determined orthographic points,
determining a path distance to the shortest point,
determining a progress rate of entering the lane of the ego vehicle by the cut-in target, and
extracting a speed component at the shortest point, and
wherein generating the speed profile and the driving path is performed by setting the path distance to the shortest point as a target distance and the extracted speed component as a target speed, respectively.