US 11,952,012 B2
Driving assistance system for vehicle
Dong Won Lee, Daegu (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. 13, 2021, as Appl. No. 17/644,038.
Claims priority of application No. 10-2021-0081669 (KR), filed on Jun. 23, 2021.
Prior Publication US 2022/0410927 A1, Dec. 29, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 10/20 (2006.01); B60W 40/06 (2012.01); B60W 40/13 (2012.01); B60W 50/00 (2006.01); B60W 50/08 (2020.01); B60W 50/14 (2020.01); B60W 50/16 (2020.01); G01S 13/931 (2020.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC B60W 60/001 (2020.02) [B60W 10/20 (2013.01); B60W 40/06 (2013.01); B60W 40/13 (2013.01); B60W 50/082 (2013.01); B60W 50/16 (2013.01); B60W 60/0051 (2020.02); G01S 13/931 (2013.01); G06V 20/58 (2022.01); G06V 20/588 (2022.01); B60W 2050/0054 (2013.01); B60W 2050/0083 (2013.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2300/12 (2013.01); B60W 2510/202 (2013.01); B60W 2520/105 (2013.01); B60W 2520/125 (2013.01); B60W 2540/18 (2013.01); B60W 2552/35 (2020.02); B60W 2710/202 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A driving assistance system for a vehicle, the driving assistance system comprising:
a driving information provision unit configured to acquire and provide driving information of a traveling vehicle;
a control unit configured to generate and output a control signal for driving assistance when it is determined the vehicle travels on a rough road based on the driving information of the vehicle provided by the driving information provision unit and it is determined that the vehicle is currently in a rough road traveling state; and
a steering actuator configured to generate and apply a steering assistance force according to a control value of the control signal for the driving assistance output by the control unit to a steering wheel,
wherein the control unit is configured:
to calculate a power spectrum density (PSD) value at an interval of a first setting time using a root mean square (RMS) value calculated from a signal value of a sensor for the first setting time, wherein the sensor is configured to detect vehicle state information of the vehicle,
to calculate a sum power spectrum density (SPSD) value by summing and cumulating the PSD values for a predetermined second setting time, and
to determine a recommendation speed corresponding to the calculated SPSD value.