US 11,654,903 B2
Method and apparatus for preventing escape of autonomous vehicle
Jae Jun Ha, Hwaseong-si (KR); Ilsoo Yun, Yongin-si (KR); Sangmin Park, Chungcheongnam-do (KR); Sungho Park, Yongin-si (KR); Harim Jeong, Suwon-si (KR); Cheolwoo Kwon, Suwon-si (KR); Jiwon Kim, Suwon-si (KR); and Kiyeon Park, Suwon-si (KR)
Assigned to HYUNDAI MOTOR COMPANY, Seoul (KR); KIA MOTORS CORPORATION, Seoul (KR); and AJOU UNIVERSITY INDUSTRY-ACADEMIC COOPERATION FOUNDATION, Suwon-si (KR)
Filed by HYUNDAI MOTOR COMPANY, Seoul (KR); KIA MOTORS CORPORATION, Seoul (KR); and AJOU UNIVERSITY INDUSTRY-ACADEMIC COOPERATION FOUNDATION, Suwon-si (KR)
Filed on Jan. 27, 2021, as Appl. No. 17/159,951.
Claims priority of application No. 10-2020-0011142 (KR), filed on Jan. 30, 2020.
Prior Publication US 2021/0237725 A1, Aug. 5, 2021
Int. Cl. B60W 30/095 (2012.01); B60W 60/00 (2020.01); H04W 4/46 (2018.01); G06V 20/58 (2022.01); B60W 30/08 (2012.01)
CPC B60W 30/0956 (2013.01) [B60W 60/00272 (2020.02); G06V 20/58 (2022.01); H04W 4/46 (2018.02); B60W 2030/082 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4046 (2020.02); B60W 2554/4049 (2020.02)] 21 Claims
OG exemplary drawing
 
1. A moving object escape prevention method comprising:
controlling, by a processor of a moving object, to autonomously drive the moving object;
detecting, by the processor, whether a collision occurred by the moving object;
in response to detecting the collision, transmitting, by the processor, a collision occurrence notification signal and position information of the moving object to an Intelligent Transportation System Infrastructure (ITSI);
receiving, by the processor, escape-related information from the ITSI,
wherein the receiving escape-related information includes:
determining, by the ITSI, whether or not the moving object escapes based on position information of the moving object;
receiving, by the processor, collision handling information from the ITSI upon determining that the moving object does not escape, and
receiving, by the processor, an escape warning message from the ITSI when the position information of the moving object changes, and
wherein the method further comprises:
after receiving the collision handling information from the ITSI, transmitting, by the processor, a collision handling completion message to the ITSI based on the received collision handling information; and
when a confirmation message for the collision handling completion message is transmitted to the processor of the moving object from the ITSI, transferring a communication control right to a user of the moving object.