US 12,466,397 B2
Vehicle and control method thereof
Yonjun Jang, Hwaseong-Si (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 May 17, 2023, as Appl. No. 18/198,451.
Claims priority of application No. 10-2022-0071261 (KR), filed on Jun. 13, 2022.
Prior Publication US 2023/0398983 A1, Dec. 14, 2023
Int. Cl. B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 30/09 (2012.01); B60W 30/18 (2012.01); G01S 13/86 (2006.01); G01S 13/931 (2020.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC B60W 30/09 (2013.01) [B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 30/18163 (2013.01); G01S 13/867 (2013.01); G01S 13/931 (2013.01); G06V 20/58 (2022.01); G06V 20/588 (2022.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2552/10 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4044 (2020.02); B60W 2554/4049 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01); B60W 2720/106 (2013.01); B60W 2754/30 (2020.02); G01S 2013/93185 (2020.01); G06V 2201/08 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a camera having an external field of view and configured to acquire image data for detecting a target object in the external field of view of the camera;
a radar having an external field of view from the vehicle and configured to acquire radar data for detecting the target object in the external field of view of the radar; and
a controller comprising at least one processor and configured to:
process the image data and the radar data to yield a processing result; and
control, based on the processing result, at least one of a braking device or a steering device,
wherein the controller is further configured to:
detect the target object traveling in a lane adjacent to the vehicle;
detect an obstacle preceding the target object; and
perform acceleration control or deceleration control based on detecting acceleration or deceleration of the target object, and
wherein the controller is further configured to:
determine a braking avoidance limit point of the target object relative to the obstacle; and
perform the deceleration control in response to detecting acceleration of the target object after the target object reaches the braking avoidance limit point.