US 12,139,139 B2
Vehicle and control method thereof
Kyung-Joo Bang, 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 Oct. 15, 2021, as Appl. No. 17/502,414.
Claims priority of application No. 10-2020-0182233 (KR), filed on Dec. 23, 2020.
Prior Publication US 2022/0194373 A1, Jun. 23, 2022
Int. Cl. B60W 30/16 (2020.01)
CPC B60W 30/16 (2013.01) [B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2520/105 (2013.01); B60W 2552/15 (2020.02); B60W 2554/802 (2020.02); B60W 2554/804 (2020.02); B60W 2720/106 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a sensor configured to measure a current acceleration of the vehicle; and
a controller configured to:
derive a target acceleration value based on a surrounding environment of the vehicle;
derive a first acceleration value based on an acceleration performance of the vehicle;
determine a second acceleration value based on a predetermined limit value and the first acceleration value;
determine a final target acceleration value based on the target acceleration value and the second acceleration value; and
control the current acceleration of the vehicle to be changed based on the final target acceleration value,
wherein:
when the current acceleration of the vehicle is less than or equal to zero, a first rate of change of the current acceleration of the vehicle based on the final target acceleration value is used,
when the current acceleration of the vehicle is greater than zero, a second rate of change of the current acceleration of the vehicle based on the final target acceleration value is used, and
the second rate of change is smaller than the first rate of change.