US RE50,206 E1
Safe driving support apparatus and method
Jae Hyun Choo, Anyang-si (KR)
Assigned to HYUNDAI MOBIS CO., LTD., Seoul (KR)
Filed by HYUNDAI MOBIS CO., LTD., Seoul (KR)
Filed on Sep. 1, 2022, as Appl. No. 17/901,287.
Application 17/901,287 is a reissue of application No. 16/203,233, filed on Nov. 28, 2018, granted, now 10,759,440, issued on Sep. 1, 2020.
Claims priority of application No. 10-2017-0174623 (KR), filed on Dec. 18, 2017.
Int. Cl. B60W 40/09 (2012.01); G06V 20/59 (2022.01)
CPC G06V 20/597 (2022.01) [B60W 40/09 (2013.01); B60W 2540/22 (2013.01)] 28 Claims
OG exemplary drawing
 
1. A safe driving support apparatus comprising:
a driver risk index detection unit configured to calculate a driver risk index based on [ one or more calculated loads on a driver's attention, including ] a trajectory load of an ego vehicle;
[ a driving difficulty level detection unit configured to determine a driving difficulty level for a current area depending on a driving position of the ego vehicle; ]
a vehicle driving unit configured to control driving of the ego vehicle; and
a control unit configured to control the vehicle driving unit to drive the ego vehicle to a safe area based on whether the [ driving difficulty level is within a difficulty range and the ] driver risk index is outside [ within ] a preset safety area or not [ range] ,
wherein, for calculating the trajectory load, the driver risk index detection unit is configured to:
estimate a trajectory of the ego vehicle based on [ any one or any combination of any two or more of ] a speed, a steering angle, an acceleration rate [ , ] and a yaw rate of the ego vehicle , [ ; ]
estimate a trajectory of a neighboring vehicle based on a longitudinal distance and [ or ] a lateral distance between the ego vehicle and the neighboring vehicle , [ ; ]
estimate a trajectory distance value based on difference between the trajectory of the ego vehicle and the trajectory of the neighboring vehicle , [ ; ] and
determine the trajectory load based on whether the trajectory distance value is smaller than [ meets ] a threshold or not, [ and ]
wherein the control unit is configured to determine that the driver risk index is outside [ within ] the preset safety area [ range ] based on the trajectory load.