Granted Patent B2

US 12,280,806 · App. 17/968,498 · Granted Apr 22, 2025

Inventor: Dong Hyuk Kim (Hanam-si, KR)

Assignees: HYUNDAI MOTOR COMPANY; KIA CORPORATION

B60W60/00186B60W30/06B60W50/035B60W2552/20B60W2554/406B60W2720/106B60W2754/30

Abstract

Claims (60)

1. An autonomous vehicle control apparatus, the apparatus comprising:

a processor configured to control autonomous driving when a vehicle has a failure; and

a storage configured to store a driving mode logic and a parking mode logic driven by the processor,

wherein the processor is configured to:

determine an estimated time of arrival (ETA) for the vehicle to arrive at a destination based on a failure signal of the vehicle;

determine an operating mode of a broken vehicle, which is detected based on the failure signal, as a parking mode based on determination that the ETA is less than a predetermined threshold;

determine the operating mode of the broken vehicle as a driving mode on a first driving route based on determination that the ETA is greater than or equal to the predetermined threshold;

execute the parking mode logic such that the parking mode logic searches for a parking location of the broken vehicle and parks the broken vehicle at the parking location, when the operating mode is the parking mode;

execute the driving mode logic such that the broken vehicle drives on a second driving route excluding a ramp while the broken vehicle maintains a first inter-vehicle distance from a forward vehicle, when the operating mode is the driving mode; and

execute the driving mode logic such that the broken vehicle drives while the broken vehicle maintains a second inter-vehicle distance longer than the first inter-vehicle distance, when the second driving route includes a congestion section.

2. The apparatus of claim 1 , further comprising:

a failure detection device configured to generate the failure signal based on detecting failure of electronic parking of the vehicle;

a parking location search device configured to determine a gradient for the respective parking location of the broken vehicle and to search for the parking location;

a vehicle movement determination device configured to determine a movement of the broken vehicle in a stopped state of the broken vehicle;

a driving route determination device configured to set the second driving route of the broken vehicle; and

a stop necessity determination device configured to determine the congestion section in the driving mode of the broken vehicle.

3. The apparatus of claim 2 , wherein the parking location search device searches for the parking location having the gradient that is less than or equal to a specific value, when the current driving situation of the broken vehicle is the parking mode, and

wherein the processor is configured to:

cause the broken vehicle to park at the found parking location.

4. The apparatus of claim 2 , wherein the processor is configured to:

cause the vehicle movement determination device to execute a monitoring mode for monitoring a movement of the broken vehicle after the parking mode of the broken vehicle ends.

5. The apparatus of claim 4 , wherein the parking location search device searches for a parking location of the broken vehicle again when the monitored result indicates that the movement of the broken vehicle is detected, and

wherein the processor is configured to:

cause the broken vehicle to park again at the found parking location.

6. The apparatus of claim 1 , wherein the processor is configured to:

execute the driving mode logic such that the broken vehicle drives on the second driving route excluding the ramp having a gradient that is not less than a specific value when the current driving situation is the driving mode.

7. The apparatus of claim 1 , wherein the processor is configured to:

cause the broken vehicle to decelerate when the second driving route includes the congestion section.

8. The apparatus of claim 1 , wherein the processor is configured to:

cause the broken vehicle to stop while the broken vehicle maintains a third inter-vehicle distance from the forward vehicle, when it is necessary to stop the broken vehicle, and

wherein the third inter-vehicle distance is shorter than the first inter-vehicle distance.

9. The apparatus of claim 1 , wherein the processor is configured to:

cause the broken vehicle to stop while the broken vehicle decelerates, when the forward vehicle is stopped.

10. The apparatus of claim 9 , wherein the processor is configured to:

cause the broken vehicle to drive at a first speed when the forward vehicle is driving; and

cause the broken vehicle to drive at a second speed slower than the first speed when the forward vehicle is stopped.

11. A vehicle controlling method, the method comprising:

determining, by a processor, an estimated time of arrival (ETA) for the vehicle to arrive at a destination based on a failure signal of the vehicle;

determining, by the processor, an operating mode of a broken vehicle, which is detected based on the failure signal, as a parking mode based on determination that the ETA is less than a predetermined threshold;

determining, by the processor, the operating mode of the broken vehicle as a driving mode on a first driving route based on determination that the ETA is greater than or equal to the predetermined threshold;

executing, by the processor, a parking mode logic such that the parking mode logic searches for a parking location of the broken vehicle and parks the broken vehicle at the parking location, when the operating mode is the parking mode;

executing, by the processor, a first driving mode logic such that the broken vehicle drives on a second driving route excluding a ramp while the broken vehicle maintains a first inter-vehicle distance from a forward vehicle, when the operating mode is the driving mode; and

executing, by the processor, a second driving mode logic such that the broken vehicle drives while the broken vehicle maintains a second inter-vehicle distance longer than the first inter-vehicle distance, when the second driving route includes a congestion section.

12. The method of claim 11 , wherein the executing of the parking mode logic includes:

searching for the parking location having a gradient that is less than or equal to a specific value; and

causing the broken vehicle to park at the found parking location.

13. The method of claim 11 , further comprising:

determining, by the processor, a movement of the broken vehicle by executing a monitoring mode for monitoring a movement of the broken vehicle after the parking mode of the broken vehicle ends.

14. The method of claim 13 , further comprising:

searching for a parking location of the broken vehicle again when the monitored result indicates that the movement of the broken vehicle is detected; and

causing the broken vehicle to again park at the found parking location.

15. The method of claim 11 , wherein the executing of the first driving mode logic includes:

executing the first driving mode logic such that the broken vehicle drives on the second driving route excluding the ramp having a gradient that is not less than a specific value.

16. The method of claim 11 , further comprising:

causing, by the processor, the broken vehicle to decelerate when the second driving route includes the congestion section.

17. The method of claim 11 , further comprising:

causing, by the processor, the broken vehicle to stop while the broken vehicle maintains a third inter-vehicle distance from the forward vehicle, when it is necessary to stop the broken vehicle, and

wherein the third inter-vehicle distance is shorter than the first inter-vehicle distance.

18. The method of claim 11 , further comprising:

causing, by the processor, the broken vehicle to stop while the broken vehicle decelerates, when the forward vehicle is stopped.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (19)