Granted Patent B2

US 12,728,893 · App. 18/218,760 · Granted Sep 8, 2026

Inventor: Sangyoon Han (Gunpo-si, KR)

Assignee: HL Klemove Corp.

B60W60/0011B60W10/18B60W10/20B60W30/18163B60W2420/403B60W2420/408B60W2420/54B60W2552/10B60W2554/402B60W2554/4041B60W2554/4042B60W2554/802B60W2556/40B60W2710/18B60W2710/20B60W2720/10G06V20/58G06V2201/08

Abstract

Claims (65)

1 . An apparatus for driver assistance provided in a vehicle, the apparatus comprising:

a camera module; a radar module; and a processor configured to:

determine whether a traveling route of the vehicle needs to be changed based on received traveling route information of an emergency vehicle and traveling route information of the vehicle upon receiving the traveling route information of the emergency vehicle through a communicator of the vehicle during autonomous driving;

determine whether a same route, where traveling route of the emergency vehicle is overlapped with traveling routes of the vehicle, is present based on the received traveling route information of the emergency vehicle and the traveling route information of the vehicle, and

control the autonomous driving along a traveling route changed based on at least one of output data of the camera module or output data of the radar module when it is determined that the traveling route of the vehicle needs to be changed,

wherein the processor is configured to acquire position information of a lane to be changed based on an acquired road information, the position information of a traveling lane of the vehicle, the position information of traveling lane of the emergency vehicle, and obstacle information acquired by the radar module when it is determined that the traveling lane of the vehicle needs to be changed, and control steering and traveling speed to move to an acquired changed lane, and

wherein the processor is further configured to determine whether the vehicle is to stop in the changed lane based on the road information, the obstacle information, and the position information of the changed lane when the vehicle moves to the acquired changed lane, set a point at which the vehicle has traveled at a constant speed for a preset time from an entry point of the changed lane to a stop point when it is determined that the vehicle is to stop in the changed lane, control the steering and the traveling speed from the traveling lane to the stop point of the vehicle, and control braking when it is determined that a current position of the vehicle is the entry point of the changed lane based on position information of a position receiver.

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

determine whether an avoidance route is present based on current position information, destination information of the vehicle and the same route when it is determined that the same route is present.

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

determine whether the emergency vehicle is adjacent to the vehicle based on position information of the emergency vehicle and position information of the vehicle upon receiving the position information of the emergency vehicle, and

control the vehicle to change a traveling lane when it is determined that the emergency vehicle is adjacent to the vehicle.

4 . The apparatus of claim 3 , wherein the processor is configured to:

analyze a frequency pattern of a sound collected by a sound collector of the vehicle; and

determine that the emergency vehicle is adjacent to the vehicle when it is determined that the collected sound is a sound having a siren sound frequency pattern based on the analysis.

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

determine whether the emergency vehicle is adjacent to the vehicle based on at least one of position information of the emergency vehicle received through the communicator or a sound collected by a sound collector of the vehicle;

determine whether the emergency vehicle is adjacent to the vehicle based on image information acquired by the camera module when it is determined that the emergency vehicle is adjacent to the vehicle;

acquire distance information and traveling speed information of the emergency vehicle based on the image information acquired by the camera module when it is determined that the emergency vehicle is adjacent to the vehicle; and

control at least one of steering or a traveling speed based on the distance information, the traveling speed information of the emergency vehicle and traveling speed information of the vehicle.

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

determine whether the emergency vehicle is adjacent to the vehicle based on at least one of position information of the emergency vehicle received through the communicator or a sound collected by a sound collector of the vehicle;

determine whether the emergency vehicle is adjacent to the vehicle based on radar information of the radar module when it is determined that the emergency vehicle is adjacent to the vehicle;

acquire distance information and traveling speed information of the emergency vehicle based on the radar information acquired by the radar module when it is determined that the emergency vehicle is adjacent to the vehicle; and

control at least one of steering or a traveling speed based on the distance information, the traveling speed information of the emergency vehicle and traveling speed information of the vehicle.

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

determine whether the emergency vehicle is adjacent to the vehicle based on at least one of position information of the emergency vehicle received through the communicator or a sound collected by a sound collector of the vehicle;

determine whether an object of the emergency vehicle is present in an image of image information acquired by the camera module when it is determined that the emergency vehicle is adjacent to the vehicle;

acquire distance information and traveling speed information of the emergency vehicle based on radar information of the radar module when it is determined that the object of the emergency vehicle is present in the image; and

control at least one of steering or a traveling speed based on the distance information, the traveling speed information of the emergency vehicle and traveling speed information of the vehicle.

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

acquire position information of the traveling lane in which the vehicle travels and position information of a traveling lane of the emergency vehicle based on the image information acquired by the camera module;

acquire road information based on pre-stored map information and the position information of the vehicle; and

determine whether the traveling lane of the vehicle needs to be changed based on the acquired road information, position information of the traveling lane of the vehicle, and position information of the traveling lane of the emergency vehicle.

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

control the steering and the traveling speed from the traveling lane to the stop point of the vehicle when it is determined that the vehicle is not to stop in the changed lane;

acquire a target traveling speed corresponding to the road information when it is determined that the current position of the vehicle is the entry point of the changed lane based on the position information of the position receiver; and

control travel at the acquired target traveling speed.

10 . A method of controlling an apparatus for driver assistance including a camera module and a radar module, the method comprising:

determining whether an emergency vehicle is adjacent to a vehicle based on at least one of position information of the emergency vehicle received through a communicator of the vehicle or a sound collected by a sound collector of the vehicle during autonomous driving;

determining whether the emergency vehicle is adjacent to the vehicle based on at least one of image information acquired by the camera module or radar information acquired by the radar module when it is determined that the emergency vehicle is adjacent to the vehicle;

determining whether a same route, where traveling route of the emergency vehicle is overlapped with traveling routes of the vehicle, is present based on the received traveling route information of the emergency vehicle and the traveling route information of the vehicle; and

controlling the vehicle to change a traveling lane when it is determined that the emergency vehicle is adjacent to the vehicle,

wherein the method further comprises acquiring position information of a lane to be changed based on an acquired road information, the position information of a traveling lane of the vehicle, the position information of traveling lane of the emergency vehicle, and obstacle information acquired by the radar module when it is determined that the traveling lane of the vehicle needs to be changed, and controlling steering and traveling speed to move to an acquired changed lane, and

wherein the method further comprises determining whether the vehicle is to stop in the changed lane based on the road information, the obstacle information, and the position information of the changed lane when the vehicle moves to the changed lane, setting a point at which the vehicle has traveled at a constant speed for a preset time from an entry point of the changed lane to a stop point when it is determined that the vehicle is to stop in the changed lane, controlling the steering and the traveling speed from the traveling lane to the stop point of the vehicle; and controlling braking when it is determined that a current position of the vehicle is the entry point of the changed lane based on position information of a position receiver.

11 . The method of claim 10 , further comprising:

determining whether an avoidance route is present based on current position information, destination information of the vehicle and the same route when it is determined that the same route is present; and

controlling autonomous driving based on the avoidance route when it is determined that the avoidance route is present.

12 . The method of claim 10 , further comprising:

analyzing a frequency pattern of the sound collected by the sound collector; and

determining that the emergency vehicle is adjacent to the vehicle when it is determined that the collected sound is a sound having a siren sound frequency pattern based on the analysis.

13 . The method of claim 10 , further comprising:

acquiring distance information and traveling speed information of the emergency vehicle based on the image information acquired by the camera module when it is determined that the emergency vehicle is adjacent to the vehicle; and

controlling at least one of steering or a traveling speed based on the distance information, the traveling speed information of the emergency vehicle and traveling speed information of the vehicle.

14 . The method of claim 10 , further comprising:

acquiring distance information and traveling speed information of the emergency vehicle based on the radar information acquired by the radar module when it is determined that the emergency vehicle is adjacent to the vehicle; and

controlling at least one of steering or a traveling speed based on the distance information, the traveling speed information of the emergency vehicle and traveling speed information of the vehicle.

15 . The method of claim 10 , further comprising:

acquiring position information of the traveling lane in which the vehicle travels and position information of a traveling lane of the emergency vehicle based on the image information acquired by the camera module;

acquiring road information based on pre-stored map information and the position information of the vehicle; and

determining whether the traveling lane of the vehicle needs to be changed based on the acquired road information, position information of the traveling lane of the vehicle, and position information of the traveling lane of the emergency vehicle.

16 . The method of claim 10 , further comprising:

controlling the steering and the traveling speed from the traveling lane to the stop point of the vehicle when it is determined that the vehicle is not to stop in the changed lane;

acquiring a target traveling speed corresponding to the road information when it is determined that the current position of the vehicle is the entry point of the changed lane based on the position information of the position receiver; and

controlling travel at the acquired target traveling speed.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (44)