Vehicle and method of controlling a vehicle

Abstract

The present invention relates to a vehicle and a method of controlling a vehicle. The vehicle can include a steering angle sensor; and a controller configured to be electrically connected to the steering angle sensor. The controller can be configured to identify an amount of change in a steering angle speed of the vehicle according to an output of the steering angle sensor, and to identify a careless driving of a driver of the vehicle according to a first maximum amount of change in which the steering angle speed changes in a first direction and a second maximum amount of change in which the steering angle speed changes in a second direction.

Description

Technical Field

[0001] This invention relates to a vehicle and a method for controlling the vehicle. Background Technology

[0002] Drivers may become inattentive while driving due to drowsiness or operating devices unrelated to driving, such as smartphones, which can lead to accidents. Therefore, in recent years, technologies to assist drivers and passengers in safe driving have been developed. Among these technologies, Driver Attention Warning (DAW) is a technique that determines whether the driver is inattentive based on the vehicle's behavior. With the recent expansion of new safety technologies, DAW technology is now being used in most vehicles.

[0003] However, existing DAW technology judges driver carelessness by analyzing simple driving conditions of the vehicle, which has the problem of low reliability in judging driver carelessness.

[0004] The information contained in the background section of this invention is only intended to enhance the understanding of the general background of this invention and should not be construed as an admission or in any way implying that such information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] Various aspects of the present invention aim to provide a vehicle configured to determine careless driving by a driver with improved reliability compared to related technologies, and a method for controlling the vehicle.

[0006] Further aspects of the invention will be set forth in part in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention.

[0007] According to various aspects of the present invention, a vehicle is provided, comprising: a steering angle sensor; and a controller configured to be electrically connected to the steering angle sensor. The controller is configured to identify a change in the vehicle's steering angular velocity based on the output of the steering angle sensor, and to identify careless driving by the vehicle's driver based on a first maximum change in the steering angular velocity in a first direction and a second maximum change in the steering angular velocity in a second direction.

[0008] The controller can be configured to identify, based on the output of the steering angle sensor, whether the vehicle's steering angle is within a first threshold range for a predetermined threshold time or exceeds a predetermined threshold time while the vehicle is in motion.

[0009] After the vehicle's steering angle reaches or exceeds a predetermined threshold time within a first threshold range, the controller can be configured to identify that the driver is driving carelessly based on a first maximum change in the vehicle's steering angular velocity exceeding a first threshold dependent on the vehicle's current speed.

[0010] After a first maximum change in the vehicle's steering angular velocity exceeds a first threshold depending on the vehicle's current speed, the controller can be configured to identify careless driving in response to a second maximum change in the vehicle's steering angular velocity exceeding the first threshold depending on the vehicle's current speed.

[0011] The first threshold can be configured to be determined based on the vehicle's current speed, a predetermined first steering angle threshold corresponding to the vehicle's predetermined first speed, a predetermined second steering angle threshold corresponding to the vehicle's predetermined second speed, and the predetermined second speed.

[0012] The second maximum change can be greater than or equal to a multiple of the second threshold of the first maximum change.

[0013] According to various aspects of the present invention, a method for controlling a vehicle is provided, comprising: identifying a change in the vehicle's steering angular velocity by a controller; and identifying careless driving by the vehicle's driver based on a first maximum change in the steering angular velocity in a first direction and a second maximum change in the steering angular velocity in a second direction.

[0014] The method may further include: when the vehicle is in motion, the controller identifies whether the vehicle's steering angle is within a first threshold range for a predetermined threshold time or longer. Identifying the change in the vehicle's steering angular velocity may include performing the identification of the change after the vehicle's steering angle has been within the first threshold range for a predetermined threshold time or longer.

[0015] The identification of careless driving may include: after the vehicle's steering angle is within a first threshold range for a predetermined threshold time or exceeds a predetermined threshold time, the identification of careless driving is performed based on a first maximum change in the vehicle's steering angular velocity exceeding a first threshold depending on the vehicle's current speed.

[0016] The identification of careless driving may include: after a first maximum change in the vehicle's steering angular velocity exceeds a first threshold depending on the vehicle's current speed, the identification of careless driving is performed in response to a second maximum change in the vehicle's steering angular velocity exceeding the first threshold depending on the vehicle's current speed.

[0017] The first threshold can be configured to be determined based on the vehicle's current speed, a predetermined first steering angle threshold corresponding to the vehicle's predetermined first speed, a predetermined second steering angle threshold corresponding to the vehicle's predetermined second speed, and the predetermined second speed.

[0018] The second maximum change can be greater than or equal to a multiple of the second threshold of the first maximum change.

[0019] The methods and apparatus of the present invention have other features and advantages, which will be more clearly or in more detail set forth in the accompanying drawings incorporated herein and in the following detailed description, together serving to explain certain principles of the invention. Attached Figure Description

[0020] Figure 1 This is a block diagram of a vehicle according to various exemplary embodiments of the present invention.

[0021] Figure 2 This is a flowchart of vehicle control operations according to various exemplary embodiments of the present invention.

[0022] Figure 3 This is a view used to depict careless driving by a vehicle driver according to various exemplary embodiments of the present invention.

[0023] Figure 4 This is an exemplary view showing a graph of the steering angular velocity according to the careless driving of a vehicle driver, based on various exemplary embodiments of the present invention.

[0024] Figure 5 This is a flowchart of vehicle control operations according to various exemplary embodiments of the present invention.

[0025] Figure 6 This is a view used to depict careless driving by a vehicle driver according to various exemplary embodiments of the present invention.

[0026] It is understood that the accompanying drawings are not necessarily drawn to scale and present slightly simplified representations of various features illustrating the basic principles of the invention. Specific design features of the invention as included herein, including, for example, specific dimensions, orientations, positions, and shapes, will be determined in part by the particular intended application and environment of use.

[0027] In the accompanying drawings, and in several of the figures, reference numerals refer to parts that are the same as or equivalent to the present invention. Detailed Implementation

[0028] Reference will now be made in detail to various embodiments of the invention, examples of which are shown in the accompanying drawings and described below. Although the invention will be described in conjunction with exemplary embodiments thereof, it should be understood that this description is not intended to limit the invention to those exemplary embodiments. On the other hand, the invention is intended to cover not only the exemplary embodiments thereof, but also various alternatives, modifications, equivalents and other embodiments that may be included within the spirit and scope of the invention as defined by the appended claims.

[0029] Throughout this specification, the same reference numerals refer to the same elements. Not all elements of exemplary embodiments of the invention will be described, and descriptions of those well-known in the art or overlapping with each other in exemplary embodiments will be omitted. Terms used throughout this specification, such as “~part,” “~module,” “~member,” “~block,” etc., can be implemented in software and / or hardware, and multiple “~parts,” “~modules,” “~members,” or “~blocks” can be implemented in a single element, or a single “~part,” “~module,” “~member,” or “~block” can include multiple elements.

[0030] It should also be understood that the term "connection" and its derivatives refer to both direct and indirect connections, including connections via wireless communication networks.

[0031] Unless otherwise stated, the terms “including (or encompassing)” and “include (or contain)” are inclusive or open-ended and do not exclude additional, unlisted elements or method steps.

[0032] It will be understood that although the terms first, second, third, etc., may be used herein to describe various elements, components, regions, layers, and / or parts, such elements, components, regions, layers, and / or parts shall not be limited by these provisions. These terms are used only to distinguish one element, component, region, layer, or part from another region, layer, or part.

[0033] It should be understood that the singular forms of “a,” “an,” and “the” include the plural forms, unless the context clearly indicates otherwise.

[0034] The reference numerals used for method steps are for ease of explanation only and are not intended to restrict the order of steps. Therefore, written instructions may be practiced in other ways unless the context clearly indicates otherwise.

[0035] The working principle and embodiments of the present invention will now be described in conjunction with the accompanying drawings.

[0036] Figure 1 This is a block diagram of a vehicle according to various exemplary embodiments of the present invention.

[0037] refer to Figure 1The vehicle 100 may include a sensor module 102, a steering device 106, an output device 108, a memory 110, and / or a controller 112.

[0038] The sensor module 102 may include at least one sensor configured to generate electrical signals or data values ​​corresponding to the internal operating state and / or external environmental state of the vehicle 100.

[0039] Sensor module 102 may include steering angle sensor 104, which is configured to detect the steering angle of vehicle 100. Steering angle is the angle of motion of the steering wheel spindle when vehicle 100 changes its direction, and may represent, for example, the maximum value of the inner wheel of vehicle 100.

[0040] The steering device 106 can change the driving direction of the vehicle 100. The steering device 106 can change the driving direction of the vehicle 100 in response to the driver's steering operation via the steering wheel.

[0041] The output device 106 can output at least one piece of information based on the control of the controller 112. For example, the output device 106 may include a display device and / or a speaker.

[0042] The memory 106 may store various types of data used by at least one component of the vehicle 100 (sensor module 102, steering device 106, output device 108, and / or controller 112), such as input or output data of software programs and associated instructions. The memory 106 may include volatile memory and / or non-volatile memory.

[0043] The controller 112 (also referred to as a control circuit or processor) may include at least one other component (e.g., hardware components (e.g., sensor module 102, steering device 106, output device 108, and / or memory 110)) or software components (software program) connected to the vehicle 100, and may perform various data processing and operations. The controller 112 may include a processor and memory.

[0044] The controller 112 can identify changes in the steering angular velocity of the vehicle 100 based on the output of the steering angle sensor 104. For example, the steering angular velocity can be the value of the rotational angular velocity of the steering wheel, which can be determined by differentiating the steering angle obtained by the steering angle sensor 104. For example, the controller 112 can periodically control the steering angle sensor 104 to detect the steering angle. The controller 112 can identify whether the driver is driving carelessly based on the changes in the steering angular velocity of the vehicle 100. For example, the controller 112 can identify careless driving based on a first maximum change in the steering angular velocity of the vehicle 100 in a first direction and a second maximum change in the steering angular velocity of the vehicle 100 in a second direction. For example, the controller 112 can identify whether the driver's driving mode is an oversteer mode based on the changes in the steering angular velocity of the vehicle 100. When the driving mode is an oversteer mode, the controller 112 can identify the driver's driving as careless.

[0045] When the controller 112 detects that the driver is driving carelessly, the controller 112 can control the output device 106 to output information to warn the driver to pay attention.

[0046] Figure 2 This is a flowchart of vehicle control operations according to various exemplary embodiments of the present invention. Figure 3 This is a view used to illustrate careless driving by a vehicle driver according to various exemplary embodiments of the present invention. Figure 4 This is an exemplary view showing a graph of the steering angular velocity according to the careless driving of a vehicle driver, based on various exemplary embodiments of the present invention.

[0047] Vehicle 100 can detect the change in steering angular velocity of vehicle 100 (201).

[0048] Reference Figure 3 When the driver is drowsy or careless while driving vehicle 100, the steering wheel of vehicle 100 hardly moves, and as vehicle 100 moves out of lane 300 (e.g. Figure 3As shown, this is the direction in which vehicle 100 leaves lane 300. Vehicle 100 may attempt to enter or leave lane 300. When realizing this fact late, in order to adjust the direction of vehicle 100 so that it can safely travel within lane 300, most drivers will manipulate the steering wheel to apply a large corrective steering to vehicle 100 in the inward direction (or first direction) of lane 300. Accordingly, the steering angular velocity of vehicle 100 may suddenly change to a large value, and vehicle 100 can recognize the first change in steering angular velocity (also called the first maximum change). Furthermore, most drivers will manipulate the steering wheel to apply a large corrective steering to vehicle 100, and then additionally manipulate the steering wheel to allow vehicle 100 to travel directly to the center of the road, providing additional corrective steering to vehicle 100 in the outward direction (or second direction) of lane 300. Therefore, vehicle 100 can recognize the second change in steering angular velocity (or second maximum change).

[0049] When Figure 3 When the steering angular velocity of the vehicle 100 shown is plotted as a curve based on changes in the driver's driving, it can have the following characteristics: Figure 4 The shape shown. (Refer to...) Figure 4 When vehicle 100 moves in a direction away from lane 300 and attempts to leave lane 300, or when vehicle 100 moves in a direction away from vehicle 100, the steering angular velocity of vehicle 100 can be the same as in interval A. Subsequently, when there is a large correction steering of vehicle 100, the steering angular velocity of vehicle 100 under the large correction steering can be the same as in interval B. Subsequently, when there is an additional correction steering of vehicle 100, the steering angular velocity of vehicle 100 under the additional correction steering can be the same as in part C.

[0050] Vehicle 100 can identify whether the driver is driving carelessly based on the change in the steering angular velocity of vehicle 100 (203).

[0051] Vehicle 100 can be based on, for example Figure 3 The driver's driving as shown or according to such Figure 4 The change in steering angular velocity shown is used to identify whether the driver of vehicle 100 is driving carelessly. For example, when identifying changes such as... Figure 4 When the steering angular velocity of the vehicle 100 changes by a first maximum amount in the first direction (steering angular velocity in section A - steering angular velocity in section B) and a second maximum amount in the second direction (steering angular velocity in section B - steering angular velocity in section C), the vehicle 100 can identify careless driving by the driver.

[0052] Vehicle 100 can identify whether the change in the steering angular velocity of vehicle 100 exceeds a first threshold depending on the current speed of vehicle 100.

[0053] Vehicle 100 can determine a first threshold depending on its current speed based on its current speed, a predetermined first steering angle threshold corresponding to a predetermined first speed, a predetermined second steering angle threshold corresponding to a predetermined second speed, and a predetermined second speed. For example, as the speed of vehicle 100 decreases, the vehicle's behavior in response to changes in steering wheel value becomes less responsive; therefore, the first threshold can have a larger value. As the speed of vehicle 100 increases, the vehicle's behavior in response to changes in steering wheel value becomes more responsive; therefore, the second threshold can have a smaller value. For example, the first predetermined speed can be a low speed (e.g., 10 km / h), and the second predetermined speed can be the maximum speed of vehicle 100 (e.g., 90 to 100 km / h). For example, vehicle 100 can determine the first threshold corresponding to its current speed based on the following Equation 1.

[0054] [Equation 1]

[0055] peakSAS_SpeedTh=-((PeakMaxSAS-PeakMinSAS) / VehMaxSpeed)×CurrentVehSpeed+PeakMaxSAS

[0056] (peakSAS_SpeedTh: first threshold, PeakMaxSAS: predetermined first steering angular velocity threshold corresponding to the predetermined first speed of vehicle 100, PeakMinSAS: predetermined second steering angular velocity threshold corresponding to the predetermined second speed of vehicle 100, VehMaxSpeed: predetermined second speed, CurrentVehSpeed: current speed of vehicle 100)

[0057] Vehicle 100 can identify whether the change in the steering angular velocity of vehicle 100 exceeds a first threshold determined by the current speed of vehicle 100 at least twice consecutively, that is, the second maximum change (steering angular velocity in section B - steering angular velocity in section C) occurs after the first maximum change (steering angular velocity in section A - steering angular velocity in section B). For example, vehicle 100 can identify whether the first maximum change (steering angular velocity in section A - steering angular velocity in section B) exceeds the first threshold, and then vehicle 100 can identify whether the second maximum change (steering angular velocity in section B - steering angular velocity in section C) exceeds the first threshold.

[0058] Vehicle 100 can identify whether the second maximum change (steering angular velocity in section B - steering angular velocity in section C) is greater than or equal to a multiple of a second threshold of the first maximum change (steering angular velocity in section A - steering angular velocity in section B). For example, refer to Figure 4 Vehicle 100 can identify whether the following condition is met: (C-section steering angular velocity - B-section steering angular velocity) >= (B-section steering angular velocity - A-section steering angular velocity) × D (D is the second threshold (e.g., D = 1.3)). When the second maximum change is greater than or equal to a multiple of the second threshold of the first maximum change, vehicle 100 can identify that the driver of vehicle 100 is driving carelessly.

[0059] Figure 5 This is a flowchart of vehicle control operations according to various exemplary embodiments of the present invention. Figure 6 This is a view used to describe careless driving by a vehicle driver according to various exemplary embodiments of the present invention.

[0060] Vehicle 100 can identify that the steering angle of vehicle 100 is included in a first time period (501) within a first threshold range.

[0061] Reference Figure 6 Vehicle 100 can identify a first time period 601, during which the steering angle of vehicle 100 while driving falls within a predetermined first threshold range. The predetermined first threshold range can generally be a range of small steering angles that vehicle 100 may exhibit during normal driving. The first time period 601 can be a time period during which the steering angle of the driving vehicle 100 is greater than or equal to the predetermined threshold and is included within the first threshold range. For example, as... Figure 6 As shown, during the first time period 601, the vehicle 100 may move in a direction deviating from the lane 300, and the steering angle of the vehicle 100 may be included within a first threshold range.

[0062] Vehicle 100 can identify the first change in the steering angular velocity of vehicle 100 (503).

[0063] Vehicle 100 can identify whether the first change in vehicle 100 exceeds the first threshold (505).

[0064] When the first change in the steering angular velocity of vehicle 100 exceeds the first threshold, vehicle 100 may perform operation 507; otherwise, operation 511 shall be performed.

[0065] The first change in the steering angular velocity of vehicle 100 can be referred to as the first maximum change in the outer direction of lane 300 (e.g., in the first direction).

[0066] Reference Figure 6Vehicle 100 can identify a first change in its steering angular velocity when it travels for a predetermined threshold time while its steering angle is within a preset first threshold range, and can also identify the occurrence of a second time period 603 including the first change. For example, when vehicle 100 is traveling without the driver manipulating the steering wheel, a large corrective steering may occur when the driver manipulates the steering wheel, and therefore, vehicle 100 can identify a sudden change in the large steering angular velocity, i.e., the second time period 603 including the first change. It can be determined whether the change in the large steering angular velocity of vehicle 100 exceeds the first threshold. For example, when vehicle 100 is traveling, vehicle 100 can identify whether a second time period 603 occurs where the first change in the steering angular velocity of vehicle 100 exceeds the first threshold corresponding to the current speed of vehicle 100. For example, vehicle 100 can determine the first threshold corresponding to the current speed based on Equation 1 above.

[0067] Vehicle 100 can identify a second change in the steering angular velocity of vehicle 100 (507).

[0068] The second change in the steering angular velocity of vehicle 100 can be referred to as the second maximum change in the direction inside lane 300, for example, in the second direction.

[0069] Vehicle 100 can identify whether the second change in the steering angular velocity of vehicle 100 is greater than or equal to a multiple of the second threshold of the first change (509).

[0070] When the second change in the steering angular velocity of vehicle 100 is greater than or equal to a multiple of the second threshold of the first change, vehicle 100 may perform operation 511; otherwise, operation 515 shall be performed.

[0071] Vehicle 100 can identify whether the second change in the steering angular velocity of vehicle 100 exceeds the first threshold (511).

[0072] When the second change in the steering angular velocity of vehicle 100 exceeds the first threshold, vehicle 100 may perform operation 513; otherwise, operation 515 shall be performed.

[0073] After the first change in the steering angular velocity of vehicle 100, vehicle 100 can recognize the second change in the steering angular velocity of vehicle 100.

[0074] Reference Figure 6 Vehicle 100 can recognize the occurrence of a third time period 605, which includes a second change in the steering angular velocity of vehicle 100 immediately following a second time period 603, which includes a first change in the steering angular velocity of vehicle 100.

[0075] For example, after a large corrective steering of vehicle 100 occurs due to the driver's manipulation of the steering wheel, the driver can perform additional steering wheel manipulation to further correct the steering of vehicle 100, and additional corrective steering of vehicle 100 can occur based on the additional steering wheel manipulation. Therefore, vehicle 100 can recognize the change in additional steering angle after a sudden change in large steering angle and recognize a third time period 605 including the change in additional steering angle, that is, the occurrence of the third time period 605. The change in additional steering angle can be determined based on whether it exceeds the aforementioned first threshold and second threshold.

[0076] Vehicle 100 can identify that the driver of vehicle 100 is driving carelessly (513).

[0077] In response to the detection that a second change in the steering angular velocity of vehicle 100 exceeds a first threshold, vehicle 100 can identify that the driver is driving carelessly. For example, vehicle 100 can identify that the driver is driving carelessly in response to the occurrence of a third time period 605. For example, in response to the occurrence of the third time period 605, vehicle 100 can identify that the driver's driving mode is an oversteering mode, thereby identifying that the driver is driving carelessly.

[0078] Vehicle 100 can identify that the driver of Vehicle 100 is not driving carelessly.

[0079] At the same time, Figure 5 In the exemplary embodiments of the present invention, operations 509 after operation 507, operations 511 after operation 509, and operations 513 or 515 after operation 511 have been described. However, according to another exemplary embodiment of the present invention, after operation 507, operations 509 and 511 may be executed simultaneously, and then operations 513 or 515 may be executed.

[0080] For example, vehicle 100 can identify whether the following two conditions are met: whether the second change is greater than or equal to a multiple of a second threshold of the first change (509) and whether the second change exceeds a first threshold (511). When both conditions are met, vehicle 100 can perform operation 513; otherwise, operation 515 can be performed. According to another exemplary embodiment of the present invention, operation 511 can be performed after operation 507, operation 509 can be performed after operation 511, and operation 513 or 515 can be performed after operation 509. For example, after identifying a second change in the steering angular velocity of vehicle 100 (507), vehicle 100 can identify whether the second change exceeds a first threshold (511). When the second change exceeds the first threshold, vehicle 100 can perform operation 509; otherwise, operation 515 can be performed. When the second change exceeds the first threshold, vehicle 100 can identify whether the second change is greater than or equal to a multiple of a second threshold of the first change. When the second change is greater than or equal to a multiple of the second threshold of the first change, vehicle 100 may perform operation 513; otherwise, operation 515 shall be performed.

[0081] According to the above embodiments, after recognizing a large steering correction, vehicle 100 can further recognize a re-steering correction, reducing false detections of driving modes that could lead to the driver's behavior being misidentified as careless driving. For example, even if some drivers are driving normally, vehicle 100 may incorrectly detect the driver's driving mode as an oversteer mode based on road conditions or the driver's driving habits. Vehicle 100 applying the above embodiments can minimize the error of incorrectly detecting the driver's driving mode as an oversteer mode.

[0082] Furthermore, according to the above embodiments, the first threshold and the second threshold of vehicle 100 can be considered important factors in configuring the determination that oversteering of vehicle 100 has occurred. Therefore, the first threshold and the second threshold can be determined by simulating and tuning vehicle 100. For example, in the method of determining the first threshold and the second threshold, tuning is performed by first setting the first threshold low to enable good detection of oversteering, and then tuning can be performed in one direction to prevent false detection using the second threshold. For example, on a test road (e.g., highway, national road, etc.), the driver can first drive cautiously, allowing vehicle 100 to drive normally, and vehicle 100 can begin data recording from the moment of normal driving. During normal driving of vehicle 100, the driver may drive vehicle 100 in a way that causes vehicle 100 to exhibit an oversteering pattern. For example, the driver manipulates the steering wheel to cause vehicle 100 to leave the lane without moving the steering wheel, and then vehicle 100 suddenly returns to the original lane. Vehicle 100 can record the time from the point of driving of vehicle 100 to the time when vehicle 100 exhibits an oversteering pattern. When repeatedly driving at various speeds and on various roads, generating oversteer patterns from normal driving of vehicle 100, vehicle 100 can collect data simultaneously, recording the process from the vehicle 100's travel point to the generation of the oversteer pattern. By simulating a certain amount of collected data, vehicle 100 can adjust a first threshold and a second threshold, then change the first threshold to identify whether all oversteer patterns are included at the desired location. When the first threshold is determined, tuning of the second threshold can begin. For example, when the second threshold is lowered, oversteer patterns can be detected in addition to the driving point simulating oversteer. When the second threshold is raised, no oversteer patterns are detected at the driving point simulating oversteer. Since the second threshold is effective in preventing false detections, the first threshold is typically sensitively tuned so that oversteer occurs at the desired point, and by changing the second threshold, tuning can be performed so that oversteer does not occur where it is not desired. The first and second thresholds, tuned in an instantaneous manner, can be stored in the memory 110 of vehicle 100.

[0083] Based on one aspect of the vehicle and the method of controlling the vehicle, the reliability of driver carelessness judgment can be improved by enhancing the performance of traditional DAW technology.

[0084] The disclosed exemplary embodiments may be implemented in the form of a recording medium storing computer-executable instructions that can be executed by a processor. The instructions may be stored as program code, and when executed by a processor, the instructions may generate program modules to perform the operations of the included exemplary embodiments. The recording medium may be implemented non-transitory as a non-transitory computer-readable recording medium.

[0085] Non-transitory computer-readable recording media can include all types of recording media that store commands that can be interpreted by a computer. For example, non-transitory computer-readable recording media can be, for example, ROM, RAM, magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

[0086] For ease of interpretation and accurate definition of the appended claims, the terms “above,” “below,” “inner,” “outer,” “upper,” “lower,” “facing upward,” “facing downward,” “front,” “back,” “rear,” “inner,” “external,” “inward,” “outer,” “inner,” “outer,” “forward,” and “backward” are used to describe features of the exemplary embodiments as shown in the accompanying drawings. It will also be understood that the term “connection” or its derivatives refer to both direct and indirect connections.

[0087] The foregoing description of specific exemplary embodiments of the present invention has been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise forms disclosed, and it will be apparent that many modifications and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described to explain certain principles of the invention and its practical application, enabling others skilled in the art to make and utilize various exemplary embodiments of the invention, as well as various alternatives and modifications thereof. The scope of the invention is intended to be defined by the appended claims and their equivalents.

Claims

1. A vehicle comprising: Steering angle sensor; as well as The controller is configured to be electrically connected to the steering angle sensor. The controller is configured as follows: The change in the vehicle's steering angular velocity is identified based on the output of the steering angle sensor, and Careless driving by the driver of the vehicle is identified based on the first maximum change in the steering angular velocity in the first direction and the second maximum change in the steering angular velocity in the second direction.

2. The vehicle according to claim 1, in, The output of the steering angle sensor includes the steering angle of the vehicle, and The controller is configured to, while the vehicle is in motion, identify, based on the output of the steering angle sensor, whether the vehicle's steering angle, including within a first threshold range, reaches or exceeds a predetermined threshold time.

3. The vehicle according to claim 2, wherein, After the vehicle's steering angle reaches or exceeds the predetermined threshold time within the first threshold range, the controller is configured to identify that the driver's careless driving of the vehicle is based on the first maximum change in the vehicle's steering angular velocity exceeding a first threshold dependent on the vehicle's current speed.

4. The vehicle according to claim 3, wherein, After a first maximum change in the vehicle's steering angular velocity exceeds a first threshold depending on the vehicle's current speed, the controller is configured to identify that the driver's driving is careless driving in response to a second maximum change in the vehicle's steering angular velocity exceeding the first threshold depending on the vehicle's current speed.

5. The vehicle according to claim 4, wherein, The first threshold is determined based on the vehicle's current speed, a predetermined first steering angle velocity threshold corresponding to the vehicle's predetermined first speed, a predetermined second steering angle velocity threshold corresponding to the vehicle's predetermined second speed, and the predetermined second speed.

6. The vehicle according to claim 4, wherein, The first threshold is determined according to Equation 1: Equation 1: First threshold = -((Predetermined first steering angle velocity threshold corresponding to the predetermined first speed of the vehicle - predetermined second steering angle velocity threshold corresponding to the predetermined second speed of the vehicle) / predetermined second speed) × the current speed of the vehicle + the predetermined first steering angle velocity threshold corresponding to the predetermined first speed of the vehicle.

7. The vehicle according to claim 4, wherein, The second maximum change is greater than or equal to a multiple of the second threshold of the first maximum change.

8. The vehicle of claim 1, further comprising an output device controlled by the controller to output information for warning the driver to pay attention when the controller identifies the driver's careless driving.

9. A method for controlling a vehicle, the method comprising: The controller identifies the change in the vehicle's steering angular velocity; as well as The controller identifies careless driving by the vehicle's driver based on a first maximum change in the steering angular velocity in a first direction and a second maximum change in the steering angular velocity in a second direction.

10. The method of claim 9, further comprising: When the vehicle is in motion, the controller identifies whether the vehicle's steering angle, within a first threshold range, reaches a predetermined threshold time or longer. The identification of the change in the vehicle's steering angular velocity includes: The identification of the amount of change is performed after the vehicle's steering angle has reached the predetermined threshold time or longer within the first threshold range.

11. The method according to claim 10, wherein, The identification of careless driving includes: After the vehicle's steering angle reaches or exceeds the predetermined threshold time within the first threshold range, the careless driving identification is performed based on the first maximum change in the vehicle's steering angular velocity exceeding a first threshold dependent on the vehicle's current speed.

12. The method according to claim 11, wherein, The identification of careless driving includes: After the first maximum change in the vehicle's steering angular velocity exceeds a first threshold depending on the vehicle's current speed, the careless driving identification is performed in response to the second maximum change in the vehicle's steering angular velocity exceeding the first threshold depending on the vehicle's current speed.

13. The method according to claim 12, wherein, The first threshold is determined based on the vehicle's current speed, a predetermined first steering angle velocity threshold corresponding to the vehicle's predetermined first speed, a predetermined second steering angle velocity threshold corresponding to the vehicle's predetermined second speed, and the predetermined second speed.

14. The method according to claim 13, wherein, The first threshold is determined according to Equation 1: Equation 1: First threshold = -((Predetermined first steering angle velocity threshold corresponding to the predetermined first speed of the vehicle - predetermined second steering angle velocity threshold corresponding to the predetermined second speed of the vehicle) / predetermined second speed) × current speed of the vehicle + predetermined first steering angle velocity threshold corresponding to the predetermined first speed of the vehicle.

15. The method according to claim 12, wherein, The second maximum change is greater than or equal to a multiple of the second threshold of the first maximum change.

16. The method of claim 9, further comprising: When the controller detects the driver's careless driving, the output device controlled by the controller outputs a message warning the driver to pay attention.

17. A non-transitory computer-readable storage medium having a program recorded thereon for performing the method according to claim 9.

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