Method and system for controlling operation of a vehicle
The rider health monitoring system integrates with vehicle systems to address the issue of missed health alerts by using multiple alert channels and automated vehicle controls, enhancing safety by ensuring timely responses to critical health conditions.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- TVS MOTOR CO LTD
- Filing Date
- 2025-06-20
- Publication Date
- 2026-07-02
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Figure IN2025050909_02072026_PF_FP_ABST
Abstract
Description
TITLE OF INVENTION:METHOD AND SYSTEM FOR CONTROLLING OPERATION OF A VEHICLETECHNICAL FIELD
[0001] The present subject matter generally relates to a rider and his vehicle. More particularly, but not exclusively to a method and a rider health monitoring system for controlling an operation of vehicle.BACKGROUND
[0002] Technical advancements in the field of automotive industry have led to a development of increasingly sophisticated vehicle systems that are aimed at enhancing safety and improving an overall driving experience. For example, advanced driver-assistance systems (ADAS), autonomous driving technologies, and wearable health devices are designed to monitor and improve a well-being of drivers and passengers. Moreover, wearable devices have become popular tools for continuous health monitoring, tracking vital signs such as heart rate, blood pressure, blood sugar, and body temperature. The wearable devices use sensors and wireless communication to provide real-time health data to users, often sending alerts related to a health of a rider.
[0003] While such advancements have proven valuable in promoting individual health and preventing health-related emergencies in everyday situations, they fail to adequately address specific risks faced by individuals operating vehicles, particularly in high-stakes environments such as road travel. A key limitation is that such health-monitoring wearables often rely on the rider or driver to view and respond to alerts while in motion. Given that riders or drivers are typically focused on the road and a task of operating the vehicle, there is a significant risk that health alerts (e.g., notifications for elevated blood pressure or blood sugar levels) may go unnoticed, ignored, or dismissed. In cases where a rider becomes unaware of a critical healthcondition or is unable to act on the alerts, there is a substantial risk of accidents, injuries, or even fatalities.
[0004] Moreover, alerting mechanisms for the health-monitoring wearables, such as haptic feedback (vibrations) or sound notifications, may be insufficiently effective in ensuring awareness of the rider, especially in noisy environments, high-speed conditions, or in cases where the rider is distracted. Even if the rider does receive and acknowledge health related alerts, the rider may choose to continue riding, ignoring the health-related alerts and potentially putting the safety of himself / pillion / passengers and the vehicle at risk. If the rider becomes unconscious or unable to react due to a medical emergency, such as a stroke, a heart attack, or severe hypertension, consequences of ignoring the health related alerts may be catastrophic, leading to accidents or collisions.
[0005] Thus, there is a need in the art for a method and a rider health monitoring system for controlling an operation of a vehicle, which addresses at least the aforementioned problems and other problems of known art.SUMMARY OF THE INVENTION
[0006] According to embodiments illustrated herein, the present invention provides a method and a rider health monitoring system for controlling an operation of vehicle.
[0007] In an embodiment, the present disclosure provides a method for controlling an operation of a vehicle. The method comprises receiving, by a rider health monitoring system, health data of a rider of the vehicle from at least one user device. The method comprises processing, by the rider health monitoring system, the received health data to determine a health status of the rider. The method comprises controlling an operation of the vehicle, by the rider health monitoring system, based on the determined health status.
[0008] In another embodiment, the present disclosure provides a rider health monitoring system for a vehicle. The rider health monitoring system comprises a processor. The processor is configured to receive health data ofa rider of the vehicle from at least one user device. The processor is configured to process the received health data to determine a health status of the rider. The processor is configured to control the operation of the vehicle, based on the determined health status.
[0009] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.BRIEF DESCRIPTION OF THE DRAWINGS
[0010] The details are described with reference to an embodiment of a method and a rider health monitoring system for controlling an operation of vehicle along with the accompanying diagrams. The same numbers are used throughout the drawings to reference similar features and components.
[0011] Figure 1 exemplarily illustrates a block diagram of a rider health monitoring system for a vehicle, in accordance with an embodiment of the present disclosure.
[0012] Figure 2 exemplarily illustrates a schematic diagram depicting communication between various components of the rider health monitoring system of Figure 1, in accordance with an embodiment of the present disclosure.
[0013] Figure 3 exemplarily illustrates a flowchart depicting the method for controlling an operation of a vehicle, in accordance with an embodiment of the present disclosure.DETAILED DESCRIPTION
[0014] Exemplary embodiments are described with reference to the accompanying drawings. Wherever convenient, the same reference numbers are used throughout the drawings to refer to the same or like parts. While examples and features of disclosed principles are described herein, modifications, adaptations, and other implementations are possible without departing from the spirit and scope of the disclosed embodiments. It isintended that the following detailed description be considered as exemplary only, with the true scope and spirit being indicated by the following claims.
[0015] In an embodiment, the present disclosure provides a method for controlling an operation of a vehicle. The method comprises receiving, by a rider health monitoring system, health data of a rider of the vehicle from at least one user device. The method comprises processing, by the rider health monitoring system, the received health data to determine a health status of the rider. The method comprises controlling an operation of the vehicle, by the rider health monitoring system, based on the determined health status.
[0016] An objective of the present subject matter is to provide an integrated system that continuously monitors the health parameters of a rider (such as blood pressure, heart rate, blood sugar, and body temperature) using user devices such as, wearable devices and ensures real-time alerts in case of abnormal readings that may compromise the rider’s ability to safely operate the vehicle.
[0017] Another objective of the present subject matter is to provide a more effective alert system that uses multiple channels (visual, auditory, and haptic feedback) to ensure the rider is fully aware of critical health warnings, reducing the risk of missing or ignoring such notifications while operating the vehicle.
[0018] Another objective of the present subject matter is to provide a proactive safety system that minimizes the likelihood of accidents by detecting health emergencies in advance (e.g., elevated blood pressure or heart rate) and triggering automated responses to protect the rider, such as slowing down the vehicle or initiating emergency assistance.
[0019] Another objective of the present subject matter is to enable the vehicle to automatically take corrective actions when critical health alerts are detected, such as slowing down, stopping the vehicle, or activating emergency braking, thereby reducing the risk of an accident in the event of rider incapacitation.
[0020] Another objective of the present subject matter is to ensure that emergency services are automatically alerted with the rider’s location and health status in the event of a severe health incident, providing quicker response times and improving the rider’s chances of receiving timely medical assistance.
[0021] Another objective of the present subject matter is to prevent the rider from ignoring critical health alerts by using escalating notifications and behavioural nudges, ensuring that repeated or ignored warnings lead to further intervention, such as alerting emergency contacts or triggering automatic vehicle safety systems.
[0022] The terms “an embodiment”, “embodiment”, “embodiments”, “the embodiment”, “the embodiments”, “one or more embodiments”, “some embodiments”, and “one embodiment” mean “one or more (but not all) embodiments of the invention(s)” unless expressly specified otherwise. The terms “including”, “comprising”, “having” and variations thereof mean “including but not limited to”, unless expressly specified otherwise. The terms “a”, “an” and “the” mean “one or more”, unless expressly specified otherwise.
[0023] The embodiments of the present invention will now be described in detail with reference to a rider health monitoring system for a vehicle with the accompanying drawings. However, the present invention is not limited to the present embodiments. The present subject matter is further described with reference to accompanying figures. It should be noted that the description and figures merely illustrate principles of the present subject matter. Various arrangements may be devised that, although not explicitly described or shown herein, encompass the principles of the present subject matter. Moreover, all statements herein reciting principles, aspects, and examples of the present subject matter, as well as specific examples thereof, are intended to encompass equivalents thereof.
[0024] Figure 1 exemplarily illustrates a block diagram of a rider health monitoring system (100) for a vehicle (104), in accordance with anembodiment of the present disclosure. The rider health monitoring system (100) comprises a user device (102) and a vehicle (104). The vehicle (104) comprises a processor (106), a gear level controller (108), a vehicle control unit (VCU) (110), and a speed limiter (112).
[0025] The user device (102) refers to any electronic or wearable device worn by a rider of the vehicle and that may interact with the vehicle (104). The user device (102) may include a smartphone, a smart gadget, a health monitoring device, such as a smartwatch, a smart ring, a health band, a smart helmet, a smart pendant, and the like. The user device (102) typically provides features like real-time health monitoring (e.g., heart rate, body temperature, or fatigue levels), navigation assistance, communication, vehicle diagnostics, and safety alerts. When integrated with the vehicle (104), the user device (102) can enhance rider safety, comfort, and connectivity, offering seamless interaction between the rider and the vehicle (104) for an optimized riding experience. The vehicle (104) may be a 2-wheeler, a 3 -wheeler, a 4-wheeler and the like. The vehicle (104) may be a motorcycle, a scooter, a bicycle, a truck, a bus, a train, and the like. The vehicle (104) may be an internal combustion engine based vehicle or an electric vehicle.
[0026] The processor (106) in the vehicle (104) refers to an electronic unit responsible for processing and managing data, commands, and instructions related to various vehicle functions and systems. The processor (106) can either function independently or can be integrated in an instrument cluster of the vehicle (104). Further, the processor (106) may be integrated with a vehicle control unit (VCU) (110). In an independent configuration, the processor (106) may manage specific tasks like engine control, infotainment, or safety systems of the vehicle (104). When integrated into the instrument cluster, the processor (106) collaborates with other components such as the VCU (110), the speed limiter (112), and the like to optimize overall vehicle performance, enhance safety features, enable connectivity, and support advanced driver-assistance systems (ADAS).
[0027] The gear level controller (108) in the vehicle (104) may be an electronic or mechanical device that manages operations of a transmission system of the vehicle (104). The gear level controller (108) may allow a rider to select and engage different gear ratios to control a power output and speed of the vehicle (104). The gear level controller (108) typically consists of a lever or a switch that, when actuated, sends signals to either a manual or automatic transmission system to shift gears accordingly. The gear level controller (108) may further automatically select and change a gear of the vehicle (104), based on a speed of the vehicle (104).
[0028] The VCU (110) may be an integrated electronic system that manages and coordinates various subsystems and components of the vehicle (104) to ensure optimal performance, safety, and efficiency. The VCU (110) may act as a central brain of the vehicle (104), processing data from sensors, controllers, and user inputs to make real-time decisions regarding engine control, braking systems, suspension, power delivery, and other critical functions. The VCU (110) may enable features such as advanced rider assistance, adaptive performance, and energy management in electric two-wheelers.
[0029] The speed limiter (112) is an electronic or mechanical system designed to restrict a maximum speed the vehicle (104) can reach, either for safety, regulatory compliance, or performance optimization. The speed limiter (112) works by monitoring the speed of the vehicle (104) and intervening to prevent it from exceeding a preset limit. In some cases, the speed limiter (112) may automatically adjust throttle, reduce engine power, or activate braking systems to ensure the vehicle (104) stays within a designated speed threshold.
[0030] The rider health monitoring system (100) may receive health data of the rider of the vehicle (104) from at least one user device (102). The health data may indicate a blood pressure (BP), a stress level, an oxygen saturation (SpO2) level, information related electrocardiogram (ECG), a heart rate, a respiratory rate, a body temperature and the like, of the rider.
[0031] The rider health monitoring system (100), that is, the processor (106) or the VCU (110), may process the received health data to determine a health status of the rider. In an embodiment, the determined health status is one of a healthy status or normal condition of the rider and an unhealthy status or an abnormal condition of the rider. The processing of the received health data may be done to remove noise, outliers, and the like.
[0032] In an embodiment, processing of the received health data by the rider health monitoring system (100) comprises comparing the received health data with predefined thresholds to determine the health status. In an embodiment, the rider health monitoring system (100) may compare the received health data with predefined thresholds. Herein, the processing of the received health data by the rider health monitoring system (100) to determine the health status is based on the comparison. It may be noted that the rider health monitoring system (100) provides information related to a set of parameters such as, the BP, the stress level, the SpCh level, ECG, the heart rate, the respiratory rate, the body temperature and the like of the rider. Each health parameter may have a predefined threshold. The health parameter determined from the received health data may be compared with the predefined threshold associated with the corresponding health parameter to determine whether the rider is healthy. For example, a predefined threshold for the BP is 180 mmHg. The stress level can be normal, moderate, severe, and critical. The predefined threshold for the stress level may be moderate. The predefined threshold for the SpO2level may be 95%. For the ECG, the predefined thresholds may be RR interval may be 0.6 to 1.2 seconds, duration of a P wave may be 80 millisecond, duration of a PR interval may be 120-200 milliseconds, duration of a PR segment may be 50-120 milliseconds, duration of a QRS complex may be 80-100 milliseconds, duration of a ST segment may be 80-120 milliseconds, duration of a T wave may be 160 milliseconds, duration of a QT interval may be 420 milliseconds or less. The predefined threshold of the heart rate may be 60 beats per minute (bpm). The predefined thresholds for the temperature may be 97.8 F to 99.1 F. The BP determined from the received health data may be compared with the BP of 180 mmHg. If the BPis above 180 mmHg, then the health status of the rider may be determined as unhealthy. Similarly, the stress level, the SpCh level, ECG, the heart rate, the respiratory rate, the temperature and the like may be compared with respective predefined thresholds to determine the health status of the rider.
[0033] The processor (106) of the rider health monitoring system (100), through the VCU (110), may control an operation of the vehicle (104) based on the determined health status. In an embodiment, the operation of the vehicle (104) may be at least one of reducing vehicle speed, limiting acceleration of the vehicle (104), stopping the vehicle (104), preventing a starting of the vehicle (104). If the health status of the rider is determined as unhealthy state, then the VCU (110) may automatically take control of the vehicle (104) and may reduce the speed of the vehicle (104), limit the acceleration of the vehicle (104), and the like via the gear level controller (108), and the speed limiter (112).
[0034] In a scenario, when the rider is about to start the ride, the processor (106) may receive the health data from the user device (102). Thereafter, the processor (106) may determine the health state of the rider. If the health state is abnormal or the unhealthy state, then the rider may not be permitted to start the vehicle (104). A notification stating that the health is abnormal will be rendered on a display device of the vehicle (104). Also, in an embodiment, the notification may be rendered on the user device (102).
[0035] In an embodiment, the rider health monitoring system (100) or the processor (106) may render a notification associated with the determined health status of the rider at a first time instant. The rider health monitoring system (100) may determine a first speed of the vehicle (104) after a predefined time duration has passed from the first time instant. The rider health monitoring system (100) may compare the determined first speed with a threshold speed. The rider health monitoring system (100) may control the speed of the vehicle (104) based on the comparison. Herein, the speed is reduced from the first speed to the threshold speed when the determined first speed is greater than the threshold speed.
[0036] In a scenario, when the vehicle (104) is in motion and the rider’s health status is determined as the unhealthy state, then an alert may be generated. For example, a notification related to the unhealthy health state may be rendered on the instrument cluster. Moreover, a voice alert associated with the alert may rendered on the smart helmet or a connected headset. Furthermore, a notification asking the rider to reduce the vehicle speed up to the threshold speed such as 20 km / hr within the predefined time duration such as, a minute may also be rendered. The rider may have to reduce the speed within the predefined time duration. If rider does not reduce the speed of the vehicle (104) to the threshold speed, the VCU (110) may take control of the vehicle (104) to reduce the speed to the threshold speed. The gear may be also shifted or lowered down to match with the threshold speed. Thereafter, the vehicle (110) may be stopped, and the vehicle (110) may not be started until the health parameters of the rider is not within the safe limits. In some cases, an interactive option to bypass this condition may be provided and the rider can ride the vehicle (104) on his own risk.
[0037] Figure 2 exemplarily illustrates a schematic diagram depicting communication between various components of the rider health monitoring system (100) of Figure 1, in accordance with an embodiment of the present disclosure. The user device (102) may be a data source device (202), an aggregator device (204). In an embodiment, the data source device (202) and the aggregator device (204) may be directly connected to the vehicle (104) via communication channels. In an embodiment, the data source device (202) and the aggregator device (204) may be connected to the vehicle (104) via a wireless network, such as, a cloud (206).
[0038] The user device (102) may be a smart device (202) such as, a smart watch, a smart ring, and the like. The aggregator device (204) may be a smart phone, a custom device, and the like. The smart device (202) may determine the health data and may transmit the health data to the vehicle (104) via a data path 1 directly. In another scenario, each of the smart device (202) such as the smart watch, the smart ring, the smart pendent, and the like may be communicably coupled to the aggregator device (204). The aggregator device(204) may receive the health data from at least one smart device (202). Thereafter, the aggregator device (204) may transmit the health data to the vehicle (104) via a data path 2 or the aggregator device (204) may transmit the health data to the cloud (206) via a data path 3. Further, the cloud (206) may transmit the health data to the vehicle (104). The health data may be processed to determine the health state of the rider.
[0039] Figure 3 exemplarily illustrates a flowchart (300) depicting the method for controlling an operation of the vehicle (104), in accordance with an embodiment of the present disclosure.
[0040] At step 302, the rider health monitoring system (100) may receive the health data of the rider of the vehicle (104) from the at least one user device (102). At step 304, the rider health monitoring system (100) may process the received health data to determine the health status of the rider.
[0041] At step 306, the rider health monitoring system (100) may compare the received health data with predefined thresholds. At step 308, the rider health monitoring system (100) may determine the health status based on the comparison. At step 312, the rider health monitoring system (100) determines whether the health status of the rider is normal. If the health status is not normal, then the control moves to step 302. If the health status is normal, then the control moves to step 314.
[0042] At step 314, the rider health monitoring system (100) may render the notification associated with the determined health status of the rider at the first time instant. For example, the rider health monitoring system (100) may render that the health status of the rider is the unhealthy state on the cluster of the vehicle (100).
[0043] At step 316, the rider health monitoring system (100) may determine a first speed of the vehicle (104) after a predefined time duration has passed from the first time instant. Herein, the first speed may be a current speed of the vehicle (104). Further, the rider health monitoring system (100) may compare the determined first speed with the threshold speed.
[0044] If the first speed is greater than the threshold speed, then the control moves to the step 318. At step 318, the vehicle (104) takes control of the speed. Herein, the speed is reduced from the first speed to the threshold speed when the determined first speed is greater than the threshold speed. If the first speed is less than the threshold speed, then the control moves to the step 320. At step 320, no action is taken.
[0045] The rider health monitoring system integrates wearable healthmonitoring devices (such as smartwatches, health bands, or smart rings) with vehicle’s safety systems, providing continuous, real-time monitoring of vital health parameters like blood pressure, heart rate, blood sugar, and body temperature. Thus, health abnormalities are detected early, improving the overall safety of the rider by preventing health-related accidents.
[0046] Moreover, in the event of a critical health issue, such as excessively high blood pressure or irregular heart rhythms, the rider health monitoring system may automatically trigger vehicle control mechanisms to reduce risk. For example, the vehicle may be slowed down, stopped, or emergency braking may be activated if the rider health monitoring system detects that the rider is unable to operate the vehicle safely due to a medical condition. Thus, a prompt, automated response may be ensured that minimizes the risk of an accident. In an event of a severe health emergency, the rider health monitoring system may automatically contact emergency services with the rider’s precise location and health status, ensuring that help is dispatched quickly. Additionally, the rider health monitoring system send real-time health data to designated contacts, such as family members or healthcare providers, enabling them to monitor the rider’s condition and intervene if necessary.
[0047] The rider health monitoring system provides an escalating alert system to prevent the rider from ignoring health warnings. If the rider dismisses or ignores an initial alert, the rider health monitoring system increases an intensity or a frequency of the notifications, ensuring that critical health issues are not overlooked. Thus, dangerous situations may beprevented where the rider continues to operate the vehicle despite being unfit to do so.
[0048] In some cases, the rider health monitoring system invention may employ predictive analytics using artificial intelligence (Al) algorithms to analyse historical health data and detect patterns or risk factors unique to the rider. The rider health monitoring system reduces reliance on human judgment by automating the detection of health risks and triggering appropriate actions. Thus, likelihood of accidents caused by rider negligence or unawareness of their health condition is minimized. Thus, the rider health monitoring system helps ensure that the rider is always in the best condition to safely operate the vehicle, reducing human error in critical situations.
[0049] A description of an embodiment with several components in communication with another does not imply that all such components are required, On the contrary, a variety of optional components are described to illustrate the wide variety of possible embodiments of the invention.
[0050] Finally, the language used in the specification has been principally selected for readability and instructional purposes, and it may not have been selected to delineate or circumscribe the inventive subject matter and is therefore intended that the scope of the invention be limited not by this detailed description, but rather by any claims that issue on an application based here on. Accordingly, the embodiments of the present invention are intended to be illustrative, but not limiting, of the scope of the invention, which is set forth in the following claims.
[0051] While various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for purposes of illustration and are not intended to be limiting, with the true scope and spirit being indicated by the following claims.
[0052] While the present disclosure has been described with reference to certain embodiments, it will be understood by those skilled in the art that various changes may be made, and equivalents may be substituted withoutdeparting from the scope of the present disclosure. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the present disclosure without departing from its scope. Therefore, it is intended that the present disclosure not be limited to the particular embodiment disclosed, but that the present disclosure will include all embodiments falling within the scope of the appended claims.List of Reference Numerals100- rider health monitoring system 102- user device104-vehicle106-processor108- gear level controller110-VCU112-Speed limiter202-smart devices204-aggregator device206- cloud
Claims
I / We Claim:
1. A method for controlling an operation of a vehicle (104), the method comprising the steps of:receiving, by a rider health monitoring system (100), health data of a rider of the vehicle (104) from at least one user device (102);processing, by the rider health monitoring system (100), the received health data to determine a health status of the rider; and controlling an operation of the vehicle (104), by the rider health monitoring system (100), based on the determined health status.
2. The method as claimed in claim 1 , wherein processing of the received health data comprises comparing, by the rider health monitoring system (100), the received health data with predefined thresholds to determine the health status.
3. The method as claimed in claim 1, wherein controlling the operation of the vehicle (104) comprises at least one of reducing vehicle speed, limiting acceleration of the vehicle (104), stopping the vehicle (104), preventing starting of the vehicle (104).
4. The method as claimed in claim 1, wherein the determined health status is one of a healthy status and an unhealthy status.
5. The method as claimed in claim 1, wherein controlling the operation of the vehicle (104) comprising:rendering, by the rider health monitoring system (100), a notification associated with the determined health status of the rider on a user device at a first time instant;determining, by the rider health monitoring system (100), a first speed of the vehicle (104), after a predefined time duration has passed from the first time instant,comparing, by the rider health monitoring system (100), the determined first speed with a threshold speed; andcontrolling, by the rider health monitoring system (100), the speed of the vehicle (104) based on the comparison, wherein the speed is reduced from the first speed to the threshold speed, when the determined first speed is greater than the threshold speed.
6. The method as claimed in claim 1, wherein the health data comprises at least one of a blood pressure (BP) of the rider, a stress level of the rider, an oxygen saturation (SpO2) of the rider, an electrocardiogram (ECG) of the rider, a heart rate of the rider, a respiratory rate of the rider, and a body temperature of the rider.
7. A rider health monitoring system (100) of a vehicle (104), the rider health monitoring system (100) comprises:a processor (106), the processor (106) being configured to:receive health data of a rider of the vehicle (104) from at least one user device (102);process the received health data to determine a health status of the rider; andcontrol the operation of the vehicle (104), based on the determined health status.
8. The rider health monitoring system (100) as claimed in claim 7, wherein the processor (106) is configured to compare the received health data with predefined thresholds, wherein the processing of the received health data to determine the health status is based on the comparison,wherein the determined health status is one of a healthy status and an unhealthy status, andwherein the health data comprises at least one of: a blood pressure (BP) of the rider, a stress level of the rider, an oxygensaturation (SpO2) of the rider, an electrocardiogram (ECG) of the rider, a heart rate of the rider, a respiratory rate of the rider, and a body temperature of the rider.
9. The rider health monitoring system (100) as claimed in claim 7, wherein the processor (106) is configured to control the operation of the vehicle (104) by at least one of reducing a vehicle speed, limiting acceleration of the vehicle (104), stopping the vehicle (104), and preventing starting of the vehicle (104).
10. The rider health monitoring system (100) as claimed in claim 7, wherein to control the operation of the vehicle (104), the processor is configured to:render a notification associated with the determined health status of the rider on a user device at a first time instant;determine a first speed of the vehicle (104), after a predefined time duration has passed from the first time instant,compare the determined first speed with a threshold speed; and control the speed of the vehicle (104) based on the comparison, wherein the speed is reduced from the first speed to the threshold speed, when the determined first speed is greater than the threshold speed.