KR102485354B1 - Apparatus for controlling lane change of vehicle, system having the same and method thereof - Google Patents

Abstract

The present invention relates to an apparatus for controlling a lane change of a vehicle, a system including the same, and a method thereof. The apparatus for controlling a lane change according to an embodiment of the present invention determines whether or not a condition for stopping a lane change procedure occurs when controlling a lane change, and A processor determining whether to stop the lane change procedure or return to the original vehicle when a condition for stopping the lane change procedure occurs, and controls the vehicle according to the result; And it may include a storage unit for storing the result determined by the processor.

Description

Apparatus for controlling lane change of vehicle, system having the same and method thereof}

The present invention relates to a lane change control device for a vehicle, a system including the same, and a method thereof, and more particularly, to a response technology according to conditions when a condition for stopping a lane change procedure occurs.

Recently, with the rapid development of IT technology, interest in intelligent vehicles converged with vision systems is increasing. In particular, cutting-edge safety vehicle technology such as lane departure information, lane keeping, collision warning system, and lane change control system that reduce the risk of traffic accidents and help safe driving is a foundational technology for intelligent vehicle technology, which is involved in various research and technology development. A lot of manpower and resources are invested. In particular, a lane change control system capable of automatically changing a lane in which a vehicle is driving automatically controls the vehicle to perform a lane change when a driver operates a turn signal with the intention of changing a lane.

Such a lane change control system can perform a lane change by determining whether the speed and location of surrounding vehicles are suitable for performing a lane change, setting a control path for lane change, and controlling steering torque along the control path. there is

However, the existing lane change control system can stop the lane change procedure if it is necessary to stop the lane change procedure before the lane change operation. There is not.

Embodiments of the present invention provide a lane change control device for a vehicle capable of improving the usability of a lane change assist function by performing lane change control and lane change cancellation control capable of minimizing a user's sense of difference, a system including the same, and a method thereof. want to provide

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

The lane change control device according to an embodiment of the present invention determines whether a condition for stopping a lane change process has occurred when controlling a lane change, and determines whether the condition for stopping a process for changing lanes has occurred, whether to stop the process for changing lanes or whether to return to the original vehicle. a processor that performs vehicle control according to the result; And it may include a storage unit for storing the result determined by the processor.

In an embodiment, upon receiving a lane change request, the processor may create a lane change path and determine whether a vehicle drifting in the lane change direction occurs.

In an embodiment, the processor may include calculating a difference value between the lane change path and the actual vehicle behavior path as a lane change comparison error.

In one embodiment, the processor determines that the vehicle pulling phenomenon has not occurred when the lane change comparison error is less than a predetermined reference value, and uses a value that is half of the distance from the center of the vehicle to the lane and the full width of the vehicle It may include generating a corresponding region to return to the original dimension by doing so.

In an embodiment, the processor may include determining that a vehicle pulling phenomenon has occurred when the lane change comparison error is equal to or greater than a predetermined reference value.

In an embodiment, the processor may include reducing and generating a corresponding region for returning to the original vehicle when the vehicle pulls.

In an embodiment, the processor may include generating the corresponding region for returning to the original vehicle by reducing the lane change comparison error.

In an embodiment, the processor may include determining whether a condition for stopping a lane change procedure has occurred.

In one embodiment, the processor performs a lane change operation within a predetermined time after a lane change request by a user when a dangerous situation is detected, when a hands-off is detected, or when a lane change procedure cancellation request is generated by a user. If not started, if the lane change function is turned off or overridden by the user, lane misrecognition and lateral movement to complete the lane change operation and approach operation to the lane during the lane change procedure are not continuous It may include determining that the condition for stopping the lane change procedure has occurred when at least one of the cases of not being satisfied.

In an embodiment, the processor may include determining whether an event for returning to the original vehicle has occurred when the condition for stopping the lane change procedure occurs.

In one embodiment, the processor is configured to perform an operation for approaching a lane and completing a lane change operation among lane change procedures, lane misrecognition, when the lane change function is turned off or overridden by the user. It may include determining that an event for returning to the original vehicle has occurred when at least one of the cases in which the lateral movement is not continuous is satisfied.

In an embodiment, the processor may include determining whether the own vehicle is located within a corresponding region for returning to the original vehicle when the event for returning to the original vehicle occurs.

In an embodiment, the processor may include generating a return route to the original vehicle and notifying suspension of a lane change procedure when the host vehicle is located within an area for returning to the original vehicle.

In one embodiment, the processor may include continuously maintaining a lane change path when the host vehicle is not located within an area for returning to the original vehicle.

In an embodiment, the processor may include determining whether the vehicle is in a lane-missing state when the event of returning to the original vehicle does not occur.

In an embodiment, the processor may include, when the lane is not recognized, generating a route maintaining a current lane and notifying suspension of a lane change procedure.

In an embodiment, the processor may include not generating a path and notifying suspension of a lane change procedure when the lane is not recognized.

In one embodiment, the processor detects the dangerous situation when the relative distance of the surrounding vehicle with respect to the own vehicle is less than a predetermined safety standard, and the hands-off state of the user when the torque and torque change rate are less than a predetermined reference value It may include determining that it is.

The vehicle system according to an embodiment of the present invention determines whether a condition for stopping a lane change procedure has occurred when controlling a lane change, determines whether a condition for stopping a lane change procedure has occurred, determines whether to stop the procedure for changing lanes or whether to return to the original vehicle, and determines the result. a lane change control device that performs vehicle control according to; and a warning device outputting a notification when the lane change procedure is stopped.

A lane change control method according to an embodiment of the present invention includes the steps of determining whether a condition for stopping a lane change procedure occurs when controlling a lane change; determining whether to stop the lane change procedure or return to the original vehicle when the lane change procedure interruption condition occurs; outputting a notification when the lane change procedure is stopped; and performing vehicle control according to the determination result.

The present technology can improve the usability of the lane change assist function by performing lane change control and lane change cancellation control that can minimize a user's sense of difference.

In addition to this, various effects identified directly or indirectly through this document may be provided.

1 is a block diagram showing the configuration of a vehicle system including a vehicle lane change control device according to an embodiment of the present invention.
2 is a diagram for explaining an operation of determining whether to start a lane change operation of a vehicle according to an embodiment of the present invention.
3 is a diagram for explaining an exemplary operation of a vehicle lane change operation start time and a lane change operation end time according to an embodiment of the present invention.
4 is a diagram for explaining an operation of determining a vehicle leaning according to an embodiment of the present invention.
5 is a diagram illustrating an example of reduction of a lane return response area according to determination of vehicle leaning according to an embodiment of the present invention.
6 is a diagram for explaining a method of generating a lane return corresponding area according to an embodiment of the present invention.
7 is a flowchart illustrating a method for controlling a vehicle lane change according to an embodiment of the present invention.
8 illustrates a computing system according to one embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to components of each drawing, it should be noted that the same components have the same numerals as much as possible even if they are displayed on different drawings. In addition, in describing an embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function hinders understanding of the embodiment of the present invention, the detailed description will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the corresponding component is not limited by the term. In addition, unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present application, they should not be interpreted in an ideal or excessively formal meaning. don't

In the present invention, the lane change assist function is 1) turning on the turn signal by the driver, 2) lateral movement to the lane boundary in the direction of the moving lane, 3) lane change operation (lane crossing), 4) lane maintenance function, 5) direction This is done through the procedure of automatic indicator lights off (by system).

A lane-changing action defines the vehicle's front tires starting to touch the inside of the lane closest to the moving vehicle, so the vehicle completely crosses the lane. In addition, if a lane change procedure suspension condition occurs before the lane change operation starts, the lane change procedure must be stopped. Functions such as determination of lane return control and execution of original vehicle height return control are initiated.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 8 .

1 is a configuration diagram of a vehicle system including a vehicle lane change control device according to an embodiment of the present invention.

A vehicle system according to an embodiment of the present invention includes a lane change control device 100, a sensing module 200, a GPS receiver 300, a navigation device 400, an input device 500, a steering device 600, acceleration/deceleration device 700, and warning device 800. The vehicle system of FIG. 1 may be mounted on a vehicle.

The lane change control device 100 is based on GPS information received from the Global Positioning System (GPS) receiver 300, map information received from the navigation device 400, and surrounding detection information detected by the sensing module 200. It is possible to determine whether the vehicle can change the lane, whether the lane change procedure is suspended, whether the vehicle returns to the original vehicle after canceling the lane change, whether the lane change procedure is stopped, and the like.

The lane change control device 100 includes a sensing module 200, a GPS receiver 300, a navigation device 400, an input device 500, a steering device 600, an acceleration/deceleration device 700, and a warning device 800. ), etc., and can be electrically connected to the sensing module 200, GPS receiver 300, navigation device 400, input device 500, steering device 600, acceleration/deceleration device 700, warning device 800 and can perform various data processing and calculations.

To this end, the vehicle lane change control apparatus 100 may include a communication unit 110 , a storage unit 120 , a display unit 130 , and a processor 140 .

The communication unit 110 is a hardware device implemented with various electronic circuits to transmit and receive signals through a wireless or wired connection, and in the present invention communicates with in-vehicle devices through can communication and LIN communication. Communication may be performed, and communication may be performed with devices outside the vehicle through wireless communication.

The storage unit 120 stores information received from the sensing module 200, the GPS receiver 300, and the navigation device 400, whether the vehicle can change lanes determined by the processor 140, and stopping the lane change procedure. A region for returning to the original vehicle may be stored as a result of the determination, such as whether to return to the original vehicle after canceling the lane change, whether or not to inform the suspension of the lane change procedure, and the like. The storage unit 120 includes a flash memory type, a hard disk type, a micro type, and a card type (eg, SD card (Secure Digital Card) or XD card (eXtream Digital Card)). Card), RAM (RAM, Random Access Memory), SRAM (Static RAM), ROM (ROM, Read-Only Memory), PROM (Programmable ROM), EEPROM (Electrically Erasable PROM), magnetic memory (MRAM) , Magnetic RAM), a magnetic disk, and an optical disk type of memory.

The display unit 130 may display determination results such as whether the vehicle can change the lane, whether the lane change procedure is interrupted, whether to return to the original vehicle after canceling the lane change, notification of dangerous situations, a lane change route, and a return route to the original vehicle. The display unit 130 may be implemented as a head-up display (HUD), a cluster, audio video navigation (AVN), and the like. In addition, it is possible to directly receive color input from the user through the USM (User Setting Menu) menu of the cluster. In addition, the display unit 130 may include a Liquid Crystal Display (LCD), a Thin Film Transistor-LCD (TFT LCD), a Light Emitting Diode (LED), and an Organic LED (OLED). ), an active OLED (AMOLED, Active Matrix OLED), a flexible display, a bent display, and a 3D display. Some of these displays may be implemented as a transparent display configured as a transparent or light-transparent type so as to be able to see the outside. In addition, the display unit 130 is provided as a touch screen including a touch panel and may be used as an input device in addition to an output device.

The processor 140 can be electrically connected to the communication unit 110, the storage unit 120, and the display unit 130, can electrically control each component, and can be an electric circuit that executes software commands, Accordingly, various data processing and calculations described later can be performed. The processor 140 may be, for example, an electronic control unit (ECU) mounted on a vehicle or a lower controller.

The processor 140 may determine whether or not the vehicle can change lanes, whether the lane change procedure is suspended, whether the vehicle returns to the original vehicle after canceling the lane change, whether or not the lane change procedure is stopped, and the like, based on the surrounding situation information. It may include at least one of GPS information received from the GPS receiver 300, map information received from the navigation device 400, and surrounding detection information by the sensing module 200.

The processor 140 may generate a lane change route and/or a return route to the original vehicle based on the GPS reception information or the navigation apparatus 400 .

When a lane change request is received (eg, when a direction indicator is turned on by a user), the processor 140 may create a lane change path and determine whether a vehicle drifts in the lane change direction.

The processor 140 calculates the difference between the lane change path and the actual vehicle behavior path as the lane change comparison error, and determines that the vehicle drifting phenomenon has not occurred when the lane change comparison error is less than a predetermined reference value, A corresponding region for returning to the original vehicle may be generated using a value that is half of the full width of the host vehicle and the distance to the vehicle. At this time, the return response area to the original road is a reference area when returning to the original road and corresponds to a judgment area for determining whether or not to return to the original road, and may vary according to vehicle drift.

The processor 140 determines that the vehicle drifting phenomenon has occurred when the lane change comparison error is equal to or greater than a predetermined reference value, and when the vehicle drifting phenomenon occurs, the corresponding region for returning to the original vehicle may be reduced and generated. In this case, the processor 140 may generate the corresponding region for returning to the original vehicle by reducing it by an error compared to the vehicle change.

The processor 140 may determine whether a condition (situation) for stopping the lane change procedure has occurred before the lane change operation starts, and may stop the lane change procedure if the condition for stopping the lane change procedure occurs.

Conditions for stopping the lane change procedure are: 1) when a dangerous situation is detected, 2) when hands-off is detected, 3) cancellation by the user (turn indicator lights off), and 4) after a lane change request from the user (e.g., when the user turns on the turn signal) operation), when the lane change operation does not start within a predetermined time (eg, 5 seconds), 5) when the lane change function is turned off or overridden by the user, 6) when the system limit is reached ( lane misrecognition, etc.), and 7) cases in which the operation of approaching the lane during the lane change procedure and the lateral movement to complete the lane change operation are not continuous.

The processor 140 may determine 1) whether a relative distance (based on own vehicle) of a nearby vehicle is less than a predetermined safety distance (S _critical ) in order to detect and determine a dangerous situation. At this time, the safety distance is equal to Equation 1.

V _rear means the actual vehicle speed of the approaching vehicle or 130 km/h, whichever is lower, V _ACSF is the actual vehicle speed of the ACSF vehicle, a is the deceleration of the approaching vehicle, t _G is the free interval time between vehicles after the approaching vehicle decelerates A value obtained by subtracting the ACSF vehicle speed standard from , tB means the time from the start of the lane change operation until the oncoming vehicle starts to decelerate.

The processor 140 may determine a dangerous situation when the relative distance (based on own vehicle) of the surrounding vehicle is less than a predetermined safety distance (S _critical ).

In addition, the processor 140 determines 2) hands-off when the absolute values of the torque and the torque change rate are equal to or less than the reference value in order to determine the driver's hands-off.

|Tq| is the absolute value of torque, |Tq_Delta| The absolute value of the torque change rate, Tq _{_ HandsOff _Ref} , is an arbitrary reference value.

3) The processor 140 may determine whether the turn signal lamp is switched off in order to determine release of the direction indicator lamp by the user. That is, the processor 140 may stop the lane change procedure when the user turns off the direction indicator switch again while the direction indicator switch is turned on to request a lane change.

In addition, the processor 140 determines 4) a lane change operation delay if the lane change operation does not start within a predetermined time (eg, 5 seconds) after the user operates the turn signal to determine the lane change operation delay. Thus, the lane change procedure may be aborted.

5) In order to determine whether the lane change function is turned off or overridden by the user, the processor 140 determines whether the lane change function button is turned off by the user and whether the absolute torque value is greater than or equal to a predetermined reference value, Whether to override can be determined. When the lane change function is turned off or overridden by the user, the processor 140 may stop the lane change procedure.

The processor 140 6) determines a lane misrecognized situation and the like to determine a system limit situation. The lane misrecognition situation is a case where the reliability of both lanes, which are camera outputs, is low. In this case, the processor 140 may stop the lane change procedure.

7) The processor 140 may determine that the current position relative to the lane is maintained for a predetermined period of time during the lane change in order to determine a lane change abnormal situation. That is, the processor 140 determines that the lateral distance DisToTire from the lane in the direction of lane change is set for a certain period of time ( T _LatHoldLC , TBD) or more, and if the lateral distance error compared to the lane change path increases, it can be determined that the lateral movement of the lane change is abnormal due to disturbance (lateral slope, etc.). When it is determined that the lane change is an abnormal situation, the processor 140 may stop the lane change procedure.

The processor 140 performs 1) when a dangerous situation is detected, 2) when hands-off is detected, 3) cancellation by the user (turning off the turn signal), 4) after the user operates the turn signal, for a predetermined time (eg, 5 seconds) ), if the lane change operation does not start, it is possible to determine whether to return to the original vehicle by determining the location of the current host vehicle or whether the lane change operation has started.

The processor 140 performs 5) when the lane change function is turned off or overridden by the user, 6) reaches the system limit (lane misrecognition, etc.), 7) approaches to the lane during the lane change procedure and the lane If the lateral movement to complete the change operation is not continuous, the control of the lateral movement is immediately transferred to the user regardless of the current location of the host vehicle or whether the lane change operation has started, and the control path is created to respond by not creating a path or staying in the lane. can

That is, in the case of 5), 6), and 7), the processor 140 determines whether there is user steering intervention, and if there is user steering intervention, a path is not created, and if there is no user steering intervention, the processor 140 moves out of the car. It notifies maintenance route creation and lane change suspension.

In addition, the processor 140 operates 1) when a dangerous situation is detected, 2) when hands-off is detected, 3) cancellation by the driver (turning off the turn signal lamp), 4) operation of changing lanes within 5 seconds after the driver operates the turn signal lamp If the vehicle does not start, it is determined whether the host vehicle exists within the return-to-original region, and if the host vehicle exists within the return-to-original vehicle region, a return route to the original road is created and a lane change stop notification is performed. .

In addition, when the host vehicle does not exist within the corresponding area for returning to the original vehicle, the processor 140 maintains the lane change procedure because the probability of the host vehicle crossing the lane is high in terms of vehicle behavior. In addition, the processor 140 maintains a lane change procedure when the host vehicle does not exist within the corresponding area for returning to the original vehicle, but may notify the user of the dangerous situation when a dangerous situation is detected.

As described above, the lane change control device 100 of the present invention changes the route such as lane change, lane change procedure interruption, stay in lane, route not created, etc. when a lane change procedure interruption condition occurs, and notifies the user of the lane change procedure interruption. should be sufficiently recognized to minimize the sense of heterogeneity.

In addition, according to the present invention, it is possible to prevent lane departure upon returning to the vehicle by varying the response region for returning to the original vehicle, which is a determination region for determining a path change according to vehicle drift.

The sensing module 200 obtains information on external objects (eg, surrounding vehicles, pedestrians, motorcycles, bicycles, median barriers, the number of lanes on the driving road, etc.) It can be configured to sense the surrounding situation. The information on the external object may include the location, speed, type, and movement direction of the external object. To this end, the sensing module 100 may include at least one camera, radar, lidar, ultrasound, acceleration sensor, yaw rate sensor, torque measurement sensor, wheel speed sensor, and the like. In addition, at least one or more sensors may be mounted on the front, rear, left and right sides of the vehicle.

The GPS receiver 300 receives a GPS signal from a Global Positioning System (GPS) satellite and transmits the received GPS signal to the lane change control device 100 . Accordingly, the lane change control apparatus 100 may determine the current location of the host vehicle (eg, whether the host vehicle is located within the return area to the original vehicle) using the GPS signal.

The navigation device 400 provides map information according to the vehicle location and destination to the lane change control device 100 . At this time, the lane change control device 100 interworks with the navigation device 400 to generate lane change route information and return route information to the original vehicle, or provides lane change route information and return route information to the original vehicle from the navigation device 400. You may receive and use it.

The input device 500 may be configured to receive a lane change command from a user, and in the present invention may include a direction indicating lever, switch, or button capable of receiving a user's input for changing a lane.

The steering device 600 may be configured to control a steering angle of the vehicle, and may include a steering wheel, an actuator interlocked with the steering wheel, and a controller controlling the actuator.

The acceleration/deceleration device 700 may be configured to control the speed of the vehicle, and may include a throttle, a brake, an actuator interlocked with the throttle and the brake, and a controller controlling the actuator.

The warning device 800 may perform warnings such as lane change notification, lane change procedure interruption notification, return to original vehicle notification, dangerous situation notification, and the like. The warning device 800 may have a configuration for performing a visual, auditory, or tactile warning.

As described above, the present invention performs lane change control upon receipt of a lane change request from a user, but determines conditions for stopping a lane change procedure, conditions for returning to the original vehicle, etc., and promptly changes the lane or cancels the lane change and returns to the original vehicle according to circumstances. By doing so, user convenience can be increased and usability of the lane change assist function can be improved.

2 is a diagram for explaining an operation of determining whether a lane change operation of a vehicle starts according to an embodiment of the present invention, and FIG. It is a diagram for explaining an exemplary operation at the end of the operation.

Referring to FIG. 2 , when the host vehicle 10 crosses the left lane and changes lanes, the lane change control apparatus 100 uses a lateral distance between the host vehicle 10 and the lane (DisToTire) to perform a lane change operation You can decide whether or not to start. That is, the lateral distance between the vehicle 10 and the lane (DisToTire) is the lateral distance between the left side tire of the vehicle 10 and the lane, and the lateral distance between the vehicle 10 and the lane (DisToTire) is It can be expressed as in Equation 3.

D1 is the distance from the center of the vehicle to the lane, and D2 is the vehicle width/2.

At this time, D1 may be acquired through the sensing module 200, and D2 may be stored in advance. A point in time at which the sign of the lateral distance between the own vehicle 10 and the lane (DisToTire) is reversed may be determined as the start of the lane change operation.

Referring to 301 in FIG. 3 , all tires of the host vehicle 10 are located in the return corresponding area 303 to the original vehicle, but the host vehicle 10 is adjacent to the return reference line 11 (lane), so that the host vehicle 10 and the lane With the sign of the lateral distance DisToTire being inverted, the lane change control device 100 determines that the lane change operation has started.

Referring to 302 of FIG. 3 , in a state where the host vehicle 10 has crossed the return reference line 11 (lane), all tires of the host vehicle 10 deviate from the return corresponding area 303 to the original vehicle, and the lane changing operation ends. indicates an example.

4 is a diagram for explaining an operation of determining vehicle pull according to an embodiment of the present invention, and FIG. 5 is an example of reducing a lane return response area according to a vehicle pull determination according to an embodiment of the present invention. is a drawing representing

Referring to FIG. 4, the lane change control apparatus 100, in a situation without user (driver) intervention (below the MDPS column torque reference value), the lateral position error compared to the lane change path is an arbitrary value (30 cm, TBD) in the lane change direction ) or more, and if drift occurs continuously for a certain period of time, it is determined that the lane change behavior is fast and the LCA zone for returning to the original lane is narrowed to prevent lane departure during return.

Referring to FIG. 5 , when a vehicle drifting phenomenon occurs, the lane change control device 100 calculates a lane change contrast error (E_LC) and reduces the return-to-original response region 501 by the lane change contrast error (E_LC). , it can be seen that the corresponding region 502 for returning to the final original dimension is reduced.

Hereinafter, a method of generating a lane return corresponding area according to an embodiment of the present invention will be described with reference to FIG. 6 . 6 is a flowchart for explaining a method of generating a lane return corresponding area according to an embodiment of the present invention.

Hereinafter, it is assumed that the lane change control device 100 of FIG. 1 performs the process of FIG. 6 . Also, in the description of FIG. 6 , operations described as being performed by the device may be understood as being controlled by the processor 140 of the device 100 .

Referring to FIG. 6 , the lane change control apparatus 100 generates a lane change path for a lane change when a user turns on a direction indicator for a lane change (S101).

The lane change control apparatus 100 calculates a lane change comparison error (S102) and determines whether a lane change direction drift occurs (S103). At this time, the lane change control apparatus 100 compares the lane change path and the actual vehicle behavior path, as shown in FIG. 4, and calculates a lane change contrast error (E_LC), which is a lateral difference between the lane change path and the actual vehicle behavior path. and, if the error compared to the lane change is greater than a pre-determined reference value (eg, 30 cm), it may be determined that the lane change direction drift has occurred.

When the lane change direction drift does not occur, that is, when the lane change comparison error is less than a predetermined reference value, the lane change control apparatus 100 creates a return-to-original response area based on the left and right lanes of the lane and the overall length of the own vehicle. (S104). As shown in FIG. 2, the corresponding area for returning to the original vehicle can be generated by calculating the lateral distance (DisToTire) between the own vehicle 10 and the lane, and as shown in Equation 3, the lateral distance between the own vehicle 10 and the lane (DisToTire) is a lateral distance between the left side tire of the host vehicle 10 and the lane. As shown in 501 of FIG. 5 , the lane change control device 100 may generate the entire area in the lateral direction of the road (from the left lane to the right lane) as a corresponding area for returning to the original vehicle.

On the other hand, if the lane change direction bias occurs, that is, if the lane change contrast error is greater than or equal to a predetermined reference value, the lane change control apparatus 100 determines the lane change contrast error in the lateral distance between the host vehicle 10 and the lane (DisToTire). It is possible to reduce the lateral distance (DisToTire) between the own vehicle 10 and the lane by subtracting (S105). As shown in 502 of FIG. 5 , it can be seen that the lateral distance (DisToTire) between the own vehicle 10 and the lane is reduced compared to 501 .

In this way, when a lane change path is generated while the vehicle is driving, the lane change control device 100 creates and stores a response area for returning to the original vehicle according to the tilt in the lane change direction, and determines whether to return to the original vehicle when the lane change procedure of FIG. 7 is stopped later In this case, a return-to-original corresponding region can be used.

In this way, the lane change control apparatus 100 may prevent lane departure during return to the original vehicle by reducing the corresponding region for returning to the original vehicle when drift in the lane change direction occurs.

7 is a flowchart illustrating a method for controlling a vehicle lane change according to an embodiment of the present invention. 7 is a flowchart illustrating a method for controlling a vehicle lane change according to an embodiment of the present invention.

Hereinafter, it is assumed that the lane change control apparatus 100 of FIG. 1 performs the process of FIG. 7 . Also, in the description of FIG. 7 , operations described as being performed by the device may be understood as being controlled by the processor 140 of the device 100 .

The lane change control apparatus 100 generates a lane change path for a lane change when a user turns on a direction indicator for a lane change (S201).

The lane change control apparatus 100 determines whether a condition for stopping a lane change procedure occurs while the vehicle is driving according to a lane change path (S202). At this time, the conditions for stopping the lane change procedure are 1) when a dangerous situation is detected, 2) when a hands-off is detected, 3) cancellation by the user (turning off the turn signal lamp), and 4) after the user operates the turn signal lamp, If the lane change operation does not start within the time (eg, 5 seconds), 5) If the lane change function is turned off or overridden by the user, 6) The system limit is reached (lane misrecognition, etc.), 7 ) During the lane change procedure, it may include the case where the operation to approach the lane and the lateral movement to complete the lane change operation are not continuous.

Subsequently, when a condition for stopping the lane change procedure occurs, the lane change control apparatus 100 determines whether the event corresponds to a return to the original vehicle (S203). At this time, the event to return to the original vehicle is 1) when a dangerous situation is detected, 2) when a hands-off is detected, 3) cancellation by the user (turning off the turn signal lamp), 4) after the user operates the turn signal lamp, for a predetermined time (e.g., 5 seconds), this corresponds to the case where the lane change operation does not start.

In the case of a return to the original vehicle event, the lane change control apparatus 100 may determine whether the own vehicle is located within the corresponding region for returning to the original vehicle (S204). At this time, the lane change control device 100 recognizes the lane from sensor information such as camera image information, radar, and lidar, and uses the GPS information received from the GPS receiver 300 to locate the own vehicle within the corresponding area for returning to the original vehicle. can judge whether

The lane change control device 100 determines that it is difficult to return to the original vehicle when the host vehicle is not located within the response area for returning to the original vehicle, when the probability of crossing the lane is high in terms of vehicle behavior, and detects whether a dangerous situation is present when changing lanes, (S205), in the case of a dangerous situation, a dangerous situation notification is performed (S206). In this case, the lane change control apparatus 100 may determine a dangerous situation by considering whether or not there is a collision with a nearby vehicle when changing a lane, and may notify a dangerous situation visually, audibly, and tactilely.

Thereafter, the lane change control device 100 maintains the lane change path, performs lane change control, and determines whether the lane change procedure has been completed (S207).

When the lane change procedure is completed, the lane change control apparatus 100 performs lane maintenance control for the changed current lane (S208).

If the own vehicle is located within the corresponding area for returning to the original vehicle in step S204, the lane change control device 100 determines that it is possible to return to the original vehicle, creates a return route to the original vehicle, and notifies the suspension of the lane change procedure. (S209).

Next, the lane change control apparatus 100 detects whether there is a dangerous situation when returning to the original vehicle (S210), and if it is a dangerous situation, performs a dangerous situation notification (S211).

The lane change control apparatus 100 controls the host vehicle to return to the original vehicle according to the generated return path to the original vehicle and determines whether the return control to the original vehicle is terminated (S212). When the return control to the original vehicle is completed, the lane change control apparatus 100 performs lane maintenance control for the changed current lane (original road) (S208).

Meanwhile, in the above process S203, if the event of returning to the original vehicle does not occur, that is, if the lane change procedure is stopped, 5) if the lane change function is turned off or overridden by the user, 6) the system limit is reached (lane misrecognized, etc.), 7) In the case where the operation of approaching the lane and the lateral movement to complete the operation of changing the lane are not continuous during the lane change procedure, the lane change controller 100 determines whether the lane change control device 100 is in a lane misrecognized state. Do (S213).

When the lane change control device 100 is not in a lane change recognition state, the lane change control apparatus 100 creates a lane maintenance path based on lane recognition and performs a lane change stop notification (S214). That is, among the conditions for stopping the lane change procedure, 5) when the lane change function is turned off or overridden by the user, and 7) during the lane change procedure, the motion to approach the lane and the lateral movement to complete the lane change operation are not continuous. If this is not the case, since lane recognition is possible, a lane maintenance path is created, controlled to maintain the current lane, and lane change is stopped.

On the other hand, when the lane is not recognized, it is impossible to create a lane maintenance path, so the lane change control apparatus 100 does not create a path and performs a lane change procedure interruption notification (S215). At this time, the lane change control device 100 may transfer the control right in the lateral direction to the user so that the user may directly perform lateral control. In this case, the lane change procedure interruption notification may be performed visually, audibly, or tactilely.

As described above, in the lane change procedure, the present invention determines the conditions for stopping the lane change procedure and the event for returning to the original vehicle to perform controls such as maintaining the lane change, stopping the lane change procedure, controlling returning to the original vehicle, maintaining the current lane, etc. It is possible to minimize the sense of difference to the user and improve the usability of the lane change assist function.

8 illustrates a computing system according to one embodiment of the present invention.

Referring to FIG. 8 , the computing system 1000 includes at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, and a storage connected through a bus 1200. 1600, and a network interface 1700.

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes commands stored in the memory 1300 and/or the storage 1600 . The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include read only memory (ROM) and random access memory (RAM).

Accordingly, the steps of a method or algorithm described in connection with the embodiments disclosed herein may be directly implemented as hardware executed by the processor 1100, a software module, or a combination of the two. A software module resides in a storage medium (i.e., memory 1300 and/or storage 1600) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, or a CD-ROM. You may.

An exemplary storage medium is coupled to the processor 1100, and the processor 1100 can read information from, and write information to, the storage medium. Alternatively, the storage medium may be integral with the processor 1100. The processor and storage medium may reside within an application specific integrated circuit (ASIC). An ASIC may reside within a user terminal. Alternatively, the processor and storage medium may reside as separate components within a user terminal.

The above description is merely an example of the technical idea of the present invention, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

Claims (20)

A processor for determining whether a condition for stopping a lane change procedure has occurred during lane change control, determining whether a condition for stopping a lane change procedure has occurred, determining whether to stop a lane change procedure or whether to return to the original vehicle, and controlling the vehicle according to the result; and
A storage unit for storing a result determined by the processor,
the processor,
A lane change control device for a vehicle, characterized in that it determines whether or not the vehicle pulls in the direction of the lane change during lane change, and creates a response region for returning to the original vehicle according to whether the vehicle pulls in the direction of the lane change. delete The method of claim 1,
the processor,
The lane change control device for a vehicle, characterized in that calculating a difference between the lane change path and the actual vehicle behavior path as a lane change comparison error. The method of claim 3,
the processor,
When the lane change contrast error is less than a predetermined reference value, it is determined that the vehicle drifting phenomenon has not occurred, and a return to the original vehicle corresponding region is generated using a value that is half of the distance from the center of the vehicle to the lane and the full width of the vehicle. A lane change control device of a characterized vehicle. The method of claim 4,
the processor,
A lane change control device for a vehicle, characterized in that it is determined that a vehicle pulling phenomenon has occurred when the lane change comparison error is equal to or greater than a predetermined reference value. The method of claim 5,
the processor,
The lane change control device for a vehicle, characterized in that when the vehicle pulls, the region for returning to the original vehicle is reduced and generated. The method of claim 6,
the processor,
The lane change control apparatus of a vehicle, characterized in that the region for returning to the original vehicle is generated by reducing the lane change comparison error. The method of claim 1,
the processor,
A lane change control device for a vehicle, characterized in that it determines whether a condition for stopping a lane change procedure has occurred. The method of claim 8,
the processor,
When a dangerous situation is detected, when a hands-off is detected, when a request to cancel the lane change procedure by the user occurs, when the lane change operation is not started within a predetermined time after the user's request for a lane change, when the user changes the lane When at least one of the following conditions is satisfied: when the function is turned off or overridden, the lane is not recognized, and the lateral movement to complete the lane change operation and the approach operation to the lane during the lane change procedure is not continuous. The lane change control device for a vehicle, characterized in that it is determined that the lane change procedure interruption condition has occurred. The method of claim 8,
the processor,
The lane change control device for a vehicle, characterized in that, when the lane change procedure interruption condition occurs, it is determined whether an event for returning to the original vehicle has occurred. The method of claim 10,
the processor,
At least one of the case where the lane change function is turned off or overridden by the user, the lane is not recognized, and the operation to approach the lane and the lateral movement to complete the lane change operation are not continuous during the lane change procedure When the above conditions are satisfied, it is determined that the event for returning to the original vehicle has occurred. The method of claim 10,
the processor,
When the return to the original car event occurs,
A lane change control device for a vehicle, characterized in that it determines whether the host vehicle is located within an area for returning to the original vehicle. The method of claim 12,
the processor,
A lane change control device for a vehicle, characterized in that, when the host vehicle is located within a corresponding area for returning to the original vehicle, generating a return route to the original vehicle and notifying interruption of the lane change procedure. The method of claim 13,
the processor,
A lane change control device for a vehicle, characterized in that, when the host vehicle is not located within an area for returning to the original vehicle, a lane change route is continuously maintained. The method of claim 10,
the processor,
The lane change control apparatus of a vehicle, characterized in that determining whether the lane is not recognized when the event of returning to the original vehicle does not occur. The method of claim 15
the processor,
The lane change control device for a vehicle, characterized in that, when the lane is not recognized, a route maintaining the current lane is generated and a lane change procedure is stopped. The method of claim 15
the processor,
The lane change control device for a vehicle, characterized in that, when the lane is not recognized, a path is not created and a lane change procedure is stopped. The method of claim 8,
the processor,
If the relative distance of the surrounding vehicle based on the own vehicle is less than the predetermined safety standard, it is detected as a dangerous situation,
A lane change control device for a vehicle, characterized in that it is determined that the user is in a hands-off state when the torque and the torque change rate are less than a predetermined reference value. During lane change control, lane change control that determines whether a condition for stopping the lane change procedure has occurred, determines whether the lane change procedure is suspended or whether to return to the original vehicle when the condition for stopping the lane change procedure occurs, and controls the vehicle according to the result. Device; and
Including a warning device that outputs a notification when the lane change procedure is stopped,
The lane change control device,
A vehicle system comprising: determining whether or not a vehicle pulling phenomenon occurs in a lane changing direction during lane change, and generating a corresponding region for returning to the original vehicle according to whether the vehicle pulls phenomenon occurs. determining whether a condition for stopping a lane change procedure occurs during lane change control;
determining whether to stop the lane change procedure or return to the original vehicle when the lane change procedure interruption condition occurs;
determining whether the vehicle pulls in the direction of the lane change during lane change, and generating a corresponding area for returning to the original vehicle according to whether the vehicle pulls in the direction of the lane change;
outputting a notification when the lane change procedure is stopped; and
performing vehicle control according to the determination result;
A method for controlling a lane change of a vehicle, comprising:

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