KR102545661B1 - Apparatus and method for providing lane change guide information - Google Patents

Abstract

The present invention relates to an apparatus and method for providing lane change guidance information for determining whether or not to change a lane by using road and driving situation information and navigation information during route guidance to a destination using a navigation system while driving a vehicle, and providing guidance thereof, The device includes: a lane recognition unit for recognizing a driving lane according to the road and driving environment information collected through the information collection unit; a driving situation recognition unit recognizing a driving situation according to road and driving environment information of the vehicle; a driving lane determining unit that determines a current driving lane by using lane information of the driving road recognized by the lane recognizing unit and the route guidance information; and a control unit configured to determine whether a lane can be changed according to the collected route guidance information, the recognized driving situation information, and the determined driving lane information, and generate guidance information on whether a lane can be changed according to the determination result. include

Description

Apparatus and method for providing lane change guidance information

The present invention relates to an apparatus and method for providing lane change guidance information, and in particular, for determining and guiding a lane change by using road and driving situation information and navigation information while guiding a route to a destination using a navigation system while driving a vehicle An apparatus and method for providing lane change guidance information.

The currently released navigation system identifies the location of the current vehicle and provides route guidance to the destination based on map data through voice and display.

However, currently provided route guidance only guides the distance and direction to an intersection or junction where a vehicle's traveling direction is changed.

Therefore, in the case of drivers with inexperienced driving such as elderly drivers, novice drivers, and first-time drivers, they miss the appropriate lane change timing and try to change excessively, or pass by the changing point, making the driver anxious and losing their attention until they receive new guidance information. There is a problem with dropping it.

Therefore, the present invention is to solve the above problems, and an object of the present invention is to provide lane change guidance based on the driving lane of the vehicle in which the driver is driving using road and driving situation information and navigation information. It is to provide a guide information providing device and method. That is, the present invention recognizes the movement of the driving lane and nearby vehicles at the time of changing the driving direction during route guidance to the destination, and provides lane change guidance or warning information, so that the lane can be safely changed and the driving direction can be changed. Its object is to provide a providing device and method therefor.

To achieve the above object, an apparatus for providing lane change guidance information according to the present invention includes an information collecting unit that collects road and driving environment information of a vehicle and route guidance information; a lane recognizing unit recognizing a driving lane according to road and driving environment information collected through the information collecting unit; a driving situation recognition unit recognizing a driving situation according to road and driving environment information of the vehicle; a driving lane determining unit that determines a current driving lane by using lane information of the driving road recognized by the lane recognizing unit and the route guidance information; and a control unit configured to determine whether a lane can be changed according to the collected route guidance information, the recognized driving situation information, and the determined driving lane information, and generate guidance information on whether a lane can be changed according to the determination result. can include

A guide information processing unit outputting guide information on whether a lane can be changed under the control of the controller is further included.

Guidance information on whether a lane can be changed output from the guide information processing unit is output to at least one information delivery medium among a navigation device, a smart phone, an instrument panel, and a HUD terminal.

Road and driving environment information of the vehicle is collected from at least one of a camera, LIDAR, and RADAR, and the route guidance information is collected from a navigation device.

The control unit determines whether the location of the current driving lane is a sharp turn section by using the road and driving environment information collected by the information collection unit, and sends a control signal to warn of a danger of lane change due to the sharp turn section in the case of a sharp turn section. generate

When the section of the current driving lane is not a sharp turn section, the control unit provides destination route guidance using the route guidance information, the lane recognition information recognized by the lane recognition unit, and the driving lane determination information by the driving lane determination unit. Determines whether or not to change the lane for route guidance, determines whether there is another vehicle driving on the side of the lane direction to be changed, if a lane change is necessary for route guidance, and determines whether there is another vehicle driving on the side of the lane direction to be changed In this case, a control signal is generated to warn of the danger of lane change.

When there is no other vehicle traveling on the side of the lane to be changed, the control unit determines whether an object exists in front of the lane to be changed using the collected road and driving environment information, and the object exists If the object is not a vehicle, it is determined whether the object is a vehicle, and if the object is not a vehicle, the distance to the object is compared with a preset safety distance, and based on the result, a control signal is generated to warn of lane change warning or danger of lane change. do.

The control unit generates a control signal to warn of a danger of lane change when the object located in front of the lane to be changed is a vehicle and the distance to the vehicle is shorter than a preset lane-changing distance, and When the distance is equal to or greater than the preset lane-changable distance and the speed of the corresponding vehicle is decelerating according to the driving situation information, a control signal for a lane-changing caution warning is generated, and when the vehicle speed is accelerating, a lane change is performed. A control signal for guidance is generated.

The controller determines whether an object exists behind the lane to be changed when no object exists in front of the lane to be changed using the collected road and driving environment information, and if the object is a vehicle, When the distance to the object is shorter than the preset safety distance, a control signal for warning of the danger of lane change is generated.

The control unit generates a control signal for a lane-changing caution warning when the distance from the corresponding rearward vehicle is greater than a preset lane-changable distance and the speed of the corresponding vehicle is in an acceleration state according to the driving situation information, and the vehicle When the speed of is in a deceleration state, a control signal for lane change possibility guidance is generated.

Meanwhile, a method for providing lane change guidance information according to the present invention includes the steps of collecting road and driving environment information of a vehicle and route guidance information; Recognizing a driving lane according to the collected road and driving environment information; Recognizing a driving situation according to road and driving environment information of the vehicle; determining a current driving lane by using lane information of the recognized driving road and the route guidance information; and determining whether a lane change is possible according to the collected route guidance information, the recognized driving situation information, and the determined driving lane information, and controlling to output guidance information on whether a lane change is possible according to the determination result. can include

The method may further include outputting guidance information on whether the lane can be changed to an information delivery medium so that the driver can check it.

The output guidance information on whether a lane change is possible is output to at least one information delivery medium among a navigation device, a smart phone, an instrument panel, and a HUD terminal.

Road and driving environment information of the vehicle is collected from at least one of a camera, LIDAR, and RADAR, and the route guidance information is collected from a navigation device.

The controlling may include determining whether the location of the current driving lane is a sharp turn section using the collected road and driving environment information; and outputting guidance information for warning of a danger of lane change according to a sharp turn section when the determination result is a sharp turn section.

In the step of determining whether it is the sharp turn section, if the current driving lane position is not the sharp turn section, whether to change lanes for destination route guidance is determined using the route guidance information, the recognized lane recognition information, and driving lane determination information. judging; As a result of the determination, if a lane change is necessary for route guidance, determining whether there is another vehicle driving on the side of the lane direction to be changed; As a result of the determination, the method may further include outputting guidance information for warning of a danger of lane change when there is a vehicle traveling on the side of the lane direction to be changed.

In the step of determining whether there is another vehicle, if there is no other vehicle driving on the side of the lane to be changed, an object exists in front of the lane to be changed using the collected road and driving environment information. determining whether; As a result of the determination, if the object exists, determining whether the corresponding object is a vehicle; As a result of the determination, if the corresponding object is not a vehicle, comparing the distance to the corresponding object with a preset safety distance and outputting guidance information for warning of lane change caution or lane change risk according to the result .

In the step of determining whether the corresponding object is a vehicle, if the object located in front of the lane to be changed is a vehicle and the distance to the corresponding vehicle is shorter than a predetermined lane-changable distance, guidance information for warning of a danger of lane change outputting; determining whether the speed of the corresponding vehicle is in a deceleration state according to the driving situation information when the distance to the corresponding vehicle is greater than or equal to a predetermined lane-changing distance; As a result of the determination, the method further includes outputting guidance information for a lane change warning when the speed of the vehicle is in a deceleration state, and outputting guidance information for lane change possibility when the speed of the vehicle is in an acceleration state.

In the step of determining whether an object exists in front of the lane, if the object does not exist in front of the lane to be changed, determining whether an object exists behind the lane to be changed; As a result of the determination, if the object exists, determining whether the corresponding object is a vehicle; If the object is a vehicle, determining whether the distance to the vehicle is shorter than a preset safety distance; As a result of the determination, when the distance to the corresponding vehicle is shorter than a predetermined safety distance, the method further includes outputting guidance information for warning of a danger of lane change.

If the object is a vehicle, in the step of determining whether the distance to the corresponding vehicle is shorter than a preset safety distance, if the distance to the rear vehicle is longer than the preset lane changeable distance, the corresponding vehicle according to the driving situation information determining whether the speed of is in an acceleration state; As a result of the determination, the method further includes outputting guidance information for a lane change warning when the corresponding vehicle is in an acceleration state, and outputting lane change possibility guidance information when the speed of the vehicle is in a deceleration state.

According to the configuration of the present invention, driving lane information can be determined using image-based lane recognition information and navigation driving road attribute information, and based on this, lane change information and warning information for destination route guidance are provided to the driver, thereby reducing the elderly Drivers, novice drivers, and first-time drivers have the advantage of being able to safely change lanes and change the direction of travel.

1A to 1E are diagrams showing examples of lane change according to driving conditions of a vehicle to apply the present invention.
2A and 2B are views for explaining a display state in which lane change guidance information is displayed according to the present invention;
3 is a block diagram illustrating a block configuration of an apparatus for providing lane change guidance information according to the present invention;
4A and 4B are operational flowcharts of a method for providing lane change guidance information according to the present invention.

Advantages and features of the present invention, and methods for achieving them, will become clear with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, only the present embodiments make the disclosure of the present invention complete, and those skilled in the art in the art to which the present invention belongs It is provided so that the person can easily understand the scope of the invention, and the present invention is defined by the description of the claims. Meanwhile, terms used in this specification are for describing embodiments and are not intended to limit the present invention. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. As used herein, "comprises" or "comprising" means the presence or absence of one or more other elements, steps, operations and/or elements other than the recited elements, steps, operations and/or elements; do not rule out additions.

Hereinafter, an apparatus and method for providing lane change guidance information according to the present invention will be described in detail with reference to the accompanying drawings.

First, prior to a detailed description of the present invention, an example of a lane change according to vehicle driving conditions and a display state of lane change guidance information when changing a lane will be described with reference to FIGS. 1 and 2 .

1A to 1E are diagrams showing examples of lane change according to driving conditions of a vehicle to which the present invention is applied.

First, the present invention provides lane information (3) by recognizing a lane from an image input from a camera when route guidance (2) is provided from a navigation device as shown in FIG. 1A while moving to a destination using a vehicle (1) and driving road attribute information of the navigation device are mapped to determine the driving lane and provide driving lane change guide information (5) so that the driving direction can be changed according to the route guide (2).

In addition, in order to provide safe lane change information when guiding a lane change, the lane change guidance information (5) is a sharp turn (6) section as shown in FIG. ) or when the rear vehicle 8 is within a certain distance 9 from the traveling vehicle 1, or when the front vehicle 7 decelerates 10 as shown in FIG. 1d or when the rear vehicle 8 accelerates ( 11), when another vehicle 12 exists on the side of the driving vehicle 1 as shown in FIG. 1E, step-by-step warning information is provided according to the degree of danger.

Here, an example of providing warning information step by step according to the degree of risk will be described with reference to FIG. 2 .

2A and 2B are views for explaining a display state in which lane change guidance information is displayed according to the present invention.

First, as shown in FIGS. 2A and 2B , lane change information 13 provided through a navigation or dashboard 15 is provided.

The danger information 14 for lane change may be expressed as danger (red), caution (yellow), safety (green), and no change (grey) with respect to the lane change direction. The hazard information 14 and the lane change guidance information 13 determined when changing lanes may be provided to the driver through various information transmission media 15 . Here, the step-by-step danger information 14 for lane change may be displayed in a color other than the above, and the various information delivery media 15 may include a smart phone and a HUD terminal in addition to navigation and dashboard. .

Hereinafter, with reference to FIG. 3 , an apparatus for providing guidance for lane change information according to the present invention will be described in detail with reference to FIG. 3 .

3 is a block diagram illustrating a block configuration of an apparatus for providing lane change information guidance according to the present invention.

As shown in FIG. 3 , a navigation system 101, a sensor unit 102, a lane recognition unit 103, a driving situation recognition unit 104, a driving lane determination unit 105, a lane change determination unit 106, and A driving guide information processing unit 107 may be included.

The sensor unit 102 collects information necessary for recognition of the driving road and driving environment from sensors such as a camera, lidar, and radar, and provides the collected information to the lane recognition unit 103 and the driving situation recognition unit 104. .

The lane recognizing unit 103 recognizes a lane of the current driving road of the vehicle using the information provided from the sensor unit 102 and then provides the recognized lane information to the driving lane determining unit 105 .

The driving situation recognition unit 104 uses the collected information provided from the sensor unit 102 to recognize the existence of objects such as front and rear vehicles, pedestrians, obstacles, etc. If the object is a vehicle, the distance to the vehicle and the current driving state (deceleration, acceleration, etc.) of the vehicle are recognized, and the recognized driving state information is provided to the lane change determining unit 106 .

The driving lane determination unit 104 determines the current driving lane using the lane information of the driving road recognized by the lane recognizing unit 103 and the driving road attribute information provided from the navigation system 101 and converts the corresponding driving lane information to the lane It is provided to the change determination unit 106.

The lane change determining unit 106 determines the route guidance information provided from the navigation system 101, the driving situation recognition information provided from the driving situation recognition unit 104, and the driving lane determination information provided from the driving lane determining unit 105. After determining whether or not to change lanes for route guidance to a destination, a control signal for generating guide information on whether or not to change lanes is provided to the guide information processing unit 107 .

The guidance information processing unit 107 generates whether or not to change lanes and warning information to be provided to the driver based on the current driving lane according to the control signal for generation of guidance information provided by the lane change determination unit 106, and is shown in FIG. 2 . As illustrated, lane change guidance and warning information for visual, auditory, and tactile information are provided according to information delivery media such as a navigation system, instrument panel, smart phone, and HUD terminal.

Among the technical features described above, a detailed operation of the lane change determining unit 106, which can be referred to as a key technical feature of the present invention, will be described.

First, when the road section of the driving lane of the own vehicle recognized by the lane recognition unit 103 is a sharp turn section, the lane change determination unit 106 differs from the driving lane of the own vehicle provided by the driving lane determination unit 105. Regardless, a control signal for generating the warning guide information for a sharp turn section is provided to the guide information processing unit 107 .

Accordingly, the guidance information processing unit 107 displays the sudden turn warning guidance information on display devices of various information delivery media (eg, navigation, instrument panel, smart phone, HUD terminal, etc.) or outputs the warning guidance information by voice.

Meanwhile, when the road section of the driving lane of the host vehicle recognized by the lane recognition unit 103 is not a sharp turn section, the lane change determination unit 106 provides route guidance information and road attribute information provided from the navigation system 101 and Using the lane recognition information recognized by the lane recognizing unit 103 and the driving lane determination information from the driving lane judging unit 105, it is determined whether or not to change lanes for destination route guidance.

The lane change determiner 106 determines whether or not to change the lane, and when a lane change is not necessary for route guidance, the driver changes the lane by using a manipulation signal according to the driver's selection, that is, direction indicators, steering angle, and lane information. check the attempt

If the lane change is not caused by the driver's intention, the lane change determining unit 106 determines whether the vehicle has departed from the lane, and in the case of lane departure, sends a control signal for generating lane departure warning information to the guidance information processing unit ( 107) to warn of lane departure. Here, since the determination of lane departure is a known technology, a detailed description thereof will be omitted.

If it is determined that a lane change is necessary for the destination route guidance or that the lane is changed due to the driver's intention, the lane change determining unit 106 identifies the direction of the lane to be changed.

First, the lane change determiner 106 uses the driving situation recognition information provided from the driving situation recognition unit 104 to check whether there is another vehicle driving on the side of the lane direction to be changed.

As a result of the check, if there is a vehicle traveling on the side of the direction to be changed, the lane change determining unit 106 provides the guidance information processing unit 107 with a control signal for generating lane change danger warning guidance information.

However, if there is no vehicle traveling on the side of the lane change direction, the lane change determination unit 106 determines the driving situation information provided from the driving situation recognition unit 104, that is, an object exists in front of the lane change direction. decide what to do Here, the object may be other vehicles, pedestrians, facilities, and the like.

As a result of the determination, when an arbitrary object exists in front of the lane change direction, the lane change determiner 106 determines whether the object is a vehicle.

As a result of the determination, when the object is not a vehicle, for example, a pedestrian or a facility, the lane change determination unit 106 determines the distance from the driving situation recognition information provided by the driving situation recognition unit 104 to the corresponding object. A safety distance for a preset vehicle speed is compared. As a result of the comparison, if the distance to the object is greater than the preset safety distance for the vehicle speed, a control signal for generating lane-changing warning information is provided to the guide information processing unit 107.

Meanwhile, when the distance to the recognized object is shorter than the preset safety distance, the lane change determination unit 106 provides the guidance information processing unit 107 with a control signal for generating lane change danger warning information. .

However, when the object recognized by the driving situation recognition unit 104 is a vehicle, the lane change determination unit 106 determines that the distance to the recognized vehicle is a sufficient distance for lane change (preset safety for lane change). distance), and as a result of the check, if the distance is not sufficient for lane change, the lane change determination unit 106 provides a control signal for generating lane change danger warning information to the guidance information processing unit 107.

On the other hand, if the distance to the recognized vehicle is sufficient for lane change, it is determined whether the recognized other vehicle is currently decelerating. Here, whether or not the speed of another vehicle is decelerating can be determined by recognizing a change in speed of surrounding vehicles through the driving situation recognition unit 104 .

As a result of the above determination, when it is determined that the speed of the vehicle ahead in the lane-changing direction is decelerating, the lane-change determining unit 106 provides a control signal for a lane-changing caution warning to the guidance information processing unit 107. And, when the speed of the vehicle in front of the recognized side is accelerating, the lane change determining unit 106 provides a control signal for generating lane change guidance information for destination route guidance to the guidance information processing unit 107.

Meanwhile, the lane change determiner 106 determines whether an object exists behind in the lane change direction from the driving situation information provided from the driving situation recognition unit 104 .

As a result of the determination, when an object exists behind the lane change direction, the lane change determiner 106 determines whether the corresponding object is a vehicle.

As a result of the determination, when the rear object is not a vehicle, the lane change determination unit 106 provides a control signal for generating lane change guidance information for guidance of a destination route to the guidance information processing unit 107 .

And, if the object recognized from the rear in the lane-changing direction is a vehicle, the lane-change determination unit 106 determines whether the recognized distance to the rear vehicle is a sufficient distance for lane-changing (preset stable distance for lane-changing). Check the

As a result of the check, if the distance from the rear vehicle in the recognized lane-changing direction is not a sufficient distance for lane-changing, the lane-change determining unit 106 transmits a control signal for generating lane-changing danger warning information to the guidance information processing unit 107 ) is provided.

However, if the distance from the rearward vehicle in the recognized lane-changing direction is sufficient to enable lane-changing, the lane-change determination unit 106 determines whether the rearward vehicle is currently accelerating.

As a result of the determination, when the rear vehicle is accelerating, the lane change determination unit 106 provides a control signal for generating lane change warning warning information to the guidance information processing unit 107 .

Conversely, when it is determined (253) that the rear vehicle is decelerating, a control signal for generating lane change guidance information for destination route guidance is provided to the guidance information processing unit 107.

Accordingly, the guidance information processing unit 107 provides lane change guidance information, caution warning information, danger warning information, lane departure warning information, and sharp turn section information according to the control signal provided from the lane change determination unit 106 for navigation, smart phone According to the information delivery medium, such as a HUD terminal, a dashboard equipped with a display device, etc., visual, auditory, and tactile information delivery methods are used to enable the driver to check.

A method for providing lane change guidance information according to the present invention corresponding to the operation of the apparatus for providing lane change guidance information according to the present invention described above will be described step by step with reference to FIGS. 4A and 4B.

4A and 4B are flowcharts illustrating an operation of a method for providing lane change guidance information according to the present invention.

First, as shown in FIG. 4A , driving conditions are collected from various sensors (camera, lidar, radar, etc.) to determine surrounding roads and driving conditions of the driving vehicle (S201).

In addition, driving road attribute information and route guidance information are collected from the navigation system for route guidance (S203).

Subsequently, lanes of the driving road are recognized from the driving situation information collected in step S201 (S205).

Meanwhile, the driving lane of the current vehicle is determined based on the center line using the driving road attribute information collected in step S203 and the lane recognition information in step S205 (S207).

It is determined whether the section of the determined driving lane is a sharp turn section (S209), and as a result of the determination, if the driving lane section is a sharp turn section, a warning is given that the current section is a sharp turn regardless of the current driving lane of the user vehicle (S211). . That is, the sharp turn section warning displays a sharp turn warning message on a display device of various information delivery media (eg, navigation, instrument panel, smart phone, HUD terminal, etc.) or outputs a warning message by voice.

Meanwhile, as a result of the determination in step S209, when the driving lane section of the own vehicle is not a sharp turn section, the route guidance information and driving road attribute information collected from the navigation system in step S203 and the driving road attribute information in steps S205 and S207 Using the recognized lane recognition information and driving lane determination information, it is determined whether or not to change lanes for destination route guidance (S212 and S213).

As a result of determining whether or not to change lanes, if a lane change is not necessary for route guidance, the driver's attempt to change lanes is confirmed using a manipulation signal according to the driver's selection, that is, direction indicators, steering angle, and lane information (S214).

If the lane change is not caused by the driver's intention, whether or not the own vehicle departs from the lane is determined (S215).

As a result of the determination, if it is determined that the lane has departed, the driver is warned that lane departure has occurred as shown in FIG. 4B (S217). Here, a method for determining whether or not lane departure is already known, and a detailed description thereof will be omitted.

However, in step S213, if it is determined that a lane change is necessary for destination route guidance or if the lane is changed due to the driver's intention as a result of the determination in step S214, the direction of the lane to be changed is checked (S219).

Then, when the lane to be changed is confirmed, driving situation recognition information, for example, whether or not there is an object around the driving lane using a camera and various sensors, the distance to the object, and the acceleration of the vehicle if the surrounding object is a vehicle and deceleration information, etc., to determine whether there is another vehicle driving on the side of the lane direction to be changed (S221).

As a result of the determination, if there is a vehicle driving on the side of the direction to be changed, the driver is warned that the lane change is dangerous (S223).

However, if there is no vehicle traveling on the side of the lane-changing direction, it is possible to determine whether an object exists in front of the lane-changing direction using the driving situation information, that is, information on whether an object exists in the lane around the host vehicle. It is checked to determine whether an object exists (S225, S227). Here, the object may be a vehicle, a pedestrian, or a facility.

As a result of the determination, if an arbitrary object exists in front of the lane change direction, it is determined whether the object is a vehicle (S229).

As a result of the determination, if the object is not a vehicle, for example, a pedestrian or a facility, it is determined whether the distance from the driving situation recognition information to the object is greater than a preset safety distance for the vehicle speed (S231).

As a result of the determination, if the distance to the object is greater than the preset safety distance for the vehicle speed, the driver is warned to be careful when changing lanes (S233).

Meanwhile, in step S231, if the distance to the object is shorter than the preset safety distance for the vehicle speed, the driver is warned of the danger of lane change (S235).

However, as a result of the determination in step S229, if the recognized object is a vehicle, it is determined whether the distance to the recognized vehicle is sufficient for lane change (a preset safety distance for lane change) (S237).

As a result of the determination, if the distance to the recognized vehicle is not sufficient for lane change, the driver is warned of the danger of lane change (S235).

However, as a result of the determination in step S237, if the distance to the recognized vehicle is sufficient for lane change, the speed of the recognized vehicle is detected and it is determined whether the vehicle is currently decelerating (S230).

As a result of the determination, when it is determined that the speed of the vehicle ahead in the lane-changing direction is decelerating, a caution warning is provided to the driver when changing lanes (S241).

Meanwhile, as a result of the determination in step S230, when the speed of the vehicle in front of the recognized side is not decelerating, that is, when it is accelerating, guidance information indicating that a lane change for destination route guidance is possible is provided to the driver (S247).

And, if the object does not exist in step S227, it is checked whether there is an object at the rear of the lane change direction from the driving situation information (S243).

As a result of the check, if an object exists behind the lane change direction, it is determined whether the object is a vehicle (S245).

As a result of the determination, when the rear object is not a vehicle, lane change possibility guidance information for destination route guidance is provided to the driver (S247).

However, in step S245, if the object recognized from the rear in the lane-changing direction is a vehicle, it is determined whether the recognized distance to the rear vehicle is sufficient for lane-changing (preset stable distance for lane-changing). (S249).

As a result of the determination, if the recognized distance from the rear vehicle in the lane-changing direction is not a sufficient distance for lane-changing, the driver is warned of the danger of lane-changing (S223).

However, in step S249, if the distance from the rearward vehicle in the recognized lane-changing direction is a sufficient distance for lane-changing, it is determined whether the rearward vehicle is currently accelerating (S251).

As a result of the determination, if it is determined that the rear vehicle is accelerating, the driver is warned to pay attention when changing lanes (S253).

However, in step S251, if it is determined that the rear vehicle is not accelerating, that is, decelerating, guidance information indicating that a lane change is possible for destination route guidance is provided to the driver (S247).

As described above, lane change guidance information, lane change caution warning, lane change hazard warning, lane departure warning, and sharp turn warning are visual, Auditory and tactile information transfer methods are used to enable the driver to check.

Although the lane change guidance information providing apparatus and method according to the present invention have been described according to embodiments, the scope of the present invention is not limited to the specific embodiments, and the scope is apparent to those skilled in the art in relation to the present invention. It can be implemented with various alternatives, modifications and changes within.

Therefore, the embodiments described in the present invention and the accompanying drawings 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 and the accompanying drawings. . The protection scope of the present invention should be construed according to the claims, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

101: navigation 102: sensor unit
103: lane recognition unit 104: driving situation recognition unit
105: driving lane determination unit 106: lane change determination unit
107: guidance information processing unit

Claims (20)

an information collection unit that collects road and driving environment information of the vehicle and route guidance information;
a lane recognizing unit recognizing a driving lane according to road and driving environment information collected through the information collecting unit;
a driving situation recognition unit recognizing a driving situation according to road and driving environment information of the vehicle;
a driving lane determining unit that determines a current driving lane by using lane information of the driving road recognized by the lane recognizing unit and the route guidance information; and
Lane change guidance information that determines whether a lane change is possible according to the collected route guidance information, the recognized driving situation information, and the determined driving lane information, and indicates that a lane change is possible according to the determination result, and lane change caution Including a control unit that controls to generate lane change risk information including a warning and a lane change risk warning,
The control unit
It is determined whether the determined driving lane section is a sharp turn section, and as a result of the determination, if the driving lane section is a sharp turn section, a warning is given that the current section is a sharp turn regardless of the vehicle's current driving lane, and the driving lane section is a sharp turn section. If it is not a section, determining whether to change lanes for destination route guidance;
When a lane change is not necessary for route guidance as a result of determining whether or not to change the lane, the driver's attempt to change the lane is checked, and if the lane change is not intentional by the driver, whether or not the own vehicle departs from the lane is determined;
As a result of the determination, if it is determined that the lane has departed, the driver is warned that the lane departure has occurred, and if it is determined that a lane change is necessary for the route guidance or the lane change is intentional by the driver as a result of the determination, the driver must be changed. check which lane direction to do;
When the lane to be changed is confirmed, it is determined whether there is a vehicle on the side of the lane to be changed, and if there is a vehicle on the side of the lane to be changed, the lane change risk warning is issued among the lane change risk information. create;
When there is no vehicle traveling on the side of the lane-changing direction, it is determined whether there is an object in front of the lane-changing direction. And, as a result of the determination, if the object is not a vehicle, it is determined whether the distance to the object is greater than the safety distance for the preset vehicle speed, and as a result of the determination, if the distance to the object is greater than the safety distance for the preset vehicle speed generates a lane change warning from among the lane change danger information, and generates a lane change danger warning from among the lane change danger information when the distance to the object is shorter than a preset safety distance for the vehicle speed;
When it is recognized that the object present in front of the lane-changing direction is a vehicle, it is determined whether the distance to the recognized vehicle in front is a distance at which a lane change is possible, and as a result of the determination, the distance to the recognized vehicle in front is the lane If it is not possible to change the lane, a lane change risk warning is generated from among the lane change risk information, and if the distance to the recognized vehicle in front is a lane changeable distance, the speed of the recognized preceding vehicle is sensed and the determining whether the recognized preceding vehicle is currently decelerating;
When it is determined that the recognized speed of the preceding vehicle is decelerating, a lane change warning is generated from among the lane change danger information, and when it is determined that the recognized speed of the preceding vehicle is accelerating, the lane change guide information is generated;
determining whether an object exists in front of the lane-changing direction, and if there is no object in front, determining whether an object exists behind in the lane-changing direction, and determining whether the object is a vehicle if there is an object in the rear; As a result of the determination, if the object is not a vehicle, the lane change guide information is generated, and if the object is recognized as a vehicle, determining whether the recognized distance to a rear vehicle is a distance at which a lane change is possible;
As a result of the determination, if the recognized distance to the rear vehicle is not a lane changeable distance, a lane change risk warning is generated from among the lane change risk information, and the recognized distance to the rearward vehicle is a lane changeable distance. If so, determine whether the recognized rear vehicle is currently accelerating;
As a result of the determination, if it is determined that the recognized rear vehicle is accelerating, a lane change warning is generated from among the lane change risk information, and if it is determined that the recognized rear vehicle is decelerating, the lane change guide information is generated. Device for providing change guidance information.
According to claim 1,
and a guide information processor outputting guide information on whether or not a lane change is possible under the control of the controller.
According to claim 2,
The lane change guidance information providing device, wherein the guidance information on whether or not a lane change is possible output from the guidance information processing unit is output to at least one information delivery medium selected from a navigation device, a smartphone, an instrument panel, and a HUD terminal.
According to claim 1,
The road and driving environment information of the vehicle is collected from at least one of a camera, LIDAR, and RADAR, and the route guidance information is collected from a navigation device.
delete delete delete delete delete delete Collecting road and driving environment information of the vehicle and route guidance information;
Recognizing a driving lane according to the collected road and driving environment information;
Recognizing a driving situation according to road and driving environment information of the vehicle;
determining a current driving lane by using lane information of the recognized driving road and the route guidance information; and
Lane change guidance information, which is information that determines whether a lane change is possible according to the collected route guidance information, the recognized driving situation information, and the determined driving lane information, and indicates that a lane change is possible according to the determination result; Controlling to generate lane change hazard information including a caution warning and a lane change hazard warning,
The control step is
It is determined whether the determined driving lane section is a sharp turn section, and as a result of the determination, if the driving lane section is a sharp turn section, a warning is given that the current section is a sharp turn regardless of the vehicle's current driving lane, and the driving lane section is a sharp turn section. If it is not a section, determining whether to change lanes for destination route guidance;
When a lane change is not necessary for route guidance as a result of determining whether or not to change the lane, the driver's attempt to change the lane is checked, and if the lane change is not intentional by the driver, whether or not the own vehicle departs from the lane is determined;
As a result of the determination, if it is determined that the lane has departed, the driver is warned that the lane departure has occurred, and it is determined that a lane change is necessary for the route guidance, or if the lane change is intentional by the driver as a result of the determination, change identify the lane direction to be in;
When the lane to be changed is confirmed, it is determined whether there is a vehicle on the side of the lane to be changed, and if there is a vehicle on the side of the lane to be changed, the lane change risk warning is issued among the lane change risk information. create;
When there is no vehicle traveling on the side of the lane-changing direction, it is determined whether an object exists in front of the lane-changing direction. And, as a result of the determination, if the object is not a vehicle, it is determined whether the distance to the object is greater than the safety distance for the preset vehicle speed, and as a result of the determination, if the distance to the object is greater than the safety distance for the preset vehicle speed generates a lane change warning from among the lane change danger information, and generates a lane change danger warning from among the lane change danger information when the distance to the object is shorter than a preset safety distance for the vehicle speed;
When it is recognized that the object present in front of the lane-changing direction is a vehicle, it is determined whether the distance to the recognized vehicle in front is a distance at which a lane change is possible, and as a result of the determination, the distance to the recognized vehicle in front is the lane If it is not possible to change the lane, a lane change risk warning is generated from among the lane change risk information, and if the distance to the recognized vehicle in front is a lane changeable distance, the speed of the recognized preceding vehicle is sensed and the determining whether the recognized preceding vehicle is currently decelerating;
When it is determined that the recognized speed of the preceding vehicle is decelerating, a lane change warning is generated from among the lane change danger information, and when it is determined that the recognized speed of the preceding vehicle is accelerating, the lane change guide information is generated;
determining whether an object exists in front of the lane-changing direction, and if there is no object in front, determining whether an object exists behind in the lane-changing direction, and determining whether the object is a vehicle if there is an object in the rear; As a result of the determination, if the object is not a vehicle, the lane change guide information is generated, and if the object is recognized as a vehicle, determining whether the recognized distance to a rear vehicle is a distance at which a lane change is possible;
As a result of the determination, if the recognized distance to the rear vehicle is not a lane changeable distance, a lane change risk warning is generated from among the lane change risk information, and the recognized distance to the rearward vehicle is a lane changeable distance. If so, determine whether the recognized rear vehicle is currently accelerating;
As a result of the determination, if it is determined that the recognized rear vehicle is accelerating, generating a lane change warning among the lane change risk information, and generating the lane change guidance information if it is determined that the recognized rear vehicle is decelerating How to provide lane change guidance information.
According to claim 11,
and outputting the guidance information on whether or not the lane change is possible to an information delivery medium so that a driver can check the guidance information.
According to claim 12,
The method of providing lane change guidance information, wherein the output guidance information on whether a lane change is possible is output to at least one information delivery medium selected from a navigation device, a smartphone, an instrument panel, and a HUD terminal.
According to claim 11,
The method of providing lane change guidance information, wherein the road and driving environment information of the vehicle is collected from at least one of a camera, LIDAR, and RADAR, and the route guidance information is collected from a navigation device.
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