KR101848360B1 - System and method for preventing lane departure - Google Patents

Abstract

The present invention relates to a lane departure prevention system and method for a vehicle, and a lane departure avoidance system and method for a vehicle according to the present invention are a lane departure prevention system for a vehicle that prevents departure of the vehicle from an uneven lane, A sensor unit for measuring a vibration applied to the tire; A judging unit which receives vibration information from the sensor unit and judges whether or not the vehicle leaves the lane; A steering unit for controlling a traveling direction of the vehicle; And a control unit for steering the steering unit in a direction opposite to the direction of the vibration applied to the tire when the deviation information is received from the determination unit. Thereby, there is provided a lane departure avoidance system and method for a vehicle capable of preventing departure of a vehicle by determining whether or not a lane departure occurs when the vehicle leaves the lane on which the concavity and the convexity are formed, and controlling the steering.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a lane departure prevention system,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lane departure avoidance system and method for a vehicle, and more particularly, to a lane departure avoidance system and a lane departure prevention system for a vehicle, ≪ / RTI >

A lane departure may occur due to a driver's long-time driving, drowsy driving, or the use of a mobile phone or the like, and such lane departure often leads to a major accident.

Recently, the automobile industry is spurring on the introduction of automobile safety devices for prevention of traffic accidents and protection of passengers in accidents, considering that automobile traffic accidents are showing an increase in passenger deaths due to car accidents. As a global trend, countries around the world, especially in developed countries, are hurrying to develop and introduce automobile safety devices as a countermeasure against traffic accidents. In accordance with this trend, a safety device for safety of the driver, an additional device for convenience of operation, and various travel control devices are applied to automobiles.

Among the technologies applied to the driving control device, there are a technique in which the steering angle of the steering device (i.e., the steering wheel) of the vehicle is automatically controlled according to the geometrical state of the road using the left lane and the right lane information of the vehicle obtained using the camera And a lane departure prevention alarm technology of a vehicle to prevent a safety accident caused when a vehicle leaves the left lane or the right lane while the vehicle is traveling.

Conventionally, a driving control technique using a camera often fails to properly capture an image due to backlight that may occur depending on the driving direction of the vehicle. As a result, the lane can not be accurately recognized from the photographed image, so that the steering control can not be performed or there is a high possibility that a malfunction due to a mistaken expression occurs.

Specifically, it is unstable to provide information on the lane that serves as a basis for judging whether or not a lane departure occurs. For example, there are a lot of curved sections as well as a straight line, and even if the section is a straight line, the lane on the road is not a solid line but a curved section. The video signal is not stably input frequently. This unstable input of the video signal causes instability of the judgment as to whether or not the lane departure occurs and thus affects the reliability and stability of the lane departure prevention system.

In the conventional general control system, it is determined whether or not the lane departure is determined based on the input signal including the unidentified portion or the unrecognized portion of the lane from the video signal. Thus, the reliability and stability of the lane departure avoidance system can not be secured.

Korean Registered Patent No. 10-1436624 (Aug. 26, 2014) Korean Registered Patent No. 10-1262921 (Feb. Korean Registered Patent No. 10-0901414 (Jun. 1, 2009)

The lane departure prevention system and method for a vehicle according to the present invention provide a lane departure avoidance system and method for a vehicle capable of preventing departure of a vehicle by determining whether or not a lane departure .

It is another object of the present invention to provide a lane departure prevention system and method for a vehicle which is less likely to misread a lane departure or departure of a vehicle because a lane departure of the vehicle is judged through a plurality of steps.

According to the present invention, there is provided a vehicle departure prevention system for preventing a vehicle from departing from a lane formed with unevenness, comprising: a sensor unit for measuring a vibration applied to a tire of the vehicle; A judging unit which receives vibration information from the sensor unit and judges whether or not the vehicle leaves the lane; A steering unit for controlling a traveling direction of the vehicle; And a control section for steering the steering section in a direction opposite to a direction of the vibration applied to the tire upon receiving the departure information from the judging section.

In this case, it is preferable that the judging section judges that the vehicle is in contact with the lane when a vibration equal to or greater than twice the load of the tire occurs, or when a vibration equal to or more than half the load of the vehicle occurs.

Here, it is preferable that the determination unit determines that the lane departure occurs when the tire is detected three or more times of vibration.

Here, it is preferable that the judging unit judges that the vehicle is running when the left and right tires are vibrating within a predetermined time.

Here, the sensor unit may be at least one of an acceleration sensor and a force sensor.

Here, the steering unit preferably includes a steering device and a steering assist device.

According to the present invention, the above objects can be accomplished by a vibration measuring method comprising: a vibration measuring step of measuring a vibration applied to a tire of a sensor unit; A judging step of judging whether or not the lane departure of the vehicle is detected by receiving the vibration information from the sensor unit; And a control step of controlling the steering apparatus when the departure information is received from the judging unit to prevent the lane departure of the vehicle.

Here, it is preferable that the determining step determines that the vehicle is in contact with the lane when vibration of at least twice the tire load occurs, or when vibration of at least half of the vehicle load occurs.

Here, when the tire is detected three or more vibrations, it is preferable that the lane departure is determined.

Here, it is preferable that when the left and right tires are vibrating within a predetermined time, it is determined that the vehicle is running normally.

According to the present invention, there is provided a lane departure avoidance system and method for a vehicle capable of preventing departure of a vehicle by determining whether or not a lane departure occurs when the vehicle leaves the lane where the road is formed, and controlling the steering of the vehicle.

Further, a lane departure avoidance system and method for a vehicle is provided which is less likely to misread a lane departure or departure of a vehicle because the lane departure determination of the vehicle is made through a plurality of steps.

Also, a lane departure avoidance system and method for a vehicle having excellent accuracy are provided by determining whether or not a lane departure of the vehicle is caused by vibration, and determining whether or not the lane departure is taking into account the situation of the road surface.

1 is a view schematically showing a lane in a lane departure prevention system for a vehicle according to an embodiment of the present invention.
2 is a schematic diagram of a lane departure prevention system for a vehicle according to an embodiment of the present invention.
3 is a graph showing a magnitude of vibration measured by a sensor unit of a lane departure prevention system of a vehicle according to an embodiment of the present invention.
4 is a flowchart of a lane departure avoidance method of a vehicle according to an embodiment of the present invention.
5 is an algorithm of a lane departure avoidance method of a vehicle according to an embodiment of the present invention.

Prior to the description, a lane to which the lane departure prevention system for a vehicle according to an embodiment of the present invention is applied will be described.

1 is a view schematically showing a lane in a lane departure prevention system for a vehicle according to an embodiment of the present invention. Referring to FIG. 1, a lane L to which a lane departure prevention system 100 for a vehicle according to an embodiment of the present invention is applied is formed with concave and a convex so that vibration is applied to the vehicle when it comes into contact with the tire of the vehicle. At this time, the interval between convex portions of the concavities and convexities formed in the lane L may be 10 mm. These lanes L are mainly formed at both ends of the expressway, rather than at the ordinary roads.

Hereinafter, a lane departure prevention system for a vehicle according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

2 is a schematic diagram of a lane departure prevention system for a vehicle according to an embodiment of the present invention. 2, a lane departure prevention system 100 for a vehicle according to an exemplary embodiment of the present invention includes a sensor unit 110, a determination unit 120, a steering unit 130, and a control unit 140 .

The sensor unit 110 is a structure for measuring the vibration applied to the tire of the vehicle. The sensor unit 110 may be installed inside the tire, and may be an acceleration sensor or a force sensor, or a sensor that measures both acceleration and force. The acceleration or the force applied to the vehicle by the vibration changes when the tire is in contact with the road surface and when it is in contact with the lane L on which the unevenness is formed and the sensor unit 110 measures the acceleration and the force .

The sensor unit 110 is provided with a switch and can be selectively driven if necessary. That is, the lane departure prevention system 100 can be selectively driven according to the needs of the driver.

The determining unit 120 is configured to determine whether or not the vehicle has departed from the lane L by receiving the vibration information applied to the tire from the sensor unit 110. [

In this embodiment, the determination unit 120 determines whether or not the vehicle is departing from the lane L through two steps, and includes a step for minimizing the possibility of misjudgment.

3 is a graph showing a magnitude of vibration measured by a sensor unit of a lane departure prevention system of a vehicle according to an embodiment of the present invention.

Referring to FIG. 3, first, the determination unit 120 determines whether the vibration of the sensor unit 110 is greater than twice a quarter of the vehicle load by one of the tires on the left side or the right side of the vehicle, Or when a vibration having a magnitude equal to or more than twice the load of the tire is sensed, it is judged that the tire and the lane L are in contact with each other. For example, when the interval between the convex portions of the concavo-convex formed on the lane L is 10 mm, when the vehicle travels at a speed of 40 km / h, vibration of twice the tire load occurs.

Further, the judging unit 120 judges that the lane departure occurs when the vibration is detected twice or more times the vehicle load, or when the tire is detected three times or more of the vibration, which is twice or more times the load of the tire. If one or two vibrations are detected, it may be a stone other substance or other unevenness on the road surface in addition to the contact between the vehicle and the lane (L).

On the other hand, when the determination unit 120 senses a vibration of a predetermined size or more to both the left tire and the right tire of the vehicle within a predetermined time, it is determined that the vehicle is in the general running state, that is, At this time, the predetermined time may vary depending on the running speed of the vehicle, but is substantially the same time depending on the speed of the vehicle. That is, when vibrations are sensed in both the left tire and the right tire of the vehicle at approximately the same time, unlike the case where vibration is sensed in one of the tires by leaving the lane L, We judge it as driving.

That is, the judging unit 120 judges whether or not the lane L is deviated through the two steps. If it is determined that the left tire and the right tire of the vehicle have vibrations of a predetermined magnitude or more within a predetermined time, L) The possibility of misjudgment of the deviation is minimized.

The steering part 130 is for adjusting the running direction of the vehicle, and includes a steering device 131 and a steering assist device 132. The steering device 131 may be provided by power steering of a general vehicle. That is, it can be a steering which is equipped with a separate pump for light and quick steering and which helps the operator handle the steering wheel by the oil pressure of the pump. The steering assist device 132 may be provided by motor-driven power steering (EPS) or electric power steering (MDPS) as a structure for assisting the operation of the power steering. That is, the steering device 131 can be controlled by the steering assist device 132, and in this embodiment, the lane departure prevention is performed by the control part 140 by controlling the steering assist device 132. [

The control unit 140 controls the steering unit 130 to prevent the lane departure L when the vehicle leaves the lane L. If the vibration detected by the left tire or the right tire of the vehicle is detected twice or more than twice the vibration load or twice the vibration load of the tire detected three times or more on the tire, the judging unit 120 judges that the vehicle is in the lane L And provides this information to the control unit 140. [0050] The control unit 140 receives the information and controls the steering unit 130 so that the vehicle does not leave the lane L. The control unit 140 controls the electric power steering MDPS or EPS, which is the steering assist device 132, so that the steering torque can be controlled in the lane departure direction To the right, which is the opposite direction. When the steering assist device 132 is controlled by the control part 140, the steering device 131 is controlled to prevent the lane departure L from being released.

Hereinafter, a method for preventing lane departure of a vehicle according to an embodiment of the present invention will be described.

4 is a flowchart of a lane departure avoidance method of a vehicle according to an embodiment of the present invention. Referring to FIG. 4, a lane departure avoidance method S100 of a vehicle according to an embodiment of the present invention includes a vibration measurement step S110, a determination step S120, and a control step S130.

The vibration measurement step S110 is a step of measuring the vibration applied to the tire through the sensor unit 110 installed in the tire of the vehicle and provided with an acceleration sensor or a force sensor or measuring both the acceleration and the force. At this time, the sensor unit 110 is provided with a switch and can be selectively used if necessary.

5 is an algorithm of a lane departure avoidance method of a vehicle according to an embodiment of the present invention.

The determining step S120 is a step of determining whether the vehicle has left the lane L by receiving the vibration information measured in the vibration measuring step S110.

The determination step S120 determines whether or not the lane L is released through the determination unit 120. [ First, the judging unit 120 judges whether a vibration of at least twice the vehicle load is detected through a change in acceleration or a change in force or a vibration at least two times the load of the tire is applied to one of left and right tires of the vehicle It is determined that the tire and the lane L are in contact with each other. For example, when the interval between the convex portions of the concavo-convex formed on the lane L is 10 mm, when the vehicle travels at a speed of 40 km / h, vibration of twice the tire load occurs.

Referring to FIG. 5, the judging unit 120 judges that the lane departure occurs when the vibration is detected twice or more times the vibration load of the vehicle or twice or more times the vibration load of the tire is detected in the tire three times or more. If one or two vibrations are detected, it may be a stone other substance or other unevenness on the road surface in addition to the contact between the vehicle and the lane (L).

On the other hand, when the determination unit 120 senses a vibration of a predetermined size or more to both the left tire and the right tire of the vehicle within a predetermined time, it is determined that the vehicle is in the general running state, that is, At this time, the predetermined time may vary depending on the running speed of the vehicle, but is substantially the same time depending on the speed of the vehicle. That is, when vibrations are detected in both the left tire and the right tire of the vehicle at approximately the same time, it is judged as a groove or a toll road for the drainage of the road surface, unlike the case where vibration is detected in one of the tires do.

That is, the judgment step S120 judges whether or not the vehicle is departing from the lane L through two steps. If the vehicle is judged to be in a normal traveling state when vibrations of a predetermined magnitude or more are detected in both the left tire and the right tire of the vehicle within a predetermined time, L) The possibility of misjudgment of the deviation is minimized.

The control step S130 is a step for preventing the lane departure L by controlling the steering unit 130 when the vehicle leaves the lane L. If the vibration detected by the left tire or the right tire of the vehicle is detected twice or more than twice the vibration load or twice the vibration load of the tire detected three times or more on the tire, the judging unit 120 judges that the vehicle is in the lane L And provides this information to the control unit 140. [0050] For example, when the controller 140 receives information from the judging unit 120 that the vibration on the left tire is sensed, the control unit 140 controls the electric power steering MDPS or EPS as the steering assist device 132 to adjust the steering torque in the lane departure direction And vice versa. When the steering assist device 132 is controlled by the control part 140, the steering device 131 is controlled to prevent the lane departure L from being released.

Therefore, according to the present invention, there is provided a lane departure avoidance system and method for a vehicle capable of preventing departure of a vehicle by determining whether or not a lane departure occurs when a vehicle departs from a lane on which the road is formed.

The scope of the present invention is not limited to the above-described embodiments, but may be embodied in various forms of embodiments within the scope of the appended claims. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

100: vehicle lane departure prevention system 110:
120: Judgment section 130: Steering section
140:
S110: Method of preventing lane departure of the vehicle S110: Vibration measurement step
S120: Judgment step S130: Control step

Claims (10)

A vehicle anti-departure prevention system (100) for preventing a vehicle from departing from an uneven road, comprising: at least one of an acceleration sensor and a force sensor, which measures a vibration applied to a tire of the vehicle, A sensor unit 110 selectively driven according to the control signal;
The sensor unit 110 may be provided with vibration information from the sensor unit 110 to determine whether the vehicle has departed from the lane. The sensor unit 110 may be provided with one or more tires A determination unit (120) that determines that the tire and the lane are in contact with each other when the acceleration is detected through a change in acceleration or a change in force;
A steering unit (130) configured to control a traveling direction of the vehicle, the steering unit comprising a steering device and a steering assist device; And
And a control unit (140) for steering the steering unit (130) in a direction opposite to the direction of the vibration applied to the tire when the deviation information is received from the determination unit (120)
The determining section (120)
In the case where vibration of two times or more of the load of the tire occurs or vibration of more than half of the load of the vehicle occurs, vibration information given to the tire from the sensor unit 110 is received and it is judged that the tire of the vehicle is in contact with the lane L However,
If vibration is detected one or two times in order to minimize erroneous determination, it may be a stone on the road surface, other material, or other unevenness. Therefore,
If it is determined that the vehicle L is deviated from the lane L after the two-stage determination, if vibration occurs in both the left and right tires during the same period of time, it is judged that the vehicle is running on a groove or a toll road for road drainage Of the lane departure prevention system of the vehicle. delete delete delete delete delete delete delete delete delete

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