KR20190067040A - Lane following assist system and method for considering the driveway change of preceding vehicle - Google Patents

Abstract

The present invention relates to a lane following assist system and a method for considering a driveway change of a preceding vehicle. According to an embodiment of the present invention, a lane following assist system for considering a driveway change of a preceding vehicle comprises: an image photographing unit for photographing a driving road in front of a vehicle and a preceding vehicle; an LFA controller for performing a preceding vehicle following function by setting a preceding vehicle following transverse range with respect to a predicted path of a subject vehicle according to a lane recognition result of image information photographed by the image photographing unit; and an actuator for maintaining a subject vehicle driving state as the preceding vehicle following function is performed.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lane-center driving assistance system and a method of driving a lane-

[0001] The present invention relates to a lane-centered cruise assist system and a method thereof, and more particularly, to a lane-assisted cruise control system for a lane- The present invention relates to a lane-center driving assistance system and a method for preventing a change of a lane of a vehicle by an unintended vehicle as the preceding vehicle changes a lane.

In recent years, as vehicle technology has developed, various control systems have been developed to ensure the stability of the vehicle and the convenience of the driver.

Among these various control systems, the Lane Keeping Assist System (hereinafter referred to as "LKA") recognizes a lane as a camera when driving on the road and gives a small operation force depending on the shape of the road and the running state of the vehicle, Is a system for controlling a steering device (Motor Driven Power Steering, hereinafter referred to as "MDPS").

This LKA provides a function to prevent the lane departure of the vehicle through the reaction force control of the MDPS in the lane departure.

Meanwhile, a Highway Driving Assist System (hereinafter referred to as HDA) controls the driving of a vehicle on a lane basis on a highway.

However, it is difficult for HDA to control the driving of a vehicle on a general road (lane-breaking, lane-breaking at an intersection, etc.) where the lane conditions are unfavorable by controlling the driving of the vehicle on the lane basis on the highway. Since the HDA controls the driving of the vehicle on the basis of the lane when it is applied to the general road, the situation that the vehicle driving control is frequently released can occur.

Thus, since LKA and HDA control lane-based driving, it is necessary to propose a way to maintain continuity of vehicle driving control without frequently releasing the vehicle driving control. To this end, a preceding vehicle path following function may be used, which performs steering control of the MDPS based on the traveling path of the preceding vehicle when the lane is not recognized.

In the case of the preceding vehicle path following function, there is a risk of collision with the subject vehicle and another vehicle in the changed lane, because the preceding vehicle needs to proceed to the unintended vehicle when the preceding vehicle changes the lane.

Accordingly, there is a need in the past to improve the safety of the vehicle in consideration of the risk of collision between the subject vehicle and another vehicle in case the preceding vehicle path following function is performed, that is, when the lane of the preceding vehicle is changed at the intersection where the lane is broken have.

Korean Patent Publication No. 10-2017-0120330

An object of the present invention is to provide a control apparatus and method for a vehicle that can prevent a preceding vehicle from following a preceding vehicle following function by checking a state in which a preceding vehicle changes a lane when performing a preceding vehicle following function, The present invention provides a lane-centered cruise assistance system and a method thereof, in which a change to a preceding vehicle lane is considered.

A lane-centered cruising assist system considering a change to a preceding car lane according to an embodiment of the present invention includes: a photographing unit for photographing a running road ahead of the vehicle and a preceding vehicle; A Lane Following Assist System (LFA) controller for performing a preceding vehicle following function by setting a preceding vehicle following transverse range with respect to a predicted path of the subject vehicle according to the lane recognition result of the image information photographed by the image photographing unit; And an actuator for maintaining the sub-vehicle running state as the preceding vehicle following function is performed.

The LFA controller may be to release the preceding vehicle following function when the preceding vehicle leaves the preceding vehicle following lateral range.

The LFA controller performs a lane-based vehicle tracking function for controlling the traveling of the subject vehicle along a center of a lane when a lane is recognized in the image information photographed by the image photographing section, And may perform the preceding vehicle following function when the lane is not recognized in the photographed image information.

According to an embodiment of the present invention, a navigation device may be provided to provide navigation information including positional information of an intersection through which the child vehicle passes on a traveling route of the child vehicle.

The LFA controller may set the width of the preceding vehicle following traverse range according to a result of the determination as to whether the subject vehicle passes through an intersection using the navigation information.

The LFA controller sets the width of the preceding vehicle following lateral range to a virtual lane width reduced to the last recognized lane width when the vehicle passes through an intersection and if the preceding vehicle does not pass through an intersection, And to set the width of the following traverse range to an increased virtual lane width with respect to the last recognized lane width.

The actuator may be any one of an EMS (Engine Management System), an ESC (Electronic Stability Control), and an MDPS (Motor Driven Power Steering).

According to an embodiment, the vehicle monitoring apparatus may further include a preceding vehicle monitoring unit for monitoring a preceding vehicle state by measuring a current speed or a distance of the preceding vehicle.

Meanwhile, a lane central driving assistance method considering a change to a preceding vehicle lane according to an embodiment of the present invention includes: photographing a driving road ahead and a preceding vehicle; And performing a preceding vehicle following function by setting a preceding vehicle following transverse range with respect to a predicted path of the subject vehicle according to a lane recognition result of the photographed image information.

According to one embodiment, after the performing step, releasing the preceding vehicle following function when the preceding vehicle deviates from the preceding vehicle following transverse range.

According to an embodiment, when the lane is recognized in the photographed image information after the photographing step, performing a lane-based vehicle tracking function for controlling the traveling of the child vehicle along the center of the lane .

According to an embodiment of the present invention, before the performing step, checking the navigation information including the position information of the intersection through which the child vehicle passes on the traveling route of the child vehicle may be checked.

The performing step may be to set the width of the preceding vehicle following lateral range according to a result of the determination as to whether the subject vehicle passes through an intersection using the navigation information.

Wherein said executing step sets the width of said preceding vehicle following lateral range to a virtual lane width reduced to a last recognized lane width when said informative vehicle passes through an intersection and if said preceding vehicle does not pass through an intersection, And to set the width of the following traverse range to an increased virtual lane width with respect to the last recognized lane width.

According to the present invention, when the preceding vehicle follow-up function is performed, the preceding vehicle follow-up function is canceled by confirming the state in which the preceding vehicle changes the lane, thereby preventing the vehicle from being changed to an unintended vehicle .

Further, the present invention can provide a lane guidance function through MDPS coordination control in the whole area within a lane, and can provide a function to operate not only on a highway but also on an ordinary road.

Brief Description of the Drawings Fig. 1 is a view of a lane central driving assist system and a method thereof, taking into consideration a change to a preceding vehicle lane according to an embodiment of the present invention; Fig.
FIGS. 2A to 2C are views for explaining a vehicle control function of the lane-centered cruising assist system of FIG.
3 is a view for explaining a preceding vehicle following lateral range,
4 is a view for explaining the operation of the LFA controller according to the anticipated scenario,
FIG. 5 is a view showing a lane central driving assistance system and a method thereof, taking into consideration a change in a preceding vehicle lane according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description and the accompanying drawings, detailed description of well-known functions or constructions that may obscure the subject matter of the present invention will be omitted. It should be noted that the same constituent elements are denoted by the same reference numerals as possible throughout the drawings.

The terms and words used in the present specification and claims should not be construed in an ordinary or dictionary sense, and the inventor shall properly define the terms of his invention in the best way possible It should be construed as meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention, and not all of the technical ideas of the present invention are described. Therefore, It is to be understood that equivalents and modifications are possible.

In the accompanying drawings, some of the elements are exaggerated, omitted or schematically shown, and the size of each element does not entirely reflect the actual size. The invention is not limited by the relative size or spacing depicted in the accompanying drawings.

When an element is referred to as "including" an element throughout the specification, it is to be understood that the element may include other elements as well, without departing from the spirit or scope of the present invention. Also, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "electrically connected" with another part in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise. It will be understood that terms such as "comprise" or "comprise ", when used in this specification, specify the presence of stated features, integers, , But do not preclude the presence or addition of one or more other features, elements, components, components, or combinations thereof.

Also, as used herein, the term "part " refers to a hardware component such as software, FPGA or ASIC, and" part " However, "part" is not meant to be limited to software or hardware. "Part" may be configured to reside on an addressable storage medium and may be configured to play back one or more processors. Thus, by way of example, and not limitation, "part (s) " refers to components such as software components, object oriented software components, class components and task components, and processes, Subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays and variables. The functions provided in the components and "parts " may be combined into a smaller number of components and" parts " or further separated into additional components and "parts ".

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a view showing a lane-centered driving assistance system and a method thereof in consideration of a change to a preceding-vehicle lane according to an embodiment of the present invention. FIGS. 2a to 2c show a vehicle- Fig.

As shown in FIG. 1, a lane central driving assist system and its method (hereinafter, referred to as a 'lane central assist system') 100 considering a change to a preceding vehicle lane according to an embodiment of the present invention, The control area for the area is extended to the entire area within the lane, thereby guiding the vehicle to follow the center of the lane, thereby providing the driver with driving convenience.

The Lane Following Assist System (LFA) 100 has the following differences when comparing LKA and HDA. That is, if the LKA provides a function to prevent lane departure by controlling the MDPS reaction force at the time of lane departure, the lane central support system 100 provides the lane guidance function through the MDPS coordinated control in the entire area of the lane. And while the HDA provides functionality that only operates on the highway, the lane central assist system 100 provides functionality that also works on public roads. However, since the HDA provides lane-based control functions, the vehicle control function can be frequently released on a public road (for example, lane-breaking, lane-breaking intersection, etc.)

Referring to FIGS. 2A to 2C, the lane-centered driving assist system 100 controls the driving of the vehicle as follows when there is a lane and when there is no lane.

First, when there is a lane, the lane-center assist system 100 controls the lane-based follow-up function to drive the vehicle 10 in the 'lane center' as a target target path (see FIG.

When the lane-centered cruising assistant system 100 does not have a lane (such as an intersection where a lane is broken or a lane has been broken) (See Fig. 2B). At this time, when the lane-directed central cruising assistant system 100 controls the vehicle running according to the 'preceding vehicle traveling route' as the follow target path, when the preceding vehicle 20 changes the lane, the vehicle 10 changes the lane do. Then, the subject vehicle 10 has a possibility of collision with another vehicle 30 that is already running in the changed lane (see FIG. 2C).

2C, when the preceding vehicle 20 changes the lane, the lane central driving assist system 100 prevents the vehicle 10 from changing to an unintended vehicle, It is possible to prevent the collision of the subject vehicle 10 with another vehicle 30 which is being driven in advance in the changed lane according to the change in the vehicle.

Thus, the lane-center assist system 100 performs the lane guidance function to perform the MDPS steering control in the lateral direction of the lane, instead of performing the deceleration control in the longitudinal direction of the lane.

1, the lane-center assist system 100 includes an image pickup unit 110, a preceding vehicle monitoring unit 120, a navigation device 130, an LFA controller 140, an actuator 150, Device 160 as shown in FIG.

The image capturing unit 110 is installed at a proper position in the vehicle for photographing the traveling road image and the preceding vehicle in front of the vehicle. The image capturing unit 110 may include a Charge Coupled Device (CCD) or a Complementary Metal Oxide Semiconductor (CMOS) device. In addition, the image capturing unit 110 may include a computing device that processes and computes signals received from the CCD or CMOS device.

The preceding vehicle monitoring unit 120 monitors the preceding vehicle state by measuring the current speed or distance of the preceding vehicle. The preceding vehicle monitoring unit 120 may include a radar sensor or an ultrasonic sensor. In addition, the preceding vehicle monitoring section 120 may include a computing device that processes and computes a signal received from the radar sensor or the ultrasonic sensor.

The navigation device 130 provides navigation information on the traveling path of the subject vehicle. Here, the navigation information includes intersection position information through which the vehicle passes on the traveling route.

The LFA controller 140 performs the vehicle tracking function by classifying the vehicle following function according to the lane recognition result of the image information photographed by the image photographing unit 110. [

First, when the lane is recognized in the image information photographed by the image photographing section 110 (in case of FIG. 2A), the LFA controller 140 determines that the vehicle 10 is traveling along the lane of the lane on the basis of the recognized lane And controls the running of the subject vehicle 10 so as not to deviate. That is, the LFA controller 140 sets the follow target path to the 'lane center' and performs the lane-based vehicle tracking function.

Next, if the lane is not recognized in the image information photographed by the image photographing section 110 (in the case of FIG. 2B), the LFA controller 140 sets the position of the preceding vehicle 20), and controls the running of the vehicle 10 along the running route of the preceding vehicle 20 based on the recognized preceding vehicle 20. That is, the LFA controller 140 sets the estimated target path as the 'preceding vehicle traveling path' to perform the vehicle following function based on the preceding vehicle (i.e., the preceding vehicle following function).

The LFA controller 140 confirms the state in which the preceding vehicle is to change the lane in order to prevent the lane change of the lane vehicle due to the lane change of the preceding lane by the lane change of the preceding lane, Release the tracking function.

To this end, the LFA controller 140 calculates a predicted path of the subject vehicle in performing the preceding vehicle following function, and then calculates a predicted path of the subject vehicle based on a lateral range of the predicted path in order to maintain the preceding vehicle following function Range ").

Here, before the preceding vehicle following lateral range setting, the LFA controller 140 calculates a predicted path of the subject vehicle to confirm the reference path of the preceding vehicle following traverse range, and determines whether the vehicle is an intersection As shown in FIG.

Specifically, the LFA controller 140 first calculates the expected path of the subject vehicle based on the curvature of the last recognized lane based on the last lane recognition data.

Then, the LFA controller 140 determines whether the vehicle is passing through the intersection through the navigation information confirmed by the navigation device 130. The LFA controller 140 sets the width of the preceding vehicle following lateral range to be different according to the determination result of whether or not the subject vehicle passes through the intersection.

That is, the preceding vehicle following lateral range is set to a virtual lane width reduced by d1% of the last recognized lane width when the vehicle passes through the intersection. This is to limit the range of the preceding vehicle in the intersection so as to improve the running safety of the vehicle when passing through the intersection.

In addition, the preceding vehicle following lateral range is set to a virtual lane width increased by d2% with respect to the last recognized lane width when the subject vehicle does not pass through the intersection. This is to improve the followability of the leading vehicle path by widening the range of the preceding vehicle in the curved road in which the lane is broken.

Referring to FIG. 3, the preceding vehicle following lateral range A is calculated by subtracting the reduction amount (D 占 d1%) or the increase amount (D 占 d2%) of the virtual lane width with respect to the last recognized lane width D, ) Is applied and determined. 3 is a view for explaining a preceding vehicle following lateral range.

Accordingly, the LFA controller 140 maintains the preceding vehicle following function when the preceding vehicle is within the preceding vehicle following lateral range, and releases the preceding vehicle following function when the preceding vehicle leaves the preceding vehicle following lateral range. Here, the preceding vehicle deviates from the preceding vehicle following lateral range may be caused by a change in the vehicle of the preceding vehicle or the preceding vehicle.

On the other hand, the LFA controller 140 controls the actuators 150 necessary to maintain the sub-vehicle running state, and informs the sub-vehicle running state via the display device 160. [ Here, the actuator 150 may include an EMS (Engine Management System), an ESC (Electronic Stability Control), and an MDPS, and the display device 160 may be included in a cluster.

Further, the LFA controller 140 maintains a predetermined distance from the preceding vehicle 20 in accordance with the preceding vehicle monitoring information monitored by the preceding vehicle monitoring section 120. [

4 is a diagram for explaining the operation of the LFA controller according to the anticipated scenario.

Referring to FIG. 4, the LFA controller 140 distinguishes between a case in which the estimated path corresponds to the actual lane and a case in which an error occurs in the actual lane, a case in which the preceding vehicle maintains the lane, and a case in which the lane is changed And controls the follow-up vehicle follow-up function in accordance with the anticipated scenario according to the following.

First, when the predicted path coincides with the actual lane and the preceding vehicle maintains the lane (anticipated scenario 1), the LFA controller 140 does not depart from the preceding vehicle following lateral range, Respectively.

In addition, when the predicted path is different from the actual lane, and the preceding vehicle maintains the lane (expected scenario 2), since the preceding vehicle follows the preceding vehicle following lateral range, the LFA controller 140 follows the preceding vehicle Release the function. However, in the scenario 2, the preceding vehicle normally maintains the lane, so that the preceding vehicle follow-up function is normally controlled.

On the other hand, when the predicted path coincides with the actual lane and the preceding vehicle changes the lane (expected scenario 3), the LFA controller 140 determines that the preceding vehicle following function Release.

When the predicted path is different from the actual lane and the preceding vehicle changes the lane (expected scenario 4), the LFA controller 140 causes the preceding vehicle following lateral range to depart from the preceding vehicle, Release the function.

However, there is a possibility of a collision with another vehicle which is already running on the changed lane due to the unintentional change of the lane by the preceding vehicle as the preceding vehicle changes the lane when the scenarios 3 and 4 are estimated.

FIG. 5 is a view showing a lane central driving assistance system and a method thereof, taking into consideration a change in a preceding vehicle lane according to an embodiment of the present invention.

First, the lane-directed center aiding system 100 recognizes a lane in the image information photographed by the image photographing unit 110 to check whether a lane exists (S201).

At this time, the lane-center assist system 100 controls the lane-based follow-up function when there is a lane (S202). That is, the lane-centered cruising assistant system 100 sets the follow target path to the center of the lane so as to perform the lane-based vehicle following function.

Then, the lane-directed center aiding system 100 sets the preceding vehicle follow-up range (S203 to S205) by confirming whether the vehicle passes through the intersection when no lane exists.

That is, when the host vehicle A is passing through the intersection (S203), the lane-directed central-roadside assistance system 100 calculates a predicted path and sets a hypothetical lane width reduced by d1% (S204). On the other hand, if the host vehicle 100 does not pass the intersection (S203), the estimated route is calculated and the virtual lane width increased by d2% with respect to the lane width is set as a reference, (S205).

Thereafter, the lane central assist system 100 performs a preceding vehicle following function based on the preceding vehicle following lateral range (S206). Subsequently, the lane-of-center assist system 100 confirms whether the preceding vehicle deviates from the preceding vehicle following lateral range (S207). At this time, when the preceding vehicle deviates from the preceding vehicle following lateral range (S207), the lane central assist system 100 releases the preceding vehicle following function (S208).

The method according to some embodiments may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape, optical media such as CDROMs, DVDs, magneto-optical media such as floptical disks, Magneto-optical media, and hardware devices specifically configured to store and perform program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like.

Although the foregoing is directed to novel features of the present invention that are applicable to various embodiments, those skilled in the art will appreciate that the apparatus and method described above, without departing from the scope of the present invention, It will be understood that various deletions, substitutions, and alterations can be made in form and detail without departing from the spirit and scope of the invention. Accordingly, the scope of the present invention is defined by the appended claims rather than the foregoing description. All variations within the scope of the appended claims are embraced within the scope of the present invention.

110: image capturing unit 120:
130: navigation device 140: LFA controller
150: actuator 160: display device

Claims (14)

An image photographing unit for photographing a traveling road ahead of the vehicle and a preceding vehicle;
A Lane Following Assist System (LFA) controller for performing a preceding vehicle following function by setting a preceding vehicle following transverse range with respect to a predicted path of the subject vehicle according to the lane recognition result of the image information photographed by the image photographing unit; And
An actuator for maintaining the subordinate vehicle running state as the preceding vehicle following function is performed;
A lane-centered cruise assist system that takes into account changes to the preceding vehicle lane.
The method according to claim 1,
The LFA controller includes:
Wherein the preceding vehicle following function is canceled when the preceding vehicle departs from the preceding vehicle following lateral range.
The method according to claim 1,
The LFA controller includes:
A lane-based vehicle tracking function for controlling the traveling of the subject vehicle along a center of a lane when a lane is recognized in the image information photographed by the image photographing unit,
Wherein the preceding vehicle follow-up function is performed when a lane is not recognized in the image information photographed by the image photographing unit.
The method according to claim 1,
A navigation device for providing navigation information including positional information of an intersection through which the vehicle is traveling on a traveling route of the vehicle;
The lane-centered cruise control system according to claim 1, further comprising:
5. The method of claim 4,
The LFA controller includes:
And the width of the preceding vehicle following lateral range is set according to a result of the determination as to whether the subject vehicle passes through an intersection using the navigation information.
6. The method of claim 5,
The LFA controller includes:
And setting the width of the preceding vehicle following lateral range as a reduced virtual lane width to the last recognized lane width when the subject vehicle passes the intersection,
And sets the width of the preceding vehicle following lateral range to an increased virtual lane width with respect to the last recognized lane width if the vehicle does not pass through the intersection.
6. The method of claim 5,
Wherein the actuator comprises:
A lane-centered cruise assistance system that takes into account changes to the preceding vehicle, EMS (Engine Management System), ESC (Electronic Stability Control), or MDPS (Motor Driven Power Steering).
The method according to claim 1,
A preceding vehicle monitoring unit for monitoring a preceding vehicle state by measuring a current speed or a distance of the preceding vehicle;
The lane-centered cruise control system according to claim 1, further comprising:
Photographing a running road ahead of the vehicle and a preceding vehicle; And
Performing a preceding vehicle following function by setting a preceding vehicle following transverse range with respect to a predicted path of the subject vehicle according to the lane recognition result of the photographed image information;
A method of assisting a lane-center driving considering a change to a preceding vehicle lane.
10. The method of claim 9,
Disabling the preceding vehicle following function when the preceding vehicle leaves the preceding vehicle following transverse range after the performing step;
The method of claim 1, further comprising:
10. The method of claim 9,
Performing a lane-based vehicle tracking function for controlling the traveling of the subject vehicle along the center of the lane when the lane is recognized in the captured image information after the photographing step;
The method of claim 1, further comprising:
10. The method of claim 9,
Confirming navigation information including positional information of an intersection through which the child vehicle passes on the traveling route of the child vehicle before the performing step;
The method of claim 1, further comprising:
13. The method of claim 12,
Wherein the performing step comprises:
And the width of the preceding vehicle following lateral range is set in accordance with a result of the determination as to whether the subject vehicle passes through the intersection using the navigation information.
14. The method of claim 13,
Wherein the performing step comprises:
And setting the width of the preceding vehicle following lateral range as a reduced virtual lane width to the last recognized lane width when the subject vehicle passes the intersection,
Wherein if the vehicle does not pass through an intersection, the width of the preceding vehicle following lateral range is set to an increased virtual lane width with respect to a last recognized lane width.

Images