KR102481059B1 - Apparatus and method for controlling lane changing of driving vehicle - Google Patents

Abstract

An apparatus and method for controlling a lane change of a traveling vehicle are disclosed. A lane change control apparatus for a driving vehicle is a device for controlling a lane change of a driving vehicle, and includes a processor and a memory operatively connected to the processor and storing at least one code executed by the processor, the memory via the processor. When executed, the processor recognizes a surrounding vehicle within a set distance based on the driving vehicle through a sensor disposed in the driving vehicle according to the generation of the lane change signal, and sets a danger area of the surrounding vehicle based on the speed of the surrounding vehicle , A code causing the driving vehicle to change a driving lane may be stored based on the determination that the driving vehicle exists outside the danger area and the lane change is possible.

Description

Apparatus and method for controlling lane change of driving vehicle {APPARATUS AND METHOD FOR CONTROLLING LANE CHANGING OF DRIVING VEHICLE}

The present invention relates to a technology for safely changing lanes at a location out of a danger zone of surrounding vehicles by adjusting the speed of a traveling vehicle.

Automobiles have been developed to provide drivers with a more comfortable and safe driving environment. In addition, safety control systems are being developed to improve driver's safety and convenience. Furthermore, research on intelligent driver support systems to provide a more comfortable and safe driving environment to drivers is also actively progressing, and ultimately, research on control systems for autonomous driving or unmanned autonomous driving is expanding.

A self-driving vehicle is a vehicle that recognizes the surrounding environment and drives on its own without driver manipulation. If the vehicle in front moves much slower than the surrounding traffic flow while driving, it slows down or changes driving lanes to avoid congestion and collisions. Do it.

When changing lanes, the autonomous vehicle may change lanes based on a distance between vehicles.

Prior art (Registration Patent No. 10-1307109) discloses a configuration of receiving the distance from a rear vehicle, comparing it with a set value, determining whether the lane change is safe, and then changing the lane, but without considering the speed of the rear vehicle. However, it may be dangerous to change lanes depending on whether the distance to the vehicle behind satisfies a predetermined set value.

In addition, a lane change in a lane having curvature may be more dangerous than a lane change in a lane without curvature, but this aspect is not considered.

Therefore, there is a need for a technology capable of changing a lane in consideration of the speed of a nearby vehicle and safely performing the lane change regardless of the shape of the lane.

Prior Art: Korean Registered Patent Publication No. 10-1307109 (registered on September 4, 2013)

One embodiment of the present invention, by changing the lane of the driving vehicle at a location out of the danger zone of the surrounding vehicle (eg, the front vehicle, the rear vehicle, the side vehicle), driving safely while securing a certain separation distance from the surrounding vehicle It is intended to change the lane of a vehicle.

In one embodiment of the present invention, when it is impossible to change lanes due to surrounding vehicles, the speed of the driving vehicle is adjusted so that the driving vehicle moves out of the danger zone of the surrounding vehicles, so that the lane can be changed safely after switching to a state in which a lane change is possible. aims to do

An object of one embodiment of the present invention is to safely perform a lane change regardless of the shape of the lane by setting a danger area for surrounding vehicles based on the curvature of the lane.

In addition, an embodiment of the present invention restricts lane change under set conditions (eg, when changing back to a driving lane, when the curvature of the lane is equal to or greater than the set curvature, and when the speed of the driving vehicle is greater than or equal to the set speed), Its purpose is to reduce the incidence of traffic accidents without performing unnecessary lane changes.

An embodiment of the present invention may be a lane change control apparatus and method for a driving vehicle that safely changes lanes at a location out of a danger zone of surrounding vehicles by adjusting the speed of the traveling vehicle.

One embodiment of the present invention is an apparatus for controlling a lane change of a traveling vehicle, comprising a processor and a memory operatively connected to the processor and storing at least one code executed by the processor, the memory via the processor. When executed, the processor recognizes a surrounding vehicle within a set distance based on the driving vehicle through a sensor disposed in the driving vehicle according to the generation of the lane change signal, and sets a danger area of the surrounding vehicle based on the speed of the surrounding vehicle , It may be a lane change control device for a driving vehicle that stores a code that causes the driving vehicle to change a lane on the basis of determining that the driving vehicle exists outside the danger zone and is capable of changing lanes.

In addition, an embodiment of the present invention is a method for controlling a lane change of a driving vehicle, comprising the steps of recognizing a nearby vehicle within a set distance based on the driving vehicle through a sensor disposed in the driving vehicle in response to generation of a lane change signal. And, setting a danger area of the surrounding vehicle based on the speed of the surrounding vehicle, and changing a lane in which the driving vehicle travels based on determining that the driving vehicle exists outside the danger area and the lane change is possible. , It may be a lane change control method of a traveling vehicle.

Other aspects, features and advantages other than those described above will become apparent from the following drawings, claims and detailed description of the invention.

According to the embodiments of the present invention, by changing the lane of the driving vehicle at a location out of the danger zone of the surrounding vehicle (eg, the front vehicle, the rear vehicle, or the side vehicle), safely while securing a certain distance from the surrounding vehicle. It is possible to change the lane of the driving vehicle.

According to the embodiments of the present invention, when it is impossible to change lanes due to surrounding vehicles, the speed of the driving vehicle is adjusted so that the driving vehicle moves out of the danger zone of the surrounding vehicles, so that the lane can be safely changed after switching to a state in which a lane change is possible. can be changed

According to the embodiments of the present invention, a lane change can be performed safely regardless of the shape of the lane by setting the danger area of surrounding vehicles based on the curvature of the lane.

In addition, according to the embodiments of the present invention, by restricting lane change under set conditions (eg, when changing back to a driving lane, when the curvature of the lane is equal to or greater than the set curvature, and when the speed of the driving vehicle is equal to or greater than the set speed) , it is possible to reduce the incidence of traffic accidents without performing unnecessary lane changes.

1 is a diagram schematically illustrating a configuration of a traveling vehicle to which a lane change control device according to an embodiment of the present invention is applied.
2 is a diagram schematically illustrating the configuration of a lane change control device for a traveling vehicle according to an embodiment of the present invention.
3 is a diagram for explaining an example of a lane change method in a lane change control apparatus for a traveling vehicle according to an embodiment of the present invention.
4 is a diagram for explaining another example of a lane change method in a lane change control apparatus for a traveling vehicle according to an embodiment of the present invention.
5 is a diagram for explaining another example of a lane change method in a lane change control apparatus for a traveling vehicle according to an embodiment of the present invention.
6 is a diagram for explaining a method of calculating a curvature of a lane in a lane change control apparatus for a traveling vehicle according to an embodiment of the present invention.
7 is a diagram for explaining an example of limiting a lane change in the lane change control apparatus for a traveling vehicle according to an embodiment of the present invention.
8 is a flowchart illustrating a method for controlling a lane change of a traveling vehicle according to an embodiment of the present invention.

Advantages and features of the present invention, and methods for achieving them will become clear with reference to the detailed description of embodiments in conjunction with the accompanying drawings. However, it should be understood that the present invention is not limited to the embodiments presented below, but may be implemented in a variety of different forms, and includes all conversions, equivalents, and substitutes included in the spirit and scope of the present invention. . The embodiments presented below are provided to complete the disclosure of the present invention and to fully inform those skilled in the art of the scope of the invention to which the present invention belongs. In describing the present invention, if it is determined that a detailed description of related known technologies may obscure the gist of the present invention, the detailed description will be omitted.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, the terms "include" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded. Terms such as first and second may be used to describe various components, but components should not be limited by the terms. These terms are only used for the purpose of distinguishing one component from another.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. In the description with reference to the accompanying drawings, the same or corresponding components are assigned the same reference numerals, and overlapping descriptions thereof are omitted. I'm going to do it.

1 is a diagram schematically illustrating a configuration of a traveling vehicle to which a lane change control device according to an embodiment of the present invention is applied.

Referring to FIG. 1 , a driving vehicle 100 to which a lane change control device is applied includes a communication unit 101, a control unit 102, a user interface unit 103, an object detection unit 104, a driving control unit 105, and a vehicle driving unit. 106, a driving unit 107, a sensing unit 108, a storage unit 109, and a lane change control device 110 of a driving vehicle.

The driving vehicle 100 may switch from an autonomous driving mode to a manual mode or from a manual mode to an autonomous driving mode according to driving conditions. Here, the driving situation may be determined by at least one of information received by the communication unit 101, external object information detected by the object detection unit 104, and navigation information obtained by the navigation module.

The driving vehicle 100 may switch from the autonomous driving mode to the manual mode or from the manual mode to the autonomous driving mode according to a user input received through the user interface unit 103 .

When the driving vehicle 100 is operated in the autonomous driving mode, the driving vehicle 100 may be operated under the control of the driving unit 107 that controls driving, exiting, and parking operations. Meanwhile, when the driving vehicle 100 is operated in the manual mode, the driving vehicle 100 may be driven by an input through a driver's mechanical driving operation.

The communication unit 101 is a module for communicating with an external device. Here, the external device may be a user terminal, another vehicle, or a server.

The communication unit 101 may perform short range communication, GPS signal reception, V2X communication, optical communication, broadcast transmission/reception, and Intelligent Transport Systems (ITS) communication functions.

The communication unit 101 may perform short-range communication between the driving vehicle 100 and at least one external device by forming wireless area networks.

The communication unit 101 may include a Global Positioning System (GPS) module or a Differential Global Positioning System (DGPS) module for obtaining location information of the driving vehicle 100 .

The communication unit 101 is a module supporting wireless communication between the driving vehicle 100 and a server (V2I: Vehicle to Infra), another vehicle (V2V: Vehicle to Vehicle), or a pedestrian (V2P: Vehicle to Pedestrian), that is, V2X A communication module may be included. The V2X communication module may include an RF circuit capable of implementing communication with infrastructure (V2I), vehicle-to-vehicle communication (V2V), and pedestrian communication (V2P) protocols.

The communication unit 101 may receive a danger information broadcasting signal transmitted by another vehicle, transmit a danger information inquiry signal, and receive a danger information response signal in response thereto, through the V2X communication module.

The communication unit 101 may implement a vehicle display device together with the user interface unit 103 . In this case, the vehicle display device may be referred to as a telematics device or an audio video navigation (AVN) device.

The control unit 102 includes application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, and controllers. It may be implemented using at least one of controllers, micro-controllers, microprocessors, and electrical units for performing other functions.

The user interface unit 103 is for communication between the driving vehicle 100 and the vehicle user, receives a user's input signal, transfers the received input signal to the control unit 102, and controls the control unit 102. Accordingly, information possessed by the driving vehicle 100 may be provided to the user. The user interface unit 103 may include, but is not limited to, an input module, an internal camera, a biometric sensor module, and an output module.

The input module is for receiving information from a user, and the data collected by the input module can be analyzed by the control unit 102 and processed as a user's control command.

The input module may receive a destination of the driving vehicle 100 from a user and provide it to the control unit 102 .

The input module may input a signal for designating and inactivating at least one sensor module among a plurality of sensor modules of the object detector 104 to the control unit 102 according to a user's input.

The output module is for generating an output related to sight, hearing or touch. The output module may output sound or image.

The output module may include at least one of a display module, a sound output module, and a haptic output module.

The display module may display graphic objects corresponding to various pieces of information.

The audio output module may convert an electrical signal provided from the control unit 102 into an audio signal and output the converted audio signal.

The haptic output module generates a tactile output. For example, the haptic output module may vibrate a steering wheel, a safety belt, and a seat so that the user can recognize the output.

The object detection unit 104 is for detecting an object located outside the driving vehicle 100 and may generate object information based on sensing data and transmit the generated object information to the control unit 102 . At this time, the objects may include various objects related to the operation of the driving vehicle 100, for example, lanes, other vehicles, pedestrians, two-wheeled vehicles, traffic signals, lights, roads, structures, speed bumps, terrain objects, animals, and the like. there is.

The object detection unit 104 is a plurality of sensor modules, including a camera module as a plurality of imaging units, a LIDAR (Light Imaging Detection and Ranging), an ultrasonic sensor, a RADAR (Radio Detection and Ranging) 1450, and an infrared May contain sensors.

The object detector 104 may sense environmental information around the driving vehicle 100 through a plurality of sensor modules.

For example, lidar may include a laser transmission module and a reception module.

LIDAR detects an object based on a time of flight (TOF) method or a phase-shift method through laser light, and measures the position of the detected object, the distance to the detected object, and the relative speed. can be detected.

The lidar may be placed at an appropriate location outside the vehicle to detect an object located in front, rear or side of the vehicle.

In addition, the imaging unit may be located at appropriate locations outside the vehicle, for example, the front, rear, right side mirror, and left side mirror of the vehicle in order to obtain an image outside the vehicle. The imaging unit may be a mono camera, but is not limited thereto, and may be a stereo camera, an AVM (Around View Monitoring) camera, or a 360-degree camera.

The imaging unit may be disposed in the interior of the vehicle and proximate to the front windshield to obtain an image of the front of the vehicle. Alternatively, the imaging unit may be disposed around a front bumper or a radiator grill.

The imaging unit may provide the acquired image to the controller 102 .

The control unit 102 may control the overall operation of each module of the object detection unit 104 .

The controller 102 may detect or classify an object by comparing data sensed by radar, lidar, an ultrasonic sensor, and an infrared sensor with previously stored data.

The controller 102 may detect and track an object based on the obtained image. The controller 102 may perform operations such as calculating a distance with an object and calculating a relative speed with an object through an image processing algorithm.

For example, the controller 102 may obtain distance information and relative speed information with respect to the object based on a change in the size of the object over time in the obtained image.

In addition, the control unit 102 can detect and track the object based on the reflected laser light that is transmitted and reflected by the object and returned. Based on the laser light, the control unit 102 may perform operations such as calculating a distance to an object and calculating a relative speed to an object.

The driving control unit 105 may receive a user input for driving. In the case of the manual mode, the driving vehicle 100 may be operated based on a signal provided by the driving control unit 105 .

The vehicle driving unit 106 may electrically control driving of various devices in the traveling vehicle 100 . The vehicle driving unit 106 may electrically control driving of a power train, chassis, doors/windows, safety devices, lamps, and an air conditioner in the driving vehicle 100 .

The operating unit 107 may control various operations of the traveling vehicle 100 . The driving unit 107 may operate in an autonomous driving mode.

The driving unit 107 may include a driving module, a vehicle exit module, and a parking module.

The driving module may perform driving of the driving vehicle 100 .

The driving module may perform driving of the driving vehicle 100 by receiving object information from the object detector 104 and providing a control signal to the vehicle driving unit 106 .

The driving module may receive a signal from an external device through the communication unit 101 and provide a control signal to the vehicle driving unit 106 to drive the driving vehicle 100 .

The extraction module may perform extraction of the driving vehicle 100 .

The vehicle extraction module may receive navigation information from the navigation module and provide a control signal to the vehicle driving unit 106 to extract the driving vehicle 100 .

The vehicle extraction module may receive object information from the object detector 104 and provide a control signal to the vehicle driving unit 106 to extract the driving vehicle 100 .

The vehicle extraction module may receive a signal from an external device through the communication unit 101 and provide a control signal to the vehicle driving unit 106 to extract the driving vehicle 100 .

The parking module may perform parking of the driving vehicle 100 .

The parking module may perform parking of the driving vehicle 100 by receiving navigation information from the navigation module and providing a control signal to the vehicle driving unit 106 .

The parking module may perform parking of the driving vehicle 100 by receiving object information from the object detector 104 and providing a control signal to the vehicle driving unit 106 .

The parking module may perform parking of the driving vehicle 100 by receiving a signal from an external device through the communication unit 101 and providing a control signal to the vehicle driving unit 106 .

The navigation module may provide navigation information to the control unit 102 . The navigation information may include at least one of map information, set destination information, route information according to destination settings, information on various objects on the route, lane information, and current location information of the vehicle.

The navigation module may provide the control unit 102 with a parking lot map of a parking lot into which the driving vehicle 100 has entered. When the driving vehicle 100 enters the parking lot, the control unit 102 receives a parking lot map from the navigation module and projects the calculated moving route and fixed identification information onto the provided parking lot map to generate map data.

The navigation module may include a memory. The memory may store navigation information. Navigation information may be updated by information received through the communication unit 101 . The navigation module may be controlled by a built-in processor, or may operate by receiving an external signal, for example, a control signal from the control unit 102, but is not limited thereto.

The driving module of the driving unit 107 may perform driving of the driving vehicle 100 by receiving navigation information from the navigation module and providing a control signal to the vehicle driving unit 106 .

The sensing unit 108 senses the state of the driving vehicle 100 using a sensor mounted on the driving vehicle 100, that is, detects a signal related to the state of the driving vehicle 100, and according to the detected signal Movement path information of the driving vehicle 100 may be obtained. The sensing unit 108 may provide the obtained movement path information to the control unit 102 .

The sensing unit 108 may include a posture sensor (eg, a yaw sensor, a roll sensor, a pitch sensor), a collision sensor, a wheel sensor, a speed sensor, and an inclination sensor. Sensor, weight detection sensor, heading sensor, gyro sensor, position module, vehicle forward/backward sensor, battery sensor, fuel sensor, tire sensor, steering sensor by steering wheel rotation, vehicle An internal temperature sensor, a humidity sensor inside a vehicle, an ultrasonic sensor, an illuminance sensor, an accelerator pedal position sensor, a brake pedal position sensor, and the like may be included.

The sensing unit 108 includes vehicle posture information, vehicle collision information, vehicle direction information, vehicle location information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward/backward information, battery Acquire sensing signals for information, fuel information, tire information, vehicle lamp information, vehicle internal temperature information, vehicle internal humidity information, steering wheel rotation angle, vehicle external illuminance, pressure applied to the accelerator pedal, pressure applied to the brake pedal, etc. can do.

The sensing unit 108 may generate vehicle state information based on the sensing signal. The vehicle state information may be information generated based on data sensed by various sensors provided inside the vehicle (eg, vehicle posture information, vehicle speed information, vehicle tilt information, etc.).

The storage unit 109 is electrically connected to the control unit 102 . The storage unit 109 may store basic data for each unit of the vehicle accident prevention device, control data for controlling operation of each unit of the vehicle accident prevention device, and input/output data. The storage unit 109 may be a variety of storage devices such as ROM, RAM, EPROM, flash drive, hard drive, etc. in terms of hardware. The storage unit 109 may store various data for overall operations of the driving vehicle 100, such as programs for processing or control by the control unit 102, in particular, driver propensity information.

The lane change control device 110 of the driving vehicle recognizes surrounding vehicles within a set distance based on the driving vehicle through a sensor disposed in the driving vehicle in response to a lane change request, and safely moves out of the danger zone of the surrounding vehicles. You can change lanes.

2 is a diagram schematically illustrating the configuration of a lane change control device for a traveling vehicle according to an embodiment of the present invention.

Referring to FIG. 2 , the lane change control apparatus 200 for a driving vehicle according to an embodiment of the present invention may include a processor 210 and a memory 220 .

The processor 210 may generate a lane change signal based on, for example, determining that the speed of the driving vehicle is less than the set speed or receiving a turn signal on signal.

Upon generation of a lane change signal, the processor 210 may recognize surrounding vehicles within a set distance based on the driving vehicle through a sensor (eg, a camera module, lidar, ultrasonic sensor, etc.) disposed in the driving vehicle. The surrounding vehicle may be, for example, a front vehicle (side-front vehicle), a rear vehicle (side-rear vehicle), or a side vehicle driving in the target lane of the lane change.

The processor 210 may set a danger area of the surrounding vehicle based on the speed of the surrounding vehicle and determine whether the driving vehicle exists in the danger area of the surrounding vehicle. At this time, the processor 210 may obtain the speed of surrounding vehicles through a sensor disposed in the driving vehicle.

The processor 210 changes the lane in which the driving vehicle travels based on determining that the driving vehicle exists outside the danger zone of the surrounding vehicle and can change the lane, thereby safely driving the vehicle while securing a certain distance from the surrounding vehicle. You can change lanes.

When setting the danger zone of surrounding vehicles, the processor 210 may calculate a safety distance based on a speed difference between the speed of the surrounding vehicle and the speed of the driving vehicle, and set the danger zone of the surrounding vehicles based on the safety distance. In addition, the processor 210 may calculate the safety distance further based on the speed difference, the distance between the surrounding vehicle and the driving vehicle, and road surface conditions (eg, paved road, unpaved road, snow, rain, etc.).

Specifically, the processor 210 may set the area of the destination lane and the driving lane of the driving vehicle included in the safety distance based on the rear of the preceding vehicle as the danger area of the surrounding vehicle, based on the fact that the surrounding vehicle is the preceding vehicle. . In other words, when measured vertically (measured in a direction perpendicular to the extension line) from the extension line of the rear surface of the front vehicle (straight line extending from the rear surface of the vehicle), the destination lane included in the safety distance and the driving lane of the driving vehicle An area may be set as a danger area for surrounding vehicles. In addition, the processor 210 may set the area of the target lane and the driving lane of the driving vehicle included in the safety distance based on the front of the rear vehicle as the danger area of the surrounding vehicle, based on the fact that the surrounding vehicle is the rear vehicle. In other words, an area of the target lane and the driving lane of the driving vehicle vertically included within the safety distance from the extension line of the front of the rear vehicle may be set as the danger region of the surrounding vehicle.

That is, the processor 210 forms a first virtual line that is an extension of the rear of the front vehicle or the front of the rear vehicle and a second virtual line spaced apart from the first virtual line by a safety distance, the first virtual line and the second virtual line. It is possible to set the areas of the destination lane and the driving lane designated by ? as a danger area for surrounding vehicles. Here, the danger area of surrounding vehicles may have a rectangular shape, but is not limited thereto and may have various shapes.

Also, based on the fact that the surrounding vehicle is a side vehicle, the processor 210 performs safety based on the first area of the driving lane of the driving vehicle and the target lane included within the safety distance based on the rear side vehicle and the front of the side vehicle based on the surrounding vehicle. A second area of the destination lane and the driving lane of the driving vehicle included in the distance may be set as a danger area of surrounding vehicles.

When calculating the safety distance, the processor 210 calculates the speed change of the rear vehicle from the time when the lane change signal is generated in the driving vehicle based on the fact that the surrounding vehicle is the rear vehicle, and based on the speed change of the rear vehicle, the processor 210 calculates the safety distance. distance can be adjusted. For example, the processor 210 may reduce the safety distance by a set value (or a value corresponding to the speed change amount) based on the deceleration of the speed change amount of the rear vehicle. In addition, the processor 210 may increase the safety distance by a set value (or a value corresponding to the speed change amount) based on the acceleration of the speed change amount of the rear vehicle. The processor 210 adjusts the safety distance based on the driving method of the rear vehicle to flexibly cope with the driving method of the rear vehicle by changing the danger area of surrounding vehicles set based on the safety distance.

In addition, the processor 210 reduces the speed of the driving vehicle so that the rear vehicle becomes the front vehicle based on the speed change amount of the rear vehicle exceeding the set maximum value, and then changes the lane or a process for lane change control ( For example, recognizing a surrounding vehicle, setting a danger zone of a surrounding vehicle, changing a lane when a driving vehicle is outside the danger zone, etc.) may be performed again.

In an embodiment, the processor 210 calculates the curvature of the driving lane in which the driving vehicle is driving, and when the curvature of the driving lane is determined to be greater than or equal to the set curvature, the speed difference between the speed of the surrounding vehicle and the speed of the driving vehicle and the driving lane By setting the danger zone of surrounding vehicles based on the curvature, it is possible to safely change lanes of driving vehicles even in a curvature. At this time, the processor 210 may calculate the curvature of the road based on a sensing value measured by a yaw-rate sensor disposed in the driving vehicle.

Specifically, the processor 210 may calculate the safety distance based on the speed difference between the speed of the surrounding vehicle and the speed of the driving vehicle and the curvature of the road. The processor 210 may have a first virtual line connecting the rear of the front vehicle or the front of the rear vehicle from the center of curvature of the curvature driving lane and a second virtual line from the center of curvature to an arc corresponding to the safety distance from the first virtual line. A line may be formed, and an area of a destination lane and a driving lane designated by an extension of the first virtual line and an extension of the second virtual line may be set as a danger area for surrounding vehicles. Here, an arc corresponding to the safety distance from the first virtual line, which is a criterion for forming the second virtual line, may be an arc drawn by the safety distance from the first virtual line according to the curvature of the road at the center of the destination lane.

As another example, the processor 210 calculates the first safety distance associated with the destination lane based on the speed difference between the speed of the surrounding vehicle and the speed of the driving vehicle, and calculates the driving lane based on the first safety distance and the curvature of the driving lane. A second safety distance associated with can be calculated. The processor 210 includes a first virtual line that is an extension of the rear of the front vehicle or the front of the rear vehicle, and the end point of an arc corresponding to the first safety distance drawn from the center of the destination lane from the first virtual line and the driving lane from the first virtual line. A second virtual line passing through the end point of the arc corresponding to the second safety distance drawn from the center is formed, and the area of the destination lane and driving lane designated by the first virtual line and the second virtual line is defined as the danger area of surrounding vehicles. can be set as Here, the arc may be drawn according to the curvature of the road as shown in FIG. 5 .

In this case, one of the first safety distance and the second safety distance may be greater than the other one based on the inside/outside relationship between the destination lane and the driving lane. For example, when the destination lane is located inside the driving lane, the second safety distance associated with the driving lane of the driving vehicle may be greater than the first safety distance associated with the destination lane. On the other hand, when the destination lane is located inside the driving lane, the first safety distance associated with the destination lane may be greater than the second safety distance associated with the driving lane of the driving vehicle.

In an embodiment, the processor 210 adjusts the speed of the driving vehicle based on the determination that the driving vehicle is present in the danger zone of the surrounding vehicles and cannot change the lane, so that the driving vehicle moves out of the danger zone of the surrounding vehicles and then moves to the lane. can be changed At this time, the processor 210 reduces the speed of the driving vehicle based on determining that the lane change is impossible because the driving vehicle exists in the danger zone of the preceding vehicle, so that the driving vehicle leaves the danger zone of the preceding vehicle. In addition, the processor 210 increases the speed of the driving vehicle to allow the driving vehicle to leave the danger area of the rear vehicle based on determining that the driving vehicle is present in the danger area of the rear vehicle and thus lane change is impossible. Thereafter, as the speed of the driving vehicle is adjusted, the processor 210 may change the lane in which the driving vehicle is traveling based on the fact that the driving vehicle exists outside the danger zone of surrounding vehicles and changes to a state in which lane change is possible.

In addition, the processor 210 restricts the lane change under set conditions (eg, when it is necessary to change back to the driving lane, when the curvature of the driving lane is greater than or equal to the set curvature, and when the speed of the driving vehicle is greater than or equal to the set speed), thereby restricting the lane change to an unnecessary lane. Without making changes, the rate of traffic accidents can be reduced. For example, the processor 210 determines whether an intersection exists within a range set based on the location of the driving vehicle based on navigation information input through a navigation module disposed in the driving vehicle, and the driving vehicle is located based on the path information of the driving vehicle. Lane change may be restricted based on the matching of the lane for entering the intersection with the driving lane of the driving vehicle. Also, the processor 210 may limit the lane change based on the determination that the curvature of the lane is greater than or equal to the set curvature.

The memory 220 is operably connected to the processor 210 and may store at least one code associated with an operation performed by the processor 210 .

Also, the memory 220 may temporarily or permanently store data processed by the processor 210 . Here, the memory 220 may include magnetic storage media or flash storage media, but the scope of the present invention is not limited thereto. The memory 220 may include internal memory and/or external memory, and may include volatile memory such as DRAM, SRAM, or SDRAM, one time programmable ROM (OTPROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, Non-volatile memory such as NAND flash memory or NOR flash memory, flash drive such as SSD, compact flash (CF) card, SD card, Micro-SD card, Mini-SD card, Xd card, or memory stick , or a storage device such as an HDD.

3 is a diagram for explaining an example of a lane change method in a lane change control apparatus for a traveling vehicle according to an embodiment of the present invention.

Referring to FIG. 3 , the lane change control device of the driving vehicle 310 is a surrounding vehicle within a set distance based on the driving vehicle 310 through a sensor disposed in the driving vehicle 310 according to generation of a lane change signal, For example, the front vehicle 320 and the rear vehicle 330 driving in the target lane 301 of the lane change may be recognized.

The lane change control device of the driving vehicle 310 calculates a safety distance 321 from the preceding vehicle 320 based on the speed difference between the speed of the preceding vehicle 320 and the speed of the preceding vehicle 310, and Areas of the destination lane 301 and the driving lane 302 of the driving vehicle vertically included in the safety distance 321 from the extension line of the rear side of the 320 may be set as the danger region 322 of the preceding vehicle 320. .

In addition, the lane change control device of the driving vehicle 310 calculates a safety distance 331 with the rear vehicle 330 based on the speed difference between the speed of the rear vehicle 330 and the speed of the traveling vehicle 310, The area of the destination lane 301 and the driving lane 302 of the driving vehicle vertically included in the safety distance 331 from the extension line of the front of the rear vehicle 330 is set as the danger area 332 of the rear vehicle 330. can

At this time, the lane change control device of the driving vehicle 310 calculates the safety distance 321 (C _d1 ) with the front vehicle 320 and the safety distance 331 with the rear vehicle 330 by [Equation 1]. (C _d2 ) can be calculated.

Here, C _d1 means a safety distance from a front vehicle, and C _d2 means a safety distance from a rear vehicle.

V _Target1 means the speed of the front vehicle, V _Target2 means the speed of the rear vehicle, and V _ego means the speed of the driving vehicle.

τ _h means a reference time gap.

C _min,d1 means the minimum safety distance of the front vehicle, and C _min,d2 means the minimum safety distance of the rear vehicle.

f(x ₁ , x ₂ ) is an objective function (cost function) and can be expressed as [Equation 2].

The lane change control device of the driving vehicle 310 determines whether the driving vehicle 310 exists in the danger zone of surrounding vehicles, that is, the danger zone 322 of the front vehicle 320 and the danger zone 332 of the rear vehicle 330. and it is determined that the lane change is impossible based on the confirmation that the driving vehicle 310 exists in the danger area 322 of the preceding vehicle 320 .

When it is determined that the lane change is impossible, the lane change control device of the driving vehicle 310 adjusts the speed of the driving vehicle 310 so that the driving vehicle 310 moves out of the danger zone 322 of the preceding vehicle 320. do. At this time, the lane change control device of the driving vehicle 310 calculates the moving point and adjusts the speed of the driving vehicle 310 to move to the moving point so that the driving vehicle 310 escapes from the danger zone of surrounding vehicles.

The lane change control device of the traveling vehicle 310 is the inequality condition (g ₁ (x ₁ ), g ₂ (x ₂ )) of [Equation 3] and the objective function of [Equation 2], and Based on the equality condition of [Equation 4], the optimum point (optimal solution) that must be located for lane change, that is, the moving point 340, is determined through the optimization technique (Lagrange multiplier method) of [Equation 5]. can be calculated

Here, d ₁ is the relative distance between the driving vehicle and the preceding vehicle driving in the lane change destination lane, and d ₂ is the relative distance between the traveling vehicle and the preceding vehicle traveling in the lane change destination lane.

The lane change control device of the driving vehicle 310 performs longitudinal acceleration and deceleration control through a Linear Quadratic Regulator (LQR)-based Smart Cruise Control (SCC) controller to position the driving vehicle 310 at the moving point 340 By doing so, it is possible to secure a lane changeable area.

Thereafter, the lane change control device of the driving vehicle 310 may change the lane in which the driving vehicle 310 is driving based on the change to a state in which the driving vehicle 310 is present outside the danger zone of surrounding vehicles and the lane change is possible. there is. At this time, the lane change control device of the driving vehicle 310 may perform lateral control through the vehicle kinematics model-based Pure Pursuit controller to change lanes after securing a lane-changable area.

4 is a diagram for explaining another example of a lane change method in a lane change control apparatus for a traveling vehicle according to an embodiment of the present invention.

Referring to FIG. 4 , the lane change control device of the driving vehicle 410 is a surrounding vehicle within a set distance based on the driving vehicle 410 through a sensor disposed in the driving vehicle 410 according to generation of a lane change signal, For example, the front vehicle 420 and the rear vehicle 430 driving in the target lane 401 of the lane change may be recognized.

The lane change control device of the traveling vehicle 310 may set a danger area for surrounding vehicles. At this time, the lane change control device of the driving vehicle 410 calculates the curvature of the lane, and if the curvature of the lane is confirmed to be greater than or equal to the set curvature, based on the speed difference between the speed of the surrounding vehicle and the speed of the driving vehicle and the curvature of the lane It is possible to set a danger zone for surrounding vehicles. A method for calculating the curvature of a roadway will be described later with reference to FIG. 6 .

For example, when the lane change control device of the driving vehicle 410 confirms that the curvature of the lane is equal to or greater than the set curvature, the safety distance ( 421) can be calculated. The lane change control device of the driving vehicle 410 is a safety distance from the first imaginary line 422 connecting the rear of the front vehicle 420 from the center of curvature 400 of the lane having curvature and the first imaginary line 422 A second virtual line 423 is formed to have an arc corresponding to (421), and the destination lane 401 and driving lane 402 designated by the first virtual line 422 and the second virtual line 423 are formed. ) may be set as the danger area 424 of the preceding vehicle 420 . At this time, the lane change control device of the driving vehicle 410 determines the danger zone 424 of the preceding vehicle 420 based on the curvature of the lane as well as the speed difference between the speed of the preceding vehicle 420 and the speed of the driving vehicle 410. ) is set, it is possible to expand the lane changeable area by a partial area 424-1 compared to when the curvature of the road is not taken into account, thereby securing a lane changeable area suitably in the case of a curved road. In the case of a curved road, since there is a difference in the travel distance between the outer lane and the inner lane even if the travel distance is equal to the angle, it is necessary to set the danger area differently from the straight road.

In addition, when the lane change control device of the driving vehicle 410 confirms that the curvature of the lane is greater than or equal to the set curvature, the safety distance ( 431) can be calculated. The lane change control device of the driving vehicle 410 is a safety distance from the first imaginary line 432 connecting the front of the rear vehicle 430 from the center of curvature 400 of the lane having curvature and the first imaginary line 432 A second virtual line 433 is formed to have an arc corresponding to (431), and the destination lane 401 and driving lane 402 designated by the first virtual line 432 and the second virtual line 433 are formed. ) can be set as the danger area 434 of the rear vehicle 430. At this time, the lane change control device of the driving vehicle 410 controls the danger zone 434 of the rear vehicle 430 based on the curvature of the road as well as the speed difference between the speed of the rear vehicle 430 and the speed of the traveling vehicle 410. ) is set, the lane changeable region can be secured with ease by extending it by a partial region 434-1 compared to the case where the curvature of the road is not considered.

The lane change control device of the driving vehicle 410 determines whether the driving vehicle 410 exists in the danger zone of surrounding vehicles, that is, the danger zone 424 of the front vehicle 420 and the danger zone 434 of the rear vehicle 430. and it is determined that the lane change is impossible based on the confirmation that the traveling vehicle 410 exists in the danger area 434 of the rear vehicle 430.

When it is determined that the lane change is impossible, the lane change control device of the driving vehicle 410 adjusts the speed of the driving vehicle 410 so that the driving vehicle 410 moves out of the danger area 434 of the rear vehicle 430. After that, you can change lanes.

5 is a diagram for explaining another example of a lane change method in a lane change control apparatus for a traveling vehicle according to an embodiment of the present invention. Here, the lane change method in the lane change control device of the traveling vehicle is the same as the lane change method of FIG. 4 , and thus a description thereof will be omitted. However, since there is a difference in the method of setting the danger area of surrounding vehicles, this will be mainly described.

Referring to FIG. 5 , when the curvature of the lane is determined to be greater than or equal to the set curvature, the lane change control device of the traveling vehicle 410 determines the purpose based on the speed difference between the speed of the preceding vehicle 420 and the speed of the traveling vehicle 410. A first safety distance 510 associated with the lane 401 may be calculated, and a second safety distance 511 associated with the driving lane may be calculated based on the first safety distance 510 and the curvature of the lane. Thereafter, the lane change control device of the driving vehicle 410 determines the first safety distance 510 and the second safety distance from the first virtual line 422, which is an extension of the rear surface of the front vehicle 420, and the first virtual line 422. To have an arc corresponding to each distance 511 (or from the first virtual line through the end point of the arc corresponding to the first safety distance from the center of the destination lane and the end point of the arc corresponding to the second safety distance from the center of the driving lane) A second imaginary line 423 is formed, and the area of the destination lane 401 and the driving lane 402 designated by the first imaginary line 422 and the second imaginary line 423 is defined as the front vehicle 420 ) can be set as the danger area 424.

In addition, when the lane change control device of the driving vehicle 410 confirms that the curvature of the lane is greater than or equal to the set curvature, the destination lane 401 is selected based on the speed difference between the speed of the rear vehicle 430 and the speed of the traveling vehicle 410. A first safety distance 520 associated with may be calculated, and a second safety distance 521 associated with the driving lane may be calculated based on the first safety distance 520 and the curvature of the lane. Thereafter, the lane change control device of the driving vehicle 410 determines the first safety distance 520 and the second safety distance from the first imaginary line 432, which is an extension of the front of the rear vehicle 430, and the first virtual line 432. To have an arc corresponding to each of the distances 521 (or the end point of the arc corresponding to the first safety distance from the center of the destination lane from the first virtual line and the second safety distance from the center of the driving lane from the first virtual line) A second imaginary line 433 is formed so as to pass the end point of the arc), and the areas of the destination lane 401 and driving lane 402 designated by the first imaginary line 432 and the second imaginary line 433 may be set as the danger area 434 of the front vehicle 420.

6 is a diagram for explaining a method of calculating a curvature of a lane in a lane change control apparatus for a traveling vehicle according to an embodiment of the present invention.

Referring to FIG. 6 , the lane change control apparatus of the driving vehicle may calculate the curvature g of the driving lane by [Equation 6].

Here, l _d is the distance from the rear of the driving vehicle to the driving target point (look-ahead point), and r is the distance (radius) from the center of curvature of the driving lane to the driving target point.

In addition, θ _err is the yaw error, which is the yaw angle error of the vehicle, and X _err is the lateral error from the rear of the vehicle to the target point.

In an embodiment, the lane change control device of the driving vehicle calculates the required lateral steering angle δ based on the curvature g of the driving lane by using [Equation 7], which is an Ackerman steering angle formula. can

7 is a diagram for explaining an example of limiting a lane change in the lane change control apparatus for a traveling vehicle according to an embodiment of the present invention.

Referring to FIG. 7 , the lane change control apparatus of the driving vehicle changes the lane under set conditions (eg, when changing back to the driving lane, when the curvature of the lane is greater than or equal to the set curvature, and when the speed of the driving vehicle is greater than or equal to the set speed). By limiting , unnecessary lane changes are not performed.

For example, the lane change control device of the driving vehicle 710 may determine whether an intersection exists within a range set based on the location of the driving vehicle 710 based on navigation information input through a navigation module disposed in the driving vehicle 710. can As the lane change control device of the driving vehicle 710 confirms that an intersection exists within the set range, the lane for the driving vehicle 710 to enter the intersection based on the route information of the driving vehicle 710 and the driving vehicle ( It is possible to determine whether the driving lanes of 710) coincide. The lane change control device of the driving vehicle 710 changes the lane of the driving vehicle 710 based on the determination that the driving lane of the driving vehicle 710 matches the lane for the driving vehicle 710 to enter the intersection. can be limited

For example, when a lane change signal to the 'first lane' 701 is generated, the lane change control device of the driving vehicle 710 selects a lane for entering the intersection as it needs to turn right at the intersection based on route information of the driving vehicle 710. Based on the confirmation as 'second lane' 702 and the driving lane of the driving vehicle 710 as 'second lane' 702, the lane for entering the intersection and the driving lane of the driving vehicle 710 match. Accordingly, the lane change of the driving vehicle 710 may be restricted. Accordingly, the lane change control device of the driving vehicle 710 changes the lane to the 'first lane' 701 according to the generation of the lane change signal when the driving vehicle 710, which has been driving on the 'second lane' 702, changes the lane, and provides route information. In order to enter the intersection based on the lane change to the 'second lane' 702, an unnecessary process can be omitted.

8 is a flowchart illustrating a method for controlling a lane change of a traveling vehicle according to an embodiment of the present invention. Here, the lane change control method of the driving vehicle may be implemented by a lane change control device of the driving vehicle.

Referring to FIG. 8 , in step S810, the lane change control device of the driving vehicle may recognize a nearby vehicle within a set distance based on the driving vehicle through a sensor disposed in the driving vehicle according to generation of a lane change signal. Here, the surrounding vehicle may be, for example, a front vehicle, a rear vehicle, or a side vehicle driving in the target lane of the lane change.

In step S820, the lane change control device of the driving vehicle checks whether the surrounding vehicle is recognized, and if the surrounding vehicle is not recognized, it is determined that the lane change is possible, and the driving vehicle proceeds to step S850 to change the lane of the driving vehicle. .

In step S820, when a nearby vehicle is recognized, the apparatus for controlling a lane change of the driving vehicle may set a danger area of the surrounding vehicle based on the speed of the surrounding vehicle in step S830.

In this case, the lane change control apparatus of the driving vehicle may calculate a safety distance based on a speed difference between the speed of the surrounding vehicle and the speed of the driving vehicle, and may set a danger area of the surrounding vehicle based on the safety distance. In addition, the lane change control device of the driving vehicle may calculate the safety distance further based on the distance between the surrounding vehicle and the driving vehicle together with the speed difference.

Specifically, based on the fact that the surrounding vehicle is the front vehicle, the lane change control apparatus for the driving vehicle sets the area of the driving lane of the driving vehicle and the destination lane included within the safety distance based on the rear of the preceding vehicle as the danger area of the surrounding vehicle. can be set In addition, based on the fact that the surrounding vehicle is the rear vehicle, the lane change control apparatus for the driving vehicle sets the area of the target lane and the driving lane of the traveling vehicle included in the safety distance based on the front of the rear vehicle as the danger area of the surrounding vehicle. can In addition, based on the fact that the surrounding vehicle is a side vehicle, the lane change control device of the driving vehicle determines the target lane included in the safety distance based on the rear side of the side vehicle, the first area of the driving lane of the driving vehicle, and the front of the side vehicle. As a reference, a second area of the destination lane and the driving lane of the driving vehicle included within the safety distance may be set as a danger area of surrounding vehicles.

When calculating the safety distance, the lane change control device of the driving vehicle calculates the speed change amount of the rear vehicle from the point of time when the lane change signal is generated in the driving vehicle based on the fact that the surrounding vehicle is the rear vehicle, and calculates the speed change amount of the rear vehicle. Based on this, the safety distance can be adjusted. For example, the lane change control device of the traveling vehicle may reduce the safety distance by a set value (or a value corresponding to the speed change amount) based on the deceleration of the speed change amount of the vehicle behind. In addition, the lane change control device of the traveling vehicle may increase the safety distance by a set value (or a value corresponding to the speed change amount) based on the acceleration of the speed change amount of the vehicle behind. The lane change control device of the driving vehicle can flexibly cope with the driving method of the rear vehicle by adjusting the safety distance based on the driving method of the rear vehicle and changing the danger area of surrounding vehicles set based on the adjusted safety distance. make it possible

In an embodiment, the lane change control device of the driving vehicle calculates the curvature of the driving lane in which the driving vehicle is driving, and when the curvature of the driving lane is determined to be greater than or equal to the set curvature, the speed difference between the speed of the surrounding vehicle and the speed of the driving vehicle and By setting the danger zone for surrounding vehicles based on the curvature of the driving lane, it is possible to safely change the driving vehicle's lane even in a curvature. Specifically, the lane change control apparatus of the driving vehicle may calculate the safety distance based on the speed difference between the speed of the surrounding vehicle and the speed of the driving vehicle and the curvature of the lane. The lane change control device for the driving vehicle comprises a first virtual line connecting the rear of the front vehicle or the front of the rear vehicle from the center of curvature of the driving lane having curvature, and a distance corresponding to a safety distance from the center of the destination lane from the first virtual line. A second virtual line may be formed from the center of curvature so as to draw an arc, and areas of a destination lane and a driving lane designated by the first virtual line and the second virtual line may be set as a danger area for surrounding vehicles. That is, the second virtual line may be formed such that an arc of a distance corresponding to the safety distance from the center of the target road is drawn between the second virtual line and the first virtual line.

As another example, the lane change control apparatus for the driving vehicle calculates the first safety distance associated with the destination lane based on the speed difference between the speed of the surrounding vehicle and the speed of the driving vehicle, and based on the first safety distance and the curvature of the driving lane. Thus, the second safety distance associated with the driving lane may be calculated. The lane change control device for the driving vehicle may include a first virtual line that is an extension of the rear of the front vehicle or the front of the rear vehicle and a second virtual line to have arcs corresponding to the first safety distance and the second safety distance from the first virtual line. , and an area of a destination lane and a driving lane designated by an extension of the first virtual line and an extension of the second virtual line may be set as a danger area for surrounding vehicles.

In step S840, the lane change control device of the driving vehicle may check whether the driving vehicle exists outside the danger area of surrounding vehicles.

In step S850, the lane change control device of the driving vehicle may change the lane of the driving vehicle as it is determined that the lane change is possible based on the fact that the driving vehicle exists outside the danger area of the surrounding vehicles.

In step S860, the lane change control device of the driving vehicle adjusts the speed of the driving vehicle so that the driving vehicle is in the vicinity of the surrounding vehicle as it is determined that the lane change is impossible based on the confirmation that the driving vehicle is present in the danger zone of the surrounding vehicle. You can change lanes after leaving the danger zone.

In addition, the lane change control apparatus of the driving vehicle restricts the lane change under set conditions (eg, when changing back to the driving lane, when the curvature of the driving lane is greater than or equal to the set curvature, and when the speed of the driving vehicle is greater than or equal to the set speed). , it is possible to reduce the incidence of traffic accidents without performing unnecessary lane changes. For example, the lane change control apparatus of the driving vehicle determines whether an intersection exists within a set range based on the location of the driving vehicle based on navigation information input through a navigation module disposed in the driving vehicle, and based on route information of the driving vehicle. Lane change may be restricted based on the fact that the driving lane of the driving vehicle coincides with the driving lane for the driving vehicle to enter the intersection. Also, the lane change control apparatus of the driving vehicle may limit the lane change based on determining that the curvature of the lane is equal to or greater than the set curvature.

In the specification of the present invention (particularly in the claims), the use of the term "above" and similar indicating terms may correspond to both singular and plural. In addition, when a range is described in the present invention, it includes an invention in which individual values belonging to the range are applied (unless there is a description to the contrary), and each individual value constituting the range is described in the detailed description of the invention Same as

The steps constituting the method according to the present invention may be performed in any suitable order unless an order is explicitly stated or stated to the contrary. The present invention is not necessarily limited according to the order of description of the steps. The use of all examples or exemplary terms (eg, etc.) in the present invention is simply to explain the present invention in detail, and the scope of the present invention is limited due to the examples or exemplary terms unless limited by the claims. it is not going to be In addition, those skilled in the art can appreciate that various modifications, combinations and changes can be made according to design conditions and factors within the scope of the appended claims or equivalents thereof.

Therefore, the spirit of the present invention should not be limited to the above-described embodiments and should not be determined, and all scopes equivalent to or equivalently changed from the claims as well as the claims described below are within the scope of the spirit of the present invention. will be said to belong to

200: Lane change control device of driving vehicle
210: processor 220: memory

Claims (20)

A device for controlling a lane change of a traveling vehicle, comprising:
processor; and
a memory operatively connected to the processor and storing at least one code executed by the processor;
When the memory is executed by the processor, the processor recognizes a surrounding vehicle within a set distance with respect to the traveling vehicle through a sensor disposed in the traveling vehicle according to generation of a lane change signal, and the speed of the surrounding vehicle Setting a danger area of the surrounding vehicle based on, and storing a code that causes the driving vehicle to change a lane on which the driving vehicle is traveling based on determining that the driving vehicle exists outside the danger area and is capable of changing lanes,
The memory, when executed through the processor, causes the processor to:
The curvature of the driving lane in which the driving vehicle is driving is calculated, and when the curvature of the driving lane is determined to be greater than or equal to the set curvature reference value, the speed difference between the speed of the surrounding vehicle and the speed of the driving vehicle and the curvature of the driving lane Based on, the danger area of the surrounding vehicle is set to both the driving lane and the target lane of the lane change;
Causing the size of the danger area of the surrounding vehicle set in a lane farther from the center of curvature to set the danger area of the surrounding vehicle larger than the size of the danger area of the surrounding vehicle set in a lane close to the center of curvature which saves more code,
Lane change control device for driving vehicles. According to claim 1,
The surrounding vehicle includes at least one of a front vehicle and a rear vehicle driving in the target lane of the lane change,
The memory causes the processor to:
Calculating a safety distance based on a speed difference between the speed of the surrounding vehicle and the speed of the traveling vehicle, and storing a code that causes a danger area of the surrounding vehicle to be set based on the safety distance,
Lane change control device for driving vehicles. According to claim 2,
The memory causes the processor to:
Based on the fact that the surrounding vehicle is the front vehicle, an area of the destination lane and the driving lane of the driving vehicle vertically included within the safety distance from an extension line of a rear surface of the preceding vehicle is set as a danger area of the surrounding vehicle, ,
Based on that the surrounding vehicle is the rear vehicle, set an area of the destination lane and the driving lane of the traveling vehicle vertically included within the safety distance from an extension line of the front of the rear vehicle as a danger area of the surrounding vehicle. to store the code that causes
Lane change control device for driving vehicles. According to claim 2,
The memory causes the processor to:
Based on the fact that the surrounding vehicle is the rear vehicle, calculating a speed change amount of the rear vehicle from the time point when the lane change signal is generated in the traveling vehicle, and adjusting the safety distance based on the speed change amount of the rear vehicle to store the code that causes
Lane change control device for driving vehicles. delete According to claim 1,
The surrounding vehicle includes at least one of a front vehicle and a rear vehicle driving in the target lane of the lane change,
The memory causes the processor to:
Calculate a safety distance based on the speed difference between the speed of the surrounding vehicle and the speed of the traveling vehicle and the curvature;
A first imaginary line connecting the rear side of the front vehicle or the front side of the rear vehicle from the center of curvature of the driving lane having the curvature and a distance corresponding to the safety distance from the center of the destination lane from the first virtual line A second virtual line is formed from the center of curvature so that an arc is drawn, and an area of the destination lane and the driving lane designated by the extension of the first virtual line and the extension of the second virtual line is set as the danger area of the surrounding vehicle. to store the code that causes it to
Lane change control device for driving vehicles. According to claim 1,
The surrounding vehicle includes at least one of a front vehicle and a rear vehicle driving in the target lane of the lane change,
The memory causes the processor to:
A first safety distance associated with the destination lane is calculated based on a speed difference between the speed of the surrounding vehicle and the speed of the driving vehicle, and a second safety distance associated with the driving lane is calculated based on the first safety distance and the curvature. Calculate,
Corresponding to the second safety distance at the end point of an arc corresponding to the first safety distance at the center of the destination lane and the center of the driving lane from the first imaginary line extending from the rear of the front vehicle or the front of the rear vehicle Code that causes a second virtual line to pass through the end point of an arc to be formed, and to set an area of the destination lane and the driving lane designated by the first virtual line and the second virtual line as a danger area of the surrounding vehicle. to save,
Lane change control device for driving vehicles. According to claim 7,
Characterized in that either one of the first safety distance and the second safety distance is greater than the other one based on the inside-outside relationship between the destination lane and the driving lane,
Lane change control device for driving vehicles. According to claim 1,
The memory causes the processor to:
Based on the determination that the driving vehicle is present in the danger zone of the surrounding vehicle and the lane change is impossible, the speed of the driving vehicle is adjusted to cause the driving vehicle to change lanes after leaving the danger zone of the surrounding vehicle to save the code,
Lane change control device for driving vehicles. According to claim 9,
The danger area of the surrounding vehicle includes a danger area of a front vehicle and a danger area of a rear vehicle,
The memory causes the processor to:
Based on the determination that the driving vehicle exists in the danger zone of the preceding vehicle and lane change is impossible, the speed of the driving vehicle is reduced so that the driving vehicle leaves the danger zone of the preceding vehicle,
Stores a code for causing the driving vehicle to leave the danger area of the rear vehicle by increasing the speed of the driving vehicle based on the determination that the driving vehicle is present in the danger area of the rear vehicle and thus lane change is impossible doing,
Lane change control device for driving vehicles. According to claim 1,
The memory causes the processor to:
An intersection exists within a range set based on the location of the driving vehicle based on navigation information input through a navigation module disposed in the driving vehicle, and the driving vehicle enters the intersection based on route information of the driving vehicle Storing a code that causes limiting the lane change based on coincidence of the driving lane of the driving vehicle with the lane for
Lane change control device for driving vehicles. According to claim 1,
The memory causes the processor to:
Calculating a curvature of a driving lane in which the driving vehicle travels, and storing a code that causes the lane change to be limited based on the determination that the curvature of the driving lane is greater than or equal to a set curvature.
Lane change control device for driving vehicles. A method for controlling a lane change of a traveling vehicle, comprising:
Recognizing surrounding vehicles within a set distance from the driving vehicle through a sensor disposed in the driving vehicle according to generation of a lane change signal;
setting a danger area of the surrounding vehicle based on the speed of the surrounding vehicle; and
Changing a lane in which the driving vehicle travels based on determining that the driving vehicle exists outside the danger area and is capable of changing the lane;
The step of setting the danger area of the surrounding vehicle,
The curvature of the driving lane in which the driving vehicle is driving is calculated, and when the curvature of the driving lane is determined to be greater than or equal to the set curvature reference value, the speed difference between the speed of the surrounding vehicle and the speed of the driving vehicle and the curvature of the driving lane Based on, the danger area of the surrounding vehicle is set to both the driving lane and the target lane of the lane change;
setting the danger area of the surrounding vehicle so that the size of the danger area of the surrounding vehicle set in a lane farther from the center of curvature is greater than the size of the danger area of the surrounding vehicle set in a lane close to the center of curvature; including,
A method for controlling a lane change of a driving vehicle. According to claim 13,
The surrounding vehicle includes at least one of a front vehicle and a rear vehicle driving in the target lane of the lane change,
The step of setting the danger area of the surrounding vehicle,
calculating a safety distance based on a speed difference between the speed of the surrounding vehicle and the speed of the traveling vehicle; and
Setting a danger area of the surrounding vehicle based on the safety distance,
A method for controlling a lane change of a driving vehicle. According to claim 14,
The step of setting the danger area of the surrounding vehicle based on the safety distance,
Based on that the surrounding vehicle is the front vehicle, setting an area of the destination lane and the driving lane of the driving vehicle vertically included within the safety distance from an extension line of the rear surface of the front vehicle as a danger area of the surrounding vehicle step; and
Based on that the surrounding vehicle is the rear vehicle, setting an area of the destination lane and the driving lane of the traveling vehicle vertically included in the safety distance from an extension line of the front of the rear vehicle as a danger area of the surrounding vehicle including steps,
A method for controlling a lane change of a driving vehicle. According to claim 14,
The step of setting the danger area of the surrounding vehicle,
After calculating the safety distance based on the speed difference,
Based on that the surrounding vehicle is the rear vehicle, calculating the speed change of the rear vehicle from the time the lane change signal is generated in the traveling vehicle, and adjusting the safety distance based on the speed change of the rear vehicle Including more steps,
A method for controlling a lane change of a driving vehicle. delete According to claim 13,
The surrounding vehicle includes at least one of a front vehicle and a rear vehicle driving in the target lane of the lane change,
Setting the danger area of the surrounding vehicle based on the speed difference and the curvature of the lane,
calculating a safety distance based on the speed difference between the speed of the surrounding vehicle and the speed of the traveling vehicle and the curvature;
A first imaginary line connecting the rear side of the front vehicle or the front side of the rear vehicle from the center of curvature of the driving lane having the curvature and a distance corresponding to the safety distance from the center of the destination lane from the first virtual line forming a second imaginary line from the center of curvature such that an arc is drawn; and
Setting an area of the destination lane and the driving lane designated by an extension of the first virtual line and an extension of the second virtual line as a danger area of the surrounding vehicle,
A method for controlling a lane change of a driving vehicle. According to claim 13,
The surrounding vehicle includes at least one of a front vehicle and a rear vehicle driving in the target lane of the lane change,
Setting the danger area of the surrounding vehicle based on the speed difference and the curvature of the lane,
A first safety distance associated with the destination lane is calculated based on a speed difference between the speed of the surrounding vehicle and the speed of the driving vehicle, and a second safety distance associated with the driving lane is calculated based on the first safety distance and the curvature. Calculating;
A first virtual line that is an extension of the rear surface of the front vehicle or the front of the rear vehicle and a second safety line at the end point of an arc corresponding to the first safety distance from the center of the destination lane from the first virtual line and the center of the driving lane. forming a second virtual line passing through the end point of the arc corresponding to the distance; and
Setting an area of the destination lane and the driving lane designated by the first virtual line and the second virtual line as a danger area of the surrounding vehicle,
A method for controlling a lane change of a driving vehicle. According to claim 13,
The step of changing the lane,
Adjusting the speed of the driving vehicle to change lanes after the driving vehicle leaves the danger area of the surrounding vehicles, based on the determination that the driving vehicle is present in the danger area of the surrounding vehicles and thus the lane change is impossible including,
A method for controlling a lane change of a driving vehicle.

Images