KR102645041B1 - Apparatus and method for controlling lane change of vehicle - Google Patents

Abstract

A lane change control device for a vehicle according to an embodiment of the present invention includes a sensor configured to detect an external vehicle, an input device configured to receive a lane change command from the driver, and a control circuit electrically connected to the sensor and the input device, and controls The circuit uses an input device to receive a lane change command, calculate the minimum operating speed for lane change control, and, if the vehicle's driving speed is lower than the minimum operating speed, adjust the speed of a preceding vehicle traveling in the same lane as the vehicle. Based on this, it is possible to determine whether the vehicle will accelerate.

Description

Apparatus and method for controlling lane change of a vehicle {APPARATUS AND METHOD FOR CONTROLLING LANE CHANGE OF VEHICLE}

The present invention relates to an apparatus and method for adjusting the speed of a vehicle for lane change control.

As the automobile industry develops, the development of a lane change control system that can automatically change the lane in which a vehicle is traveling is continuously being developed. When a driver operates a turn signal with the intention of changing lanes, the lane change control system can change lanes by automatically controlling the vehicle laterally to navigate in the direction in which the turn signal is turned on. The lane change control system determines whether the speed and position of surrounding vehicles are suitable for lane change, sets a control path for lane change, and controls steering torque along the control path to perform lane change. . The lane change control system can detect a vehicle ahead and behind a vehicle and perform control based on the obtained information.

If the vehicle's driving speed is low, lane change control may endanger the driver. Accordingly, the lowest operating speed at which lane change control can be performed can be set. When a minimum operating speed is set, if a driver's lane change command is issued while the vehicle is traveling at a speed lower than the minimum operating speed, a control strategy may be required to accelerate the vehicle above the minimum operating speed.

The present invention is to provide a lane change control device and method for a vehicle that can provide a strategy for lane change control when the vehicle's driving speed is lower than the minimum operating speed.

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

A lane change control device for a vehicle according to an embodiment of the present invention includes a sensor configured to detect an external vehicle, an input device configured to receive a lane change command from the driver, and a control circuit electrically connected to the sensor and the input device, and controls The circuit uses an input device to receive a lane change command, calculate the minimum operating speed for lane change control, and, if the vehicle's driving speed is lower than the minimum operating speed, adjust the speed of a preceding vehicle traveling in the same lane as the vehicle. Based on this, it is possible to determine whether the vehicle will accelerate.

According to one embodiment, the control circuit may calculate a minimum operating speed in response to receiving a lane change command.

According to one embodiment, the control circuit may periodically calculate a minimum operating speed while the vehicle is running.

According to one embodiment, when a rear vehicle driving in the target lane of a lane change command is detected by a sensor, the control circuit may calculate the minimum operating speed based on the speed of the rear vehicle and the distance between the vehicle and the rear vehicle. there is.

According to one embodiment, when a rear vehicle traveling in the target lane of a lane change command is not detected by a sensor, the control circuit may calculate the minimum operating speed based on the specified speed and the detectable distance of the sensor.

According to one embodiment, when the minimum operating speed is lower than the speed of the preceding vehicle, the control circuit may control the vehicle so that the driving speed of the vehicle is higher than the minimum operating speed and perform lane change control.

According to one embodiment, when a preceding vehicle is not detected by a sensor, the control circuit may control the vehicle so that the vehicle's driving speed is higher than the minimum operating speed and perform lane change control.

According to one embodiment, the control circuit may determine whether to accelerate the vehicle based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle when the lowest operating speed is higher than the speed of the preceding vehicle.

According to one embodiment, the control circuitry determines the likelihood of a collision between the vehicle and the preceding vehicle based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle, and if there is no possibility of collision, the vehicle's travel speed is set to the lowest operating speed. You can control the vehicle to go higher and perform lane change control.

According to one embodiment, the control circuit estimates the expected driving path of the vehicle and the expected driving path of the preceding vehicle based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle, and estimates the expected driving path of the vehicle and the expected driving path of the preceding vehicle. Based on the driving path, the possibility of a collision between the vehicle and the preceding vehicle can be determined.

According to one embodiment, the control circuit determines the possibility of a collision between the vehicle and the preceding vehicle based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle, and if there is a possibility of collision, controls the vehicle to decelerate the vehicle. You can.

According to one embodiment, the control circuit may re-determine the possibility of a collision after the vehicle decelerates.

According to one embodiment, the control circuit may recalculate the lowest operating speed after the vehicle has slowed down.

A lane change control method for a vehicle according to an embodiment of the present invention includes the steps of receiving a lane change command from the driver of the vehicle, calculating the minimum operating speed for lane change control, and determining that the driving speed of the vehicle is lower than the minimum operating speed. In this case, it may include determining whether to accelerate the vehicle based on the speed of a preceding vehicle traveling in the same lane as the vehicle.

According to one embodiment, the step of calculating the minimum operating speed includes, when a rear vehicle driving in the target lane of the lane change command is detected, calculating the lowest operating speed based on the speed of the rear vehicle and the distance between the vehicle and the rear vehicle. It may be a calculation step.

According to one embodiment, the step of calculating the minimum operating speed is based on the specified speed corresponding to the country in which the vehicle is located and the detectable distance of the sensor when the rear vehicle traveling in the target lane of the lane change command is not detected. This may be the step to calculate the minimum operating speed.

According to one embodiment, the method may further include controlling the vehicle so that the traveling speed of the vehicle is higher than the lowest operating speed when the lowest operating speed is lower than the speed of the preceding vehicle and performing lane change control. .

According to one embodiment, the method may further include controlling the vehicle so that the driving speed of the vehicle is higher than the minimum operating speed and performing lane change control when the preceding vehicle is not detected.

According to one embodiment, determining whether to accelerate the vehicle may include determining whether to accelerate the vehicle based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle when the lowest operating speed is higher than the speed of the preceding vehicle. May include steps.

According to one embodiment, the method includes determining the likelihood of a collision between a vehicle and a preceding vehicle based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle, wherein, if there is no possibility of collision, the traveling speed of the vehicle is set to the lowest operating speed. It may further include controlling the vehicle to go higher and performing lane change control.

The vehicle lane change control device according to an embodiment of the present invention improves driver convenience by determining whether to accelerate the vehicle in consideration of the speed and position of the preceding vehicle when the vehicle's driving speed is lower than the minimum operating speed. The safety of lane change control can be ensured.

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

1 is a block diagram showing the configuration of a vehicle lane change control device according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating an exemplary operation of a vehicle lane change control device according to an embodiment of the present invention.
FIG. 3 is a diagram for explaining an exemplary operation of a vehicle lane change control device according to an embodiment of the present invention.
FIG. 4 is a diagram for explaining an exemplary operation of a vehicle lane change control device according to an embodiment of the present invention.
FIG. 5 is a diagram illustrating an exemplary operation of a vehicle lane change control device according to an embodiment of the present invention.
FIG. 6 is a diagram illustrating an exemplary operation of a vehicle lane change control device according to an embodiment of the present invention.
FIG. 7 is a diagram for explaining an exemplary operation of a vehicle lane change control device according to an embodiment of the present invention.
FIG. 8 is a diagram illustrating an exemplary operation of determining the possibility of a collision in a vehicle lane change control device according to an embodiment of the present invention.
FIG. 9 is a diagram illustrating an exemplary operation of determining the possibility of a collision in a vehicle lane change control device according to an embodiment of the present invention.
Figure 10 is a flowchart for explaining a method of controlling lane change of a vehicle according to an embodiment of the present invention.
Figure 11 is a flowchart for explaining a method of controlling lane change of a vehicle according to an embodiment of the present invention.
Figure 12 shows a computing system according to one embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through illustrative drawings. When adding reference numerals to components in each drawing, it should be noted that identical components are given the same reference numerals as much as possible even if they are shown in different drawings. Additionally, when describing embodiments of the present invention, if detailed descriptions of related known configurations or functions are judged to impede understanding of the embodiments of the present invention, the detailed descriptions will be omitted.

In describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, sequence, or order of the component is not limited by the term. Additionally, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted in an ideal or excessively formal sense unless explicitly defined in the present application. No.

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

Referring to FIG. 1, a vehicle lane change control device 100 (hereinafter referred to as device 100 for convenience of description) according to an embodiment includes a sensor 110, an input device 120, and a steering device. It may include (130), an acceleration/deceleration device (140), and a control circuit (150). The device 100 of FIG. 1 may be mounted on a vehicle.

Sensor 110 may be configured to detect an external vehicle. The sensor 110 may include, for example, a front sensor 110 and a rear sensor 110. The sensor 110 can detect a preceding vehicle traveling in the same lane as the vehicle and a rear vehicle traveling in a neighboring lane.

The input device 120 may be configured to receive a lane change command from the driver. The input device 120 may be implemented, for example, as a direction indicator lever, switch, or button capable of receiving a driver's input.

The steering device 130 may be configured to control the steering angle of the vehicle. The steering device 130 may include, for example, a steering wheel, an actuator linked to the steering wheel, and a controller that controls the actuator.

The acceleration/deceleration device 140 may be configured to control the speed of the vehicle. The acceleration/deceleration device 140 may include, for example, a throttle, a brake, an actuator linked to the throttle and the brake, and a controller that controls the actuator.

The control circuit 150 may be electrically connected to the sensor 110, the input device 120, the steering device 130, and the acceleration/deceleration device 140. The control circuit 150 can control the sensor 110, the input device 120, the steering device 130, and the acceleration/deceleration device 140, and can perform various data processing and calculations. The control circuit 150 may be, for example, an electronic control unit (ECU) or a lower-level controller mounted on a vehicle.

According to one embodiment, the control circuit 150 may receive a lane change command using the input device 120. The control circuit 150 may receive a left or right lane change command from the driver through the input device 120.

According to one embodiment, the control circuit 150 may calculate the minimum operating speed for lane change control. For example, the control circuit 150 may calculate the minimum operating speed in response to receiving a lane change command, or may periodically calculate the minimum operating speed while the vehicle is driving. When controlling lane change, the device 100 may activate control only when the vehicle's driving speed is higher than the minimum operating speed for safe lane change. An exemplary equation for calculating the minimum operating speed (Vsmin) is as follows:

[Equation 1]

According to the above equation, the lowest operating speed (Vsmin) can be determined based on Srear, Vapp, a, tB, and tG. Here, a, tB, and tG correspond to constants defined in advance as a kind of environmental variable representing the expected behavior of the rear vehicle. The distance between the vehicle and the rear vehicle (Srear) and the speed (Vapp) of the rear vehicle are values representing the movement state of the rear vehicle and can be measured by the sensor 110.

However, since the detection distance of the sensor 110 is finite, it is necessary to calculate the minimum operating speed (Vsmin) by dividing the case where the rear vehicle is within the detection distance of the sensor 110 and the case when it is not within the detection distance. If the rear vehicle is within the sensing distance of sensor 110, control circuit 150 may calculate Vsmin based on Srear and Vapp measured by sensor 110. If the rear vehicle is not within the detection range of the sensor 110, the control circuit 150 assumes the worst case scenario, i.e., the rear vehicle is moving forward at the legal maximum speed just beyond the detection distance of the sensor 110 and Vsmin can be calculated. In this case, the control circuit 150 may set Srear to the maximum detection distance of the sensor 110 and set Vapp to the legal maximum speed of the country in which the vehicle is driving. An exemplary embodiment for calculating the minimum operating speed is described in detail with reference to FIGS. 2 and 3.

The control circuit 150 may immediately initiate lane change control when the current speed of the vehicle is faster than the minimum operating speed, and provide various control strategies by taking the preceding vehicle into consideration when the current speed of the vehicle is slower than the minimum operating speed. there is.

According to one embodiment, when the driving speed of the vehicle is lower than the minimum operating speed, the control circuit 150 may determine whether to accelerate the vehicle based on the speed of a preceding vehicle traveling in the same lane as the vehicle. In a situation where the driving speed of the vehicle must be accelerated to reach the minimum operating speed for activating lane change control, the control circuit 150 determines the surrounding situation into four types and provides a control strategy appropriate for the situation. You can. The control circuit 150 can control the steering device 130 and the acceleration/deceleration device 140 to appropriately accelerate or decelerate the vehicle and then perform lane change control.

case control strategy When there is no preceding vehicle Perform lane change control after accelerating the vehicle above Vsmin If Vf (speed of preceding vehicle) > Vsmin Perform lane change control after accelerating the vehicle above Vsmin If Vf < Vsmin and there is no possibility of collision Perform lane change control after accelerating the vehicle above Vsmin If Vf < Vsmin and there is a possibility of collision Reduce the vehicle speed and retry lane change control after sufficient distance from the vehicle ahead is secured or the vehicle behind has overtaken.

First, the control circuit 150 may determine whether the minimum operating speed is higher than the vehicle's traveling speed. If the travel speed is higher than the minimum operating speed, the control circuit 150 may immediately initiate a lane change. If the driving speed is lower than the minimum operating speed, the control circuit 150 may perform lane change control according to the control strategy disclosed in Table 1.

The control circuit 150 can use the sensor 110 to check whether there is a preceding vehicle. Since sufficient acceleration is possible when the preceding vehicle is not detected, the control circuit 150 can change the lane after accelerating the vehicle above the minimum operating speed.

When a preceding vehicle is detected, the control circuit 150 may check the speed of the preceding vehicle. If the speed of the preceding vehicle is higher than the minimum operating speed, there is no risk of collision even if it accelerates, so the control circuit 150 can change lanes after accelerating the vehicle above the minimum operating speed.

If the speed of the preceding vehicle is less than the minimum operating speed, the control circuit 150 may consider the speed of the preceding vehicle and the headway between the vehicle and the preceding vehicle. If the headway is long enough so that there is no possibility of collision while accelerating the vehicle and changing lanes, the control circuit 150 may accelerate the vehicle above the minimum operating speed and then change lanes.

If the headway is insufficient and there is a possibility of a collision while accelerating the vehicle and changing lanes, the control circuit 150 reduces the speed of the vehicle and after the vehicle behind has overtaken or after the distance from the vehicle ahead has been established. Lane change control can be retried.

Each of the above-described control strategies will be described in detail with reference to FIGS. 4 to 7.

Hereinafter, the operation for calculating the minimum operating speed will be described in detail with reference to FIGS. 2 and 3.

FIG. 2 is a diagram illustrating an exemplary operation of a vehicle lane change control device according to an embodiment of the present invention.

Referring to FIG. 2 , a vehicle 200 according to an embodiment may include the lane change control device 100 of FIG. 1 . In the description of FIGS. 2 to 9 , the operations described as being performed by the vehicle 200 may be understood as being controlled by the control circuit 150 of the device 100.

According to one embodiment, when the vehicle 200 detects the rear vehicle 300 driving in the target lane of the lane change command by a sensor, the speed of the rear vehicle 300 and the vehicle 200 and the rear vehicle 300 are adjusted. ), the minimum operating speed can be calculated based on the distance between them. For example, when the distance d1 between the vehicle 200 and the rear vehicle 300 is shorter than the maximum detection distance of the rear side sensor, the vehicle 200 may measure Srear and Vapp using the sensor. The vehicle 200 may calculate the minimum operating speed for lane change control based on the measured Srear and Vapp. For example, vehicle 200 can calculate the minimum operating speed by applying the measured Srear and Vapp to Equation 1. When a lane change command is input, the vehicle 200 may calculate the minimum operating speed by detecting the rear vehicle 300 in the lane to be changed, and may calculate the minimum operating speed by periodically detecting the rear vehicle 300 in the adjacent lane. It can also be calculated.

FIG. 3 is a diagram for explaining an exemplary operation of a vehicle lane change control device according to an embodiment of the present invention.

Referring to FIG. 3, when the vehicle 200 according to one embodiment does not detect the rear vehicle 300 driving in the target lane of the lane change command by the sensor, the vehicle 200 changes the speed based on the specified speed and the detectable distance of the sensor. The lowest operating speed can be calculated. For example, if the distance d2 between the vehicle 200 and the rear vehicle 300 is longer than the maximum detection distance of the rear side sensor, the vehicle 200 cannot measure Srear and Vapp using the sensor. In this case, the vehicle 200 can calculate Vsmin assuming a situation where the rear vehicle 300 is moving forward at the legal maximum speed just beyond the detection distance of the sensor. The vehicle 200 can set Srear to the maximum detection distance of the sensor and set Vapp to the legal maximum speed of the country in which the vehicle 200 is driving. The vehicle 200 can calculate the minimum operating speed by applying the set Srear and Vapp to Equation 1. When a lane change command is input, the vehicle 200 may calculate the minimum operating speed by detecting the rear vehicle 300 in the lane to be changed, and may calculate the minimum operating speed by periodically detecting the rear vehicle 300 in the adjacent lane. It can also be calculated.

Below, the control strategy provided when the preceding vehicle is not detected will be described in detail with reference to FIG. 4.

FIG. 4 is a diagram for explaining an exemplary operation of a vehicle lane change control device according to an embodiment of the present invention.

Referring to FIG. 4, when the preceding vehicle is not detected by the sensor, the vehicle 200 according to one embodiment controls the vehicle 200 so that the driving speed of the vehicle 200 is higher than the minimum operating speed, and Change control can be performed. The vehicle 200 cannot detect the preceding vehicle if the preceding vehicle is not located within the detection distance of the front sensor. If the preceding vehicle is not within the detection distance of the sensor, sufficient acceleration is possible, so the vehicle 200 can change lanes after accelerating the driving speed to the lowest operating speed.

Hereinafter, a control strategy provided when a preceding vehicle is detected will be described with reference to FIGS. 5 to 8.

FIG. 5 is a diagram illustrating an exemplary operation of a vehicle lane change control device according to an embodiment of the present invention.

Referring to FIG. 5, when the minimum operating speed of the vehicle 200 according to one embodiment is lower than the speed of the preceding vehicle 400, the vehicle 200 is operated so that the driving speed of the vehicle 200 is higher than the minimum operating speed. control and lane change control can be performed. The vehicle 200 may detect the speed of the preceding vehicle 400 when the preceding vehicle 400 is located within the detection distance of the front sensor. When the speed of the preceding vehicle 400 is faster than the minimum operating speed, sufficient acceleration is possible, so the vehicle 200 can change lanes after accelerating the driving speed to the minimum operating speed.

FIG. 6 is a diagram illustrating an exemplary operation of a vehicle lane change control device according to an embodiment of the present invention.

Referring to FIG. 6, when the minimum operating speed of the vehicle 200 according to one embodiment is higher than the speed of the preceding vehicle 400, the speed of the preceding vehicle 400 and the distance between the vehicle 200 and the preceding vehicle 400 are adjusted. It may be determined whether the vehicle 200 accelerates based on the distance. The vehicle 200 may detect the speed of the preceding vehicle 400 when the preceding vehicle 400 is located within the detection distance of the front sensor. If the speed of the preceding vehicle 400 is slower than the minimum operating speed, sufficient acceleration may not be possible, and therefore acceleration may be determined by considering the headway between the vehicle 200 and the preceding vehicle 400.

According to one embodiment, the vehicle 200 determines the possibility of a collision between the vehicle 200 and the preceding vehicle 400 based on the speed of the preceding vehicle 400 and the distance between the vehicle 200 and the preceding vehicle 400. If it is determined that there is no possibility of collision, the vehicle 200 may be controlled so that the driving speed of the vehicle 200 is higher than the minimum operating speed, and lane change control may be performed. The vehicle 200 can predict the driving path of the vehicle 200 and the driving path of the preceding vehicle 400 until the lane change is completed. In the prediction result, if there is no possibility of collision with the preceding vehicle 400 because the headway is long, the vehicle 200 may change lanes after accelerating the driving speed to the lowest operating speed along the predicted driving path.

FIG. 7 is a diagram for explaining an exemplary operation of a vehicle lane change control device according to an embodiment of the present invention.

Referring to FIG. 7, the vehicle 200 according to one embodiment is based on the speed of the preceding vehicle 400 and the distance between the vehicle 200 and the preceding vehicle 400. The possibility of a collision may be determined, and if there is a possibility of a collision, the vehicle 200 may be controlled to decelerate the vehicle 200. The vehicle 200 can predict the driving path of the vehicle 200 and the driving path of the preceding vehicle 400 until the lane change is completed. In the prediction result, if there is a possibility of collision with the preceding vehicle 400 because the headway is short, the vehicle 200 may perform deceleration control. The vehicle 200 may re-determine the possibility of a collision after the vehicle 200 slows down and recalculate the minimum operating speed. The vehicle 200 can secure the headway by slowing down and allow the rear vehicle 300 to overtake the vehicle 200. The vehicle 200 may retry changing lanes after a sufficient headway is secured or the minimum operating speed is reset due to overtaking by the rear vehicle 300.

Hereinafter, the operation of determining the possibility of collision will be described in detail with reference to FIGS. 8 and 9.

8 and 9 are diagrams for explaining an exemplary operation of determining the possibility of a collision in a vehicle lane change control device according to an embodiment of the present invention.

According to one embodiment, the vehicle estimates the expected driving path of the vehicle and the expected driving path of the preceding vehicle based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle, and the expected driving path of the vehicle and the expected driving path of the preceding vehicle. Based on the route, the possibility of a collision between the vehicle and the preceding vehicle can be determined.

Referring to FIG. 8, the vehicle 810 can recognize the preceding vehicle 820, the driving lane, and the target lane. The vehicle 810 can predict the path along which the vehicle 810 accelerates to its lowest operating speed and changes lanes, as well as the path of the preceding vehicle 820. Vehicle 810 may check whether paths overlap. The vehicle 810 may determine that there is a possibility of collision if the paths overlap, and may determine that there is no possibility of collision if the paths do not overlap.

For example, the first point 811, the second point 812, the third point 813, the fourth point 814, and the fifth point 815 are the expected movement points of the vehicle 810 at a specified time. It is expressed as an interval (e.g., 100 ms), and the sixth point (821), the seventh point (822), the eighth point (823), the ninth point (824), and the tenth point (825) are the preceding vehicle (820). The expected movement points are shown at equal time intervals. The vehicle 810 may determine the possibility of a collision by considering the location of the vehicle 810 and the location of the preceding vehicle 820 (eg, the first point 811 and the sixth point 821) at the same time. The case shown in FIG. 8 is the distance between the first point 811 and the sixth point 821, the distance between the second point 812 and the seventh point 822, and the distance between the third point 813 and the eighth point 821. Since the distance between the points 823, the distance between the fourth point 814 and the ninth point 824, and the distance between the fifth point 815 and the tenth point 825 are all sufficient, the vehicle 810 ) can be judged to have no possibility of collision.

Referring to FIG. 9, the first point 911, the second point 912, the third point 913, the fourth point 914, and the fifth point 915 are the expected movement points of the vehicle 910. It is expressed as a specified time interval (e.g., 100 ms), and the sixth point 921, the seventh point 922, the eighth point 923, the ninth point 924, and the tenth point 925 are the preceding vehicle ( 920)'s expected movement points are shown at equal time intervals. The vehicle 910 may determine the possibility of a collision by considering the location of the vehicle 910 and the location of the preceding vehicle 920 (eg, the first point 911 and the sixth point 921) at the same time. In the case shown in FIG. 9, since the distance between the third point 913 and the eighth point 923 is close (less than a specified value), the vehicle 910 may determine that there is a possibility of collision.

Figure 10 is a flowchart for explaining a method of controlling lane change of a vehicle according to an embodiment of the present invention.

Hereinafter, it is assumed that the device 100 of FIG. 1 performs the process of FIG. 10. Additionally, in the description of FIG. 10, operations described as being performed by the device may be understood as being controlled by the control circuit 150 of the device 100.

Referring to FIG. 10, in step 1010, the device may receive a lane change command from the driver of the vehicle. For example, the device can confirm the driver's intention to change lanes through a turn signal lever, button, or switch.

At step 1020, the device may calculate a minimum operating speed for lane change control. For example, the device may calculate the minimum operating speed based on measurements of the vehicle behind if a vehicle behind is detected or a set value if no vehicle behind is detected.

At step 1030, the device may determine whether the vehicle's traveling speed is lower than the minimum operating speed upon receiving the lane change command. For example, the device may compare the calculated lowest operating speed to the vehicle's current speed.

If the vehicle's traveling speed is less than the minimum operating speed, at step 1040, the device may determine whether to accelerate the vehicle based on the speed of the vehicle ahead. For example, the device may determine whether to accelerate the vehicle based on the speed of the preceding vehicle and/or the distance between the vehicle and the preceding vehicle, etc. The vehicle may change lanes after acceleration control, or may retry lane change control after deceleration control.

If the vehicle's traveling speed is higher than the minimum operating speed, at step 1050, the device may perform lane change control. For example, the device may initiate lane change control immediately upon determining that the driving speed is higher than the minimum operating speed.

Figure 11 is a flowchart for explaining a method of controlling lane change of a vehicle according to an embodiment of the present invention.

Hereinafter, it is assumed that the device 100 of FIG. 1 performs the process of FIG. 11. Additionally, in the description of FIG. 11 , operations described as being performed by the device may be understood as being controlled by the control circuit 150 of the device 100.

Referring to FIG. 11, in step 1105, the device may receive a lane change command. At step 1110, the device may calculate the lowest operating speed (Vsmin) for lane change control. At step 1115, the device may determine whether the lowest operating speed (Vsmin) is higher than the vehicle's traveling speed (Vego). If the lowest operating speed (Vsmin) is lower than the vehicle's traveling speed (Vego), in step 1120, the device may perform a lane change. If the lowest operating speed (Vsmin) is higher than the vehicle's traveling speed (Vego), at step 1125, the device may determine whether a preceding vehicle is present. If there is no preceding vehicle, in step 1130, the device may accelerate the vehicle's driving speed (Vego) above the minimum operating speed (Vsmin) and change lanes. If a preceding vehicle is present, at step 1135, the device may determine whether the speed of the preceding vehicle is less than the lowest operating speed (Vsmin). If the speed of the preceding vehicle is higher than the minimum operating speed (Vsmin), in step 1140, the device may accelerate the vehicle's traveling speed (Vego) above the minimum operating speed (Vsmin) and change lanes. If the speed of the preceding vehicle is less than the minimum operating speed (Vsmin), at step 1145, the device may determine the likelihood of a collision upon acceleration. If there is no possibility of collision during acceleration, in step 1150, the device may accelerate the vehicle's driving speed (Vego) above the minimum operating speed (Vsmin) and change lanes. If there is a possibility of collision during acceleration, the device may perform deceleration control.

Figure 12 shows a computing system according to one embodiment of the present invention.

Referring to FIG. 12, the device according to an embodiment of the present invention described above may also be implemented through a computing system. Computing system 1000 includes at least one processor 1100, memory 1300, user interface input device 1400, user interface output device 1500, storage 1600, and It may include a network interface 1700.

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and/or storage 1600. Memory 1300 and storage 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include Read Only Memory (ROM) and Random Access Memory (RAM).

Accordingly, the steps of the method or algorithm described in connection with the embodiments disclosed herein may be directly implemented in hardware, software modules, or a combination of the two executed by the processor 1100. Software modules reside in a storage medium (i.e., memory 1300 and/or storage 1600), such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, or CD-ROM. You may. An exemplary storage medium is coupled to processor 1100, which can read information from and write information to the storage medium. Alternatively, the storage medium may be integrated with processor 1100. The processor and storage medium may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

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

Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but rather to explain it, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

Claims (20)

In the lane change control device of a vehicle,
A sensor configured to detect an external vehicle;
an input device configured to receive a lane change command from a driver; and
Comprising a control circuit electrically connected to the sensor and the input device,
The control circuit is,
Receiving the lane change command using the input device,
Calculate the minimum operating speed for lane change control,
If the driving speed of the vehicle is lower than the minimum operating speed, determine whether to accelerate the vehicle based on the speed of a preceding vehicle traveling in the same lane as the vehicle,
The control circuit is,
When the sensor does not detect a rear vehicle driving in the target lane of the lane change command, assuming a situation where the rear vehicle moves forward at a specified speed and beyond the detection capability of the sensor, the specified speed and the sensor's Calculating the lowest operating speed based on the detectable distance,
Comparing the minimum operating speed with the speed of a preceding vehicle traveling in the same lane as the vehicle, and determining the possibility of collision between the vehicle and the preceding vehicle when the speed of the preceding vehicle is lower than the minimum operating speed. , Device. According to claim 1,
The control circuit is,
In response to receiving the lane change command, the device calculates the minimum operating speed. According to claim 1,
The control circuit is,
A device characterized in that the minimum operating speed is periodically calculated while the vehicle is running. According to claim 1,
The control circuit is,
When a rear vehicle driving in the target lane of the lane change command is detected by the sensor, the minimum operating speed is calculated based on the speed of the rear vehicle and the distance between the vehicle and the rear vehicle. , Device. delete According to claim 1,
The control circuit is,
If the lowest operating speed is lower than the speed of the preceding vehicle, controlling the vehicle so that the traveling speed of the vehicle is higher than the lowest operating speed,
A device, characterized in that performing the lane change control. According to claim 1,
The control circuit is,
If the preceding vehicle is not detected by the sensor, control the vehicle so that the driving speed of the vehicle is higher than the minimum operating speed,
A device, characterized in that performing the lane change control. According to claim 1,
The control circuit is,
When the lowest operating speed is higher than the speed of the preceding vehicle, determining whether to accelerate the vehicle based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle. According to claim 8,
The control circuit is,
Determine the possibility of a collision between the vehicle and the preceding vehicle based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle,
If there is no possibility of collision, control the vehicle so that the driving speed of the vehicle is higher than the minimum operating speed,
A device, characterized in that performing the lane change control. According to clause 9,
The control circuit is,
Estimating the expected driving path of the vehicle and the expected driving path of the preceding vehicle based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle,
A device characterized in that it determines the possibility of a collision between the vehicle and the preceding vehicle based on the expected driving path of the vehicle and the expected driving path of the preceding vehicle. According to claim 8,
The control circuit is,
Determine the possibility of a collision between the vehicle and the preceding vehicle based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle,
The device, characterized in that controlling the vehicle so that the vehicle decelerates when there is a possibility of collision. According to claim 11,
The control circuit is,
A device characterized in that, after the vehicle decelerates, the possibility of collision is re-determined. According to claim 11,
The control circuit is,
The device, characterized in that after the vehicle has slowed down, the lowest operating speed is recalculated. In a method of controlling lane change of a vehicle,
Receiving a lane change command from the driver of the vehicle;
calculating the minimum operating speed for lane change control; and
When the driving speed of the vehicle is lower than the minimum operating speed, determining whether to accelerate the vehicle based on the speed of a preceding vehicle traveling in the same lane as the vehicle,
The step of calculating the minimum operating speed is,
If the rear vehicle driving in the target lane of the lane change command is not detected,
Assuming a situation where the rear vehicle moves forward beyond the specified speed and the detectable distance of the sensor, calculating the minimum operating speed based on the specified speed and the detectable distance of the sensor corresponding to the country in which the vehicle is located. It's a step,
Comparing the speed of a preceding vehicle traveling in the same lane as the vehicle with the minimum operating speed, and determining a possibility of collision between the vehicle and the preceding vehicle when the speed of the preceding vehicle is lower than the minimum operating speed. A method, characterized in that. According to claim 14,
The step of calculating the minimum operating speed is,
When a rear vehicle driving in the target lane of the lane change command is detected, calculating the minimum operating speed based on the speed of the rear vehicle and the distance between the vehicle and the rear vehicle. . delete According to claim 14,
When the lowest operating speed is lower than the speed of the preceding vehicle, controlling the vehicle so that the traveling speed of the vehicle is higher than the lowest operating speed; and
The method further comprising performing the lane change control. According to claim 14,
controlling the vehicle so that the driving speed of the vehicle is higher than the lowest operating speed when the preceding vehicle is not detected; and
The method further comprising performing the lane change control. According to claim 14,
The step of determining whether to accelerate the vehicle is,
When the lowest operating speed is higher than the speed of the preceding vehicle, determining whether to accelerate the vehicle based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle. method. According to claim 19,
determining the possibility of a collision between the vehicle and the preceding vehicle based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle;
If there is no possibility of collision, controlling the vehicle so that the driving speed of the vehicle is higher than the minimum operating speed; and
The method further comprising performing the lane change control.

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