KR20190119502A - Apparatus for controlling lane change of vehicle, system having the same and method thereof - Google Patents

Abstract

The present invention relates to a lane change controller, a system including the same, and a method thereof. The lane change controller comprises: a processor configured to determine whether it is possible for a vehicle to perform a lane change depending on a road condition, based on information about surrounding circumstances; a storage unit storing a result of determining whether it is possible to perform the lane change, the result being determined by the processor; and a display unit configured to display the result of determining whether it is possible to perform the lane change.

Description

Apparatus for controlling lane change of vehicle, system having the same and method

The present invention relates to a lane change control apparatus of a vehicle, a system including the same, and a method thereof, and more particularly, to a technology for controlling activation of a lane change control system of a vehicle by determining a road condition in which the vehicle is currently driving.

Recently, with the rapid development of IT technology, there is a growing interest in intelligent cars integrated with vision systems. In particular, advanced safety vehicle technologies, such as lane departure information, lane keeping, collision warning systems, and lane change control systems, which help reduce the risk of traffic accidents and help you drive safely, are the foundation technologies for intelligent vehicle technology. Many manpower and resources are invested. In particular, a lane change control system capable of automatically changing a lane driving a vehicle automatically controls the vehicle to perform a lane change when the driver operates a turn signal with the intention of changing the lane.

Such a lane change control system may perform a lane change by determining whether a speed and a position of a surrounding vehicle are suitable for performing a lane change, setting a control path for changing the lane, and controlling steering torque along the control path. have

However, the existing lane change control system is not applicable to all road conditions for safe driving and can be used only on specific roads. In other words, it is possible to activate the lane change control system on a dedicated road or highway, but it should be deactivated on a general road where pedestrians can enter for safety.

An embodiment of the present invention is a vehicle lane change control device that can increase the efficiency of safe driving by performing a lane change control after determining whether the road change control is possible by determining the road conditions that the vehicle is currently driving, a system including the same; It is intended to provide a method.

In addition, an embodiment of the present invention is a vehicle lane change control device that can increase the user's convenience by displaying the result of whether the vehicle can be controlled to change the road determined according to the road conditions that the vehicle is currently running on the screen, It is intended to provide a system and a method including the same.

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 following descriptions.

An apparatus for controlling a lane change according to an exemplary embodiment of the present disclosure may include a processor configured to determine whether a lane of a vehicle may be changed based on road conditions based on surrounding situation information; A storage unit which stores a result of determining whether the change is possible by the difference determined by the processor; And it may include a display unit for displaying the result of determining whether the difference can be changed.

According to an embodiment, the surrounding situation information may include at least one of global positioning system (GPS) reception information, map information, and surrounding detection information by a sensor.

According to an embodiment of the present disclosure, the processor may include determining whether the driving road can be determined based on map matching information using GPS reception information or map information and location information by a sensor.

According to an embodiment of the present disclosure, the processor may include determining that the driving road determination is possible when the GPS reception information may be updated or the map matching is possible.

According to an embodiment of the present disclosure, when the driving road determination state is possible, the processor may include determining whether the vehicle is changeable based on a detection result by the sensor.

In an embodiment, the processor may include at least one of whether the current driving road is a general road, whether a pedestrian or a cyclist is present on the current driving road, whether a central separator is present, and the number of lanes of the driving road. It may include determining whether it is possible to change to the difference using.

According to an embodiment of the present disclosure, the processor may include determining that the vehicle cannot be changed to a lane mode when the current driving road is a general road, the pedestrian or cyclist exists, or the current driving road is a primary road. .

In an embodiment, the processor may be configured such that the current driving road is an automobile road or a highway, the pedestrian or cyclist does not exist, the central divider exists, or the number of lanes of the driving road is greater than or equal to a predetermined number of lanes. In this case, the method may include determining a changeable state mode by a car.

According to an embodiment of the present disclosure, if the lane change request is received from the user while driving the vehicle, the processor may include determining whether to perform lane change control according to a determination result of whether the lane change is possible.

According to an embodiment of the present disclosure, the processor may include a lane changeable state mode in which a lane change is possible, and when the lane change request is received from the user, the lane change control may be performed.

In one embodiment, when the vehicle is temporarily turned off by an integrated starter generator (ISG), the processor stores a result of determining whether the vehicle can be changed into the storage unit, and stores the result when the vehicle is started on. The method may include controlling the lane change based on a determination result of whether the lane change is stored in the unit.

A vehicle system according to an embodiment of the present invention includes a GPS receiver for receiving Global Positioning System (GPS) information; A sensing module for providing surrounding detection information of the vehicle; And a lane change control device configured to determine whether the lane of the vehicle can be changed based on the GPS information and the surrounding detection information.

According to an embodiment of the present disclosure, the lane change control apparatus may include displaying a determination result of whether the lane change is possible.

The lane change control method according to an exemplary embodiment of the present disclosure includes receiving surrounding situation information; Determining whether a lane can be changed based on road conditions based on the surrounding situation information; And displaying a result of determining whether the difference is changeable.

According to an embodiment, the determining of whether the vehicle is changeable may include determining the driving road determination state mode when the GPS reception information can be updated or a map matching using the map information and the position information by the sensor is possible. It may include.

In an embodiment, the determining of whether the lane is changeable may include: whether the current driving road is a general road, whether a pedestrian or a cyclist exists on the current driving road, whether there is a center separator, and the number of lanes of the driving road. It may include determining whether it is possible to change to the difference using at least one of the.

In an embodiment, the determining of whether the lane is changeable may include: when the current driving road is a general road, the pedestrian or cyclist exists, or the current driving road is a primary road, the lane change impossible mode. It may include determining.

In an embodiment, the determining of whether the vehicle is changeable may include: the current driving road is an automobile road or a highway, the pedestrian or the cyclist does not exist, the central separator exists, or If the number of lanes is greater than or equal to the predetermined number of lanes, the determination may include determining a lane changeable mode.

According to an embodiment of the present disclosure, if the lane change request is received from the user while driving the vehicle, the method may further include determining whether to perform lane change control based on a determination result of whether the lane change is possible.

According to an embodiment, when the vehicle is temporarily turned off by an integrated starter generator (ISG), the result of determining whether the vehicle is changeable may be stored. When the vehicle is started on, the determination result is determined whether the vehicle can be changed into the stored vehicle. The method may further include performing change control based on the difference.

According to the present technology, it is possible to safely perform a lane change control by recognizing this whenever a condition of a driving road changes by determining a road condition under which a vehicle is currently driven and determining whether a lane change control is possible and then performing a lane change control.

 In addition, the present technology can increase the user's convenience by displaying a result of whether the vehicle can be controlled to be changed according to the road condition in which the vehicle is currently driving on the screen.

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

1 is a block diagram illustrating a configuration of a vehicle system including a lane change control apparatus of a vehicle according to an exemplary embodiment.
2 is an exemplary diagram for describing a lane change control method according to a road condition determination according to an embodiment of the present invention.
3 is a flowchart illustrating a method of determining a road condition for controlling a lane change of a vehicle according to an exemplary embodiment.
FIG. 4 is a flowchart illustrating a method of controlling a lane change of a vehicle according to a determination result of whether the lane condition based lane of FIG. 3 can be changed.
5 illustrates a computing system according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In addition, in describing the embodiments of the present invention, when it is determined that a detailed description of a related well-known configuration or function interferes with the understanding of the embodiments of the present invention, the detailed description thereof will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art, and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

The lane change control apparatus of the vehicle of the present invention may include an advanced driving assistance system (ADAS) or an autonomous driving system to assist driving. In addition, according to the present invention, the lane change control apparatus may be driven as a lane change assistance system for assisting the lane change function by performing steering adjustment or vehicle speed adjustment when a user requests a lane change.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to FIGS. 1 to 5.

1 is a block diagram of a vehicle system including a lane change control apparatus for a vehicle according to an exemplary embodiment of the present disclosure.

The vehicle system according to an exemplary embodiment of the present invention includes a lane change control apparatus 100, a sensing module 200, a GPS receiver 300, a navigation apparatus 400, an input apparatus 500, a steering apparatus 600, and an acceleration / deceleration. Genus device 700 may be included. The vehicle system of FIG. 1 may be mounted on a vehicle.

The lane change control apparatus 100 is based on the GPS information received from the GPS (Global Positioning System) receiver 300, the map information received from the navigation device 400, and the ambient sensing information detected by the sensing module 200. It is possible to determine whether the vehicle can be changed to the car. Whether the vehicle can be changed to a lane may include a driving road unrecognized state mode, a lane changeable state mode, and a non-changeable state mode.

The lane change control apparatus 100 may be electrically connected to the sensing module 200, the GPS receiver 300, the navigation apparatus 400, the input apparatus 500, the steering apparatus 600, and the acceleration / deceleration apparatus 700. The controller 200 may control the sensing module 200, the GPS receiver 300, the navigation device 400, the input device 500, the steering device 600, and the acceleration / deceleration device 700 and perform various data processing and calculations. can do.

The lane change control apparatus 100 of the vehicle may include a communication unit 110, a storage unit 120, a display unit 130, and a processor 140.

The communication unit 110 is a hardware device that is implemented by various electronic circuits for transmitting and receiving signals through a wireless or wired connection. In the present invention, the communication unit 110 communicates with devices in a vehicle through can communication, LIN communication, and the like. Communication may be performed, and communication with devices external to the vehicle may be performed through wireless communication.

The storage unit 120 may store information received from the sensing module 200, the GPS receiver 300, the navigation device 400, and the like, and a result determined by the processor 140 as a difference determined by the processor 140. .

The storage unit 120 may include a flash memory type, a hard disk type, a micro type, and a card type (eg, an SD card (Secure Digital Card) or an XD card (eXtream Digital). Card)), RAM (Random Access Memory), SRAM (Static RAM), ROM (Read-Only Memory), PROM (Programmable ROM), EEPROM (Electrically Erasable PROM), Magnetic Memory (MRAM) , A storage medium of at least one type of a magnetic RAM, a magnetic disk, and an optical disk type of memory.

The display unit 130 may display a result of determining whether it is changeable by a car. The determination result of whether the lane can be changed may include a driving mode non-determinable state mode, a lane changeable state mode, and a non-changeable state mode. The display unit 130 may be implemented as a head-up display (HUD), a cluster, an audio video navigation (AVN), or the like. In addition, the user may receive a color input directly from the user through the USM menu of the cluster. In addition, the display unit 130 includes a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), a light emitting diode (LED), and an organic light emitting diode (OLED). ), An active OLED (AMOLED, Active Matrix OLED), a flexible display (flexible display), a bent display (bended display), and may include at least one of the 3D display (3D display). Some of these displays may be implemented as a transparent display configured as a transparent type or a transparent type so that the outside can be seen. In addition, the display unit 130 may be provided as a touch screen including a touch panel and used as an input device in addition to the output device.

The processor 140 may be electrically connected to the communication unit 110, the storage unit 120, and the display unit 130, may electrically control each component, and may be an electric circuit that executes a command of software. This enables various data processing and calculations to be described later. The processor 140 may be, for example, an electronic control unit (ECU) or a subordinate controller mounted in a vehicle.

The processor 140 may determine whether the vehicle can be changed to a vehicle based on the surrounding situation information, and the surrounding situation information may include GPS information received from the GPS receiver 300, map information received from the navigation device 400, and It may include at least one or more of the ambient sensing information by the sensing module 200.

The processor 140 may determine whether the driving road can be determined based on the GPS reception information or the map matching information.

Meanwhile, the processor 140 may determine that the driving road can be determined when the reception of the GPS reception information is good and the map matching based on the map information of the navigation device 400 and the location information by the sensing module 200 is possible. . That is, the processor 140 determines the driving road even if only one of the GPS reception information is received and whether the map matching is possible based on the map information (map data) of the navigation device 400 and the location information by the sensing module 200. It can be judged as possible. For example, when the GPS reception information is not temporarily updated, it may be determined whether the driving road determination state is possible by map matching.

In this case, since the map information includes data based on latitude and longitude using the global center coordinate system, the processor 140 converts the map information into a vehicle center coordinate system when the map is matched, and senses the map information converted into the vehicle center coordinate system. Compared with the vehicle center coordinate system-based information obtained from (200), and after correcting the relative position, and finally converts the absolute position of the global center coordinate system of the vehicle again, it is possible to know the more accurate vehicle position on the map.

When the driving road can be determined as described above, the processor 140 may determine whether it is possible to change the vehicle based on the sensing result of the sensing module 200.

The processor 140 uses the detection result of the sensing module 200 to determine whether the current driving road is a general road, whether a pedestrian or a cyclist exists on the current driving road, whether a central separator is present, and driving. Determine the number of lanes on the road. For example, the processor 140 may be a type of road (general road, vehicle only) based on at least one of image data acquired through a camera, Lidar raw data, and radar data. Roads, highways, etc.), the presence of pedestrians or cyclists, and the presence of a median divider. In addition, the processor 140 determines the type of road currently being driven (general road, exclusive road, highway, etc.) based on the map information (map data) and GPS reception information (location information) stored in the navigation 400. can do. In addition, the processor 140 may determine the type of the road using camera-based road sign recognition information or information received from a V2I communication based infrastructure.

In addition, the processor 140 previously stores shape information related to the type of the road, the pedestrian, the cyclist, the central separator, and the like from the image, the data, the lidar roo data, and the radar data acquired through the camera, in the storage 120. Whether the current driving road is a general road, whether a pedestrian or a cyclist exists on the current driving road, whether a central separator is used, and whether the driving road The number of lanes can be determined.

In this case, the general road may be a pedestrian, a bicycle, a motorcycle, etc., and may mean a road including a traffic light and a pedestrian crossing, and an automobile road is a road that can only drive a car, and a high-speed road is a traffic light and a pedestrian crossing It is a road that can travel at least above the minimum speed and below the maximum speed.

The processor 140 may be changed into a car by using at least one of whether the current driving road is a general road, whether a pedestrian or a cyclist exists on the current driving road, whether there is a center separator, and the number of lanes of the driving road. You can judge whether or not.

That is, when the current driving road is a general road, a pedestrian or a cyclist exists, or the current driving road is a primary road, the processor 140 may determine that the driving mode is impossible.

In addition, the processor 140 may be configured to indicate that the current driving road is not a general road (automobile road or highway), the pedestrian or cyclist does not exist, the central divider exists, or the number of lanes of the driving road is predetermined. If the number of lanes is greater than or equal to the number of lanes, it may be determined as a changeable state mode by car.

The processor 140 may determine whether to perform the lane change control according to a determination result of whether the lane change is possible when the lane change request is requested from the user while driving the vehicle. That is, the processor 140 may change the lane to a lane changeable state mode, and when the lane change request is received from the user, the processor 140 may perform lane change control.

When the vehicle is temporarily turned off by the integrated starter generator (ISG) when the vehicle is stopped due to a traffic light, the processor 140 stores the result of determining whether the vehicle can be changed into the storage unit 120, and the vehicle starts on for starting. When the lane is stored in the storage unit 120, the lane change control may be performed based on a determination result of whether the lane is changeable. When the vehicle is completely turned off after being started by the user, the driving road unrecognized state mode may be set as a default.

As such, when the reception of GPS signals such as an underground parking lot or a tunnel is poor or navigation map matching is impossible, the processor 140 may enter a pedestrian or a cyclist, and if the driving lane is less than the second lane without a central separator, the lane may be changed. It can be judged as impossible. On the other hand, the processor 140 may determine that the vehicle can be changed when the GPS signal reception is good, navigation map matching is possible, pedestrians or cyclists cannot enter, a central divider exists, or the driving lane is more than two lanes.

The sensing module 100 may include a type of road on which the vehicle is currently driving, an external object (eg, a neighboring vehicle, a pedestrian, a cyclist, a motorcycle, a bicycle, a center, and the like) in the same lane and the neighboring lane in which the vehicle is driving. It may be configured to detect the surrounding situation by obtaining information on the separation of the number of lanes, the driving road, etc.). Information about the external object may include the position, speed, type, direction of movement of the external object.

To this end, the sensing module 100 may include at least one camera, radar, rider, ultrasound, acceleration sensor, yaw rate sensor, torque measurement sensor and / or wheel speed sensor. In addition, at least one sensor may be mounted on the front, rear, left and right sides of the vehicle. In addition, the sensing module 100 may perform the sensing at predetermined intervals and provide the result to the processor 140.

The GPS receiver 300 receives a GPS signal from a Global Positioning System (GPS) satellite and transmits the GPS signal to the lane change control apparatus 100. Accordingly, the lane change control apparatus 100 may determine the position of the host vehicle using the GPS signal.

The navigation device 400 provides a road change control device 100 with map information according to a location and a destination of a vehicle.

The input device 500 may be configured to receive a driving change command from a user, and in the present invention, may include a direction indicating lever, a switch, a button, or the like that may receive a user input for changing the driving lane.

The steering apparatus 600 may be configured to control a steering angle of the vehicle, and may include a steering wheel, an actuator linked to the steering wheel, and a controller for controlling the actuator.

The acceleration / deceleration apparatus 700 may be configured to control the speed of the vehicle, and may include a throttle, a brake, a throttle, and an actuator linked to the brake, and a controller for controlling the actuator.

As described above, the present invention determines a state in which a vehicle can be changed on the basis of road conditions, displays the user so as to know whether the vehicle can be changed, and automatically controls a vehicle change when a vehicle change request is received from the user in a state in which the vehicle can be changed. By doing this, the user's convenience may be increased and safe driving may be possible.

2 is an exemplary view for explaining a lane change control method according to a road condition determination according to an embodiment of the present invention.

Referring to FIG. 2, when a vehicle enters a vehicle-only road while driving on a general road, it is determined whether the road can be changed by determining a change in road conditions, and the result is displayed on the display unit 130. In FIG. 2, when entering a vehicle-only road from a general road, “a lane changeable state mode entry” is displayed on the screen, and when entering a general road from a car-only road, it is determined whether the vehicle can be changed according to a change in road conditions and the corresponding vehicle. It can be seen that the display unit 130 of the "entrance into the state change impossible mode" is displayed.

Hereinafter, a method of determining a road condition for controlling a lane change of a vehicle according to an exemplary embodiment of the present disclosure will be described in detail with reference to FIG. 3. 3 is a flowchart illustrating a method of determining a road condition for controlling a lane change of a vehicle according to an exemplary embodiment of the present disclosure.

Hereinafter, it is assumed that the lane change control apparatus 100 of FIG. 1 performs the process of FIG. 3. In addition, in the description of FIG. 3, an operation described as being performed by the lane change control apparatus 100 may be understood to be controlled by the processor 140 of the lane change control apparatus 100.

Referring to FIG. 3, the lane change control apparatus 100 receives a GPS signal through the GPS receiver 200 to update GPS information (S101), and determines whether a driving road condition can be determined based on the update result of the GPS information. Determine (S102). At this time, the lane change control apparatus 100 enters the driving road determination state mode which is the default mode at the same time as the vehicle is started on, periodically updates the GPS information, and when the driving of the vehicle starts, the GPS information is normally updated. It can be judged.

That is, the lane change control apparatus 100 determines that the driving road cannot be judged as a state mode in which it is not possible to determine the current road condition when a GPS signal reception failure or a reason such as mismatch of map information of the navigation device 400 occurs. (S103). The lane change control apparatus 100 may determine the driving road cannot be determined as the driving road cannot be determined when the GPS information is updated in a place where the reception of the GPS signal is poor, such as an underground parking lot, a bridge, or a tunnel. The lane change control apparatus 100 may recognize information such as a lane, a road marker, a sign, and the like through the sensing module 200 in advance and determine a road condition currently being driven by using a precise map recorded therein.

Thereafter, the lane change control apparatus 100 displays the driving mode determination state mode on the current driving road on the screen (S111). In this way, the lane change control apparatus 100 displays the display 130 indicating that the driving road determination is impossible, so that the user can know the reason of the state in which the vehicle cannot be changed.

On the other hand, when the GPS signal reception is good and the map information matching of the navigation device 400 is possible, the lane change control apparatus 100 determines that the driving conditions can determine the state, the sensing module 200 is detected The result is updated (S104).

Accordingly, the lane change control apparatus 100 determines whether the road currently being driven is a general road based on the updated detection result of the sensing module 200 (S105). At this time, the lane change control apparatus 100 may determine whether the currently driving road is a general road based on the map information provided from the navigation device 400, and information such as when entering or entering the IC or JC while driving. It can be determined whether to enter the general road based on.

If the road currently being driven is a general road, the lane change control apparatus 100 may determine that the current road condition is in a non-changeable state mode (S110). When the lane change control apparatus 100 is temporarily turned off by the integrated starter generator (ISG) due to the stoppage of a traffic light when driving on a general road, the lane change control apparatus 100 is in a non-changeable state mode or a changeable state mode information. May be stored in the storage unit 120, and when the vehicle is later restarted, the lane change control may be performed based on the state mode information stored in the storage unit 120.

On the other hand, when the road currently being driven is not a general road, the lane change control apparatus 100 determines whether a pedestrian or a cyclist exists in the currently running road based on the sensing result of the sensing module 200 (S106). If there is a pedestrian or cyclist in the currently running road, it may be determined that the current road condition is in a state in which the vehicle cannot be changed by the vehicle (S110). In this case, the lane change control apparatus 100 may determine whether a pedestrian or a cyclist is present based on information received from a camera or a lidar.

On the other hand, when the road currently being driven is not a general road and there is no pedestrian or cyclist in the currently running road, the lane change control apparatus 100 is currently running on the basis of the sensing result of the sensing module 200. It is determined whether the central separator exists (S107). The lane change control apparatus 100 may determine whether a center separator (guard rail) is present based on map information received from the navigation device 400 or detection results received from a camera, a radar, a rider, and the like.

If the currently driving road is not a general road, there is no pedestrian or cyclist in the currently running road, and there is a central divider of the currently running road, the lane change control apparatus 100 may autonomously drive the currently running road. The driving system or the vehicle driving assistance system may be determined to be a highway or an automobile-only road capable of driving, and the vehicle may be determined as a changeable state mode in operation S109. Subsequently, the lane change control apparatus 100 displays a state mode in which the lane can be changed on the current driving road on the screen (S111).

On the other hand, if there is no central divider of the road currently being driven, the lane change control apparatus 100 determines whether the number of lanes of the road currently being driven is more than two lanes based on the sensing result of the sensing module 200 (S108). When the number of lanes of the currently running road is more than two lanes, it is determined as a lane changeable mode (S109). Subsequently, the lane change control apparatus 100 displays a state mode in which the lane can be changed on the current driving road on the screen (S111). In this case, the lane change control apparatus 100 may recognize the number of lanes based on the image information of the camera.

On the other hand, if the number of lanes of the currently running road is less than two lanes, the lane change control apparatus 100 determines that the lane cannot be changed into a state mode (S110), and displays on the screen that it is a state that cannot be changed to a lane on the current road. S111).

As described above, the present invention distinguishes and determines a driving road non-determinable state mode, a non-changeable state mode, and a changeable state mode by car, and displays a result of the determination on the screen to determine the reason when the user cannot make a lane change control device. Make it recognizable. The above-described flowchart of FIG. 3 discloses an example of sequentially determining whether to enter a general road, whether to detect a pedestrian or a cyclist, whether a center divider is present, and the number of lanes of a driving road, but not limited thereto. It is possible to determine whether it is possible to change the lane by considering the conditions of the pedestrian or cyclist detection, the presence of the central divider, and the number of lanes on the road in parallel. It is possible to determine whether it is possible to change the lane according to whether the at least one or more of the condition of the center divider, and the number of lanes on the road are satisfied.

Hereinafter, a lane change control method of a vehicle according to the road condition based determination result of FIG. 3 will be described in detail with reference to FIG. 4. FIG. 4 is a flowchart illustrating a method of controlling a lane change of a vehicle according to a determination result of whether the lane condition based lane of FIG. 3 can be changed.

Hereinafter, it is assumed that the lane change control apparatus 100 of FIG. 1 performs the process of FIG. 4. In addition, in the description of FIG. 4, it may be understood that an operation described as being performed by the lane change control apparatus 100 is controlled by the processor 140.

Referring to FIG. 4, when the vehicle change control apparatus 100 receives a lane change request from a user while driving a vehicle (S201), the lane change control apparatus 100 determines whether the vehicle is currently in a changeable state mode (S202). In this case, the lane change control apparatus 100 may determine a lane change request from the user through an input device 500 such as a direction indicating lever, a switch, or a button. That is, the lane change control apparatus 100 may determine a lane change request by receiving a lane change command in a left direction or a right direction through the input apparatus 500.

 In addition, the lane change control apparatus 100 periodically determines whether the lane changeable state mode is stored through the process of FIG. 3 and stores the result. When the vehicle change request is received from the user, the lane change control apparatus 100 determines whether the lane changeable state mode is stored in advance. The change control may be performed based on the difference (S203). If the lane changeable state mode is not present in step S202, the lane change control apparatus 100 may terminate without performing a lane change.

As described above, the present invention determines whether the lane change device 100 can automatically perform the lane change function according to the road condition in which the vehicle runs, and guides the user whether the vehicle can be changed by the user. You can increase it. In addition, the present invention can increase the safety and usability of the system by determining whether the lane can be changed according to the conditions of the currently running road and automatically performs the lane change function according to the result.

5 illustrates a computing system according to an embodiment of the present invention.

Referring to FIG. 5, the computing system 1000 may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, and storage connected through a bus 1200. 1600, and network interface 1700.

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that executes processing for instructions stored in the memory 1300 and / or the storage 1600. The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include a read only memory (ROM) and a random access memory (RAM).

Thus, the steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, software module, or a combination of the two executed by the processor 1100. The software module resides in a storage medium (ie, memory 1300 and / or storage 1600), such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs. You may.

An exemplary storage medium is coupled to the processor 1100, which can read information from and write information to the storage medium. In the alternative, the storage medium may be integral to the processor 1100. The processor and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

Claims (20)

A processor for determining whether a vehicle can be changed to a vehicle according to a road condition based on surrounding situation information;
A storage unit which stores a determination result of whether a change is possible due to the difference determined by the processor; And
A display unit displaying a result of determining whether the vehicle can be changed
Lane change control device comprising a. The method according to claim 1,
The surrounding situation information,
And at least one of GPS (Global Positioning System) reception information, map information, and ambient sensing information by a sensor. The method according to claim 1,
The processor,
And determining whether the driving road can be judged based on the GPS matching information or the map matching information using the map information and the position information by the sensor. The method according to claim 3,
The processor,
And determining the driving road determination state mode when the GPS reception information can be updated or the map matching is possible. The method according to claim 3,
The processor,
If the driving road can be determined,
The lane change control apparatus, characterized in that it is determined whether or not the lane can be changed based on the detection result by the sensor. The method according to claim 5,
The processor,
It is possible to determine whether the vehicle can be changed to the vehicle using at least one of whether the current driving road is a general road, whether a pedestrian or a cyclist exists on the current driving road, whether there is a center divider, and the number of lanes of the driving road. The lane change control device, characterized in that. The method according to claim 6,
The processor,
And the current driving road is a general road, the pedestrian or cyclist is present, or the current driving road is a primary road. The method according to claim 6,
The processor,
When the current driving road is a vehicle-only road or a highway, the pedestrian or cyclist does not exist, the central divider exists, or the number of lanes of the driving road is more than a predetermined number of lanes, it is determined that the driving mode is changeable. The lane change control device, characterized in that. The method according to claim 1,
The processor,
If you are asked to change lanes while driving,
And determining whether to perform a lane change control according to a determination result of the lane change possibility. The method according to claim 9,
The processor,
A lane change control mode in which a lane change is possible, and when a lane change request is received from the user, lane change control is performed. The method according to claim 9,
The processor,
When the vehicle is temporarily turned off by the ISG (Integrated Starter Generator), the result of determining whether the vehicle can be changed to the vehicle is stored in the storage unit,
And a lane change control based on a result of determining whether the vehicle is changeable in the vehicle stored in the storage unit when the vehicle is started. A GPS receiver for receiving Global Positioning System (GPS) information;
A sensing module for providing surrounding detection information of the vehicle; And
A lane change control device determining whether a lane of the vehicle can be changed based on the GPS information and the surrounding detection information;
Vehicle system comprising a. The method according to claim 12,
The lane change control device,
And displaying a determination result of whether the vehicle can be changed into the vehicle. Receiving surrounding situation information;
Determining whether a lane can be changed according to road conditions based on the surrounding situation information; And
Displaying a determination result of whether the change is possible with the difference;
Lane change control method comprising a. The method according to claim 14,
Determining whether the change to the difference is possible,
The method of controlling the lane change, characterized in that the determination of the driving road determination state mode is possible when updating of the GPS reception information is possible or a map matching using the location information by the map information and the sensor is possible. The method according to claim 14,
Determining whether the change to the difference is possible,
Determining whether the vehicle is changeable by using at least one of whether the current driving road is a general road, whether a pedestrian or cyclist exists on the current driving road, whether a central divider is present, and the number of lanes of the driving road. Change control method by car. The method according to claim 16,
Determining whether the change to the difference is possible,
And the current driving road is a general road, the pedestrian or cyclist is present, or the current driving road is a primary road, and determines that the vehicle cannot be changed into a lane mode. The method according to claim 16,
Determining whether the change to the difference is possible,
When the current driving road is a vehicle-only road or a highway, the pedestrian or cyclist does not exist, the central divider exists, or the number of lanes of the driving road is more than a predetermined number of lanes, it is determined that the driving mode is changeable. The lane change control method, characterized in that. The method according to claim 14,
If you are asked to change lanes while driving,
Determining whether to perform a lane change control based on a determination result of whether the lane change is possible;
Lane change control method further comprising a. The method according to claim 14,
When the vehicle is temporarily turned off by the ISG (Integrated Starter Generator), the result of determining whether the vehicle can be changed to the vehicle is stored, and when the vehicle is started on, the vehicle is controlled based on the determination result of whether the vehicle can be changed to the previously stored vehicle. Steps to perform
Lane change control method further comprising a.

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