CN109969194B - Driving assistance system and method - Google Patents
Driving assistance system and method Download PDFInfo
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- CN109969194B CN109969194B CN201711455726.4A CN201711455726A CN109969194B CN 109969194 B CN109969194 B CN 109969194B CN 201711455726 A CN201711455726 A CN 201711455726A CN 109969194 B CN109969194 B CN 109969194B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention relates to a driving assistance system and method for a vehicle. The driving assistance system includes: an acquisition unit for acquiring curvature and lane information of a curved road ahead of a vehicle; a determination unit for determining whether a curvature of a curved road ahead of the vehicle is greater than a predetermined curvature threshold value, and whether a current lane of the vehicle is not an outermost lane with respect to the curved road ahead; and an execution unit for causing the vehicle to lane change to a lane further outside with respect to the curved road ahead than the current lane of the vehicle when the determination unit determines that the curvature of the curved road ahead of the vehicle is greater than a predetermined curvature threshold and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead.
Description
Technical Field
The present invention relates to the field of vehicles. More particularly, the present invention relates to a driving assistance system and method for a vehicle.
Background
When a curved road exists ahead of the vehicle during driving of the vehicle by the driver, the curved road causes a blind spot for the vehicle. In this case, if there is a vehicle traveling slowly or a vehicle stopped due to a failure at the curved road in front, the driver is likely to have insufficient reaction time to take an avoidance operation to cause an accident because the curved road creates a blind spot for the vehicle.
Therefore, a driving assistance system and method capable of assisting a driver in safe driving is desired.
Disclosure of Invention
The object of the present invention is a driving assistance system and method capable of assisting a driver in safe driving.
According to an aspect of the present invention, there is provided a driving assistance system for a vehicle, including:
an acquisition unit for acquiring curvature and lane information of a curved road ahead of a vehicle;
a determination unit for determining whether a curvature of a curved road ahead of the vehicle is greater than a predetermined curvature threshold value, and whether a current lane of the vehicle is not an outermost lane with respect to the curved road ahead; and
an execution unit for causing the vehicle to lane change to a lane further outside than the current lane of the vehicle with respect to the curved road ahead when the determination unit determines that the curvature of the curved road ahead of the vehicle is greater than a predetermined curvature threshold and that the current lane of the vehicle is not the outermost lane with respect to the curved road ahead.
According to an embodiment of the present invention, the execution unit includes lane changing means for causing the vehicle to automatically change to a lane further outside with respect to the curved road ahead than the current lane of the vehicle when the determination unit determines that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold and that the current lane of the vehicle is not the outermost lane with respect to the curved road ahead.
According to an embodiment of the present invention, when the determination unit determines that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold value and that the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, the lane changing device causes the vehicle to automatically change to a lane that is further outside with respect to the curved road ahead than the current lane of the vehicle until the vehicle changes to the outermost lane with respect to the curved road ahead.
According to an embodiment of the present invention, the acquisition unit includes detection means for detecting whether a curved road exists ahead of the vehicle, and detecting the curvature and lane information of the curved road ahead of the vehicle when it is detected that the curved road exists ahead of the vehicle.
According to the embodiment of the invention, the device further comprises a triggering unit, wherein the triggering unit is used for allowing the acquisition unit to start working under the condition that at least one of the following conditions is met: the speed of the vehicle is greater than a predetermined speed threshold; and the vehicle runs on a closed road.
According to an embodiment of the present invention, the execution unit includes a reminding device for reminding the driver of changing to an outermost lane with respect to the curved road when the determination unit determines that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead.
According to an embodiment of the invention, the alerting device comprises a visual alerting device and/or an acoustic alerting device.
According to an embodiment of the present invention, the lane change device includes a detection device for detecting a vehicle on a lane adjacent to a current lane of the vehicle.
According to another aspect of the present invention, there is also provided a vehicle including the above-described driving assistance system.
According to another aspect of the present invention, there is also provided a driving assistance method for a vehicle, including:
acquiring curvature and lane information of a curved road in front of a vehicle;
determining whether a curvature of a curved road ahead of the vehicle is greater than a predetermined curvature threshold and whether a current lane of the vehicle is not an outermost lane relative to the curved road ahead;
when it is determined that the curvature of the curved road ahead of the vehicle is greater than a predetermined curvature threshold value and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, the vehicle is caused to lane change to a lane that is further outside with respect to the curved road ahead than the current lane of the vehicle.
According to an embodiment of the present invention, when it is determined that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold value and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, the vehicle is caused to automatically lane change to a lane that is further outside with respect to the curved road ahead than the current lane of the vehicle.
According to an embodiment of the present invention, when it is determined that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold value and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, the vehicle is caused to automatically lane change onto a lane that is further outside with respect to the curved road ahead than the current lane of the vehicle until the vehicle changes to the outermost lane with respect to the curved road ahead.
According to an embodiment of the present invention, whether a curved road exists ahead of the vehicle is detected using the detecting means, and when it is detected that a curved road exists ahead of the vehicle, the curvature and lane information of the curved road ahead of the vehicle are detected.
According to the embodiment of the invention, the method further comprises prompting the driver to change the lane to the outermost lane relative to the front curved road when the curvature of the front curved road of the vehicle is judged to be larger than the preset curvature threshold value and the current lane of the vehicle is not the outermost lane relative to the front curved road.
According to an embodiment of the invention, the alert comprises a visual alert and/or an acoustic alert.
According to an embodiment of the present invention, a vehicle on a lane adjacent to a current lane of the vehicle is detected using a detection device.
Drawings
Fig. 1 shows a schematic view of a driving assistance system according to an embodiment of the invention.
Fig. 2 shows a flowchart of a driving assistance method according to an embodiment of the invention.
Detailed Description
Hereinafter, a specific embodiment of the driving assistance system and method according to the invention will be described with reference to the accompanying drawings. The following detailed description and drawings are included to illustrate the principles of the invention, which is not to be limited to the preferred embodiments described, but is to be defined by the appended claims.
The driving assistance system according to the embodiment of the invention may be mounted on or applied to a vehicle to assist a driver in driving safely.
Fig. 1 shows a schematic view of a driving assistance system according to an embodiment of the invention. The driving assist system according to the invention is described below with reference to fig. 1.
As shown in fig. 1, the driving assistance system 100 according to the present invention includes an acquisition unit 110, a determination unit 120, and an execution unit 130.
Hereinafter, the above-described units will be described in detail.
Acquisition unit 110
The acquisition unit 110 is used to acquire the curvature and lane information of a curved road ahead of the vehicle.
According to an embodiment of the present invention, the obtaining unit 110 may obtain information of the current position of the vehicle and the road on which the vehicle is located through a positioning device and a navigation device mounted on the vehicle, respectively. Specifically, the navigation device provides information of a road on which the vehicle is located, the information of the road including whether or not there is a curved road in front of the road, a road grade (e.g., an expressway, an ordinary road), and the like, based on the current position of the vehicle determined by the positioning device, and in the case where the navigation device determines that there is a curved road in front, the acquisition unit 110 acquires the curvature of the curved road in front of the vehicle and lane information, such as the number of lanes, the lane in which the vehicle is traveling being a center lane or a leftmost lane or a rightmost lane, and the like, from the navigation device.
According to a further embodiment of the present invention, the acquisition unit 110 includes a detection means for detecting whether a curved road exists ahead of the vehicle, and detecting the curvature and lane information of the curved road ahead of the vehicle when it is detected that the curved road exists ahead of the vehicle. Specifically, the detection device may be installed at the front and side of the vehicle, the detection device may include a sensor and a processing module that communicate with each other, the sensor may include a radar sensor, a laser sensor, an ultrasonic sensor, a camera, and the like, and the signal processing module processes a signal from the sensor. Still images/stereoscopic images/moving images of the road may be obtained using sensors installed at the front and side of the vehicle. Then, the sensor and the signal processing module perform wired/wireless communication to transfer the still image/stereoscopic image/moving image to the signal processing module. Next, the signal processing module processes and analyzes the still image/stereoscopic image/moving image. For example, the signal processing module first recognizes a lane line in the still image/stereoscopic image/moving image, then determines whether a curved road exists ahead according to the recognized lane line, and in case it is recognized that the curved road exists ahead, recognizes the curvature of the curved road ahead and lane information, such as the number of lanes, the lane in which the vehicle travels being a middle lane or a leftmost lane or a rightmost lane, and the like.
Judging unit 120
The determination unit 120 is configured to determine whether the curvature of the curved road ahead of the vehicle is greater than a predetermined curvature threshold value, and whether the current lane of the vehicle is not the outermost lane with respect to the curved road ahead. According to an embodiment of the present invention, the determination unit 120 may be in wired/wireless communication with the acquisition unit 110 to obtain the curvature and lane information of the front curved road, on the basis of which the determination unit 120 compares the curvature of the front curved road with a predetermined curvature threshold (e.g., 1/40 m)-1) To determine whether the curvature of the curved road ahead is greater than a predetermined curvature threshold, and, if the curved road ahead is left-curved, thenAnd if the front curved road is curved to the right, the leftmost lane is the outermost lane relative to the front road, so that whether the current lane of the vehicle is not the outermost lane relative to the front curved road is judged.
Execution unit 130
The execution unit 130 is configured to cause the vehicle to lane change to a lane further outside with respect to the curved road ahead than the current lane of the vehicle when the determination unit determines that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead.
In an embodiment according to the present invention, the execution unit 130 may include a lane change device. The lane-changing device is configured to cause the vehicle to automatically change to a lane that is further outside with respect to the curved road ahead than the current lane of the vehicle when the determination unit 120 determines that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold and that the current lane of the vehicle is not the outermost lane with respect to the curved road ahead.
The lane-changing device of the execution unit 130 is described in detail below.
According to an embodiment of the present invention, the lane-changing device may be in wired/wireless communication with the determination unit 120 to obtain the determination result of the determination unit 120, i.e., whether the curvature of the curved road ahead of the vehicle is greater than a predetermined curvature threshold value and whether the current lane of the vehicle is not the outermost lane with respect to the curved road ahead. When the lane-changing device obtains the determination result from the determination unit 120 that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold value and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, the lane-changing device further acquires from the determination unit 120 whether the lane further outside with respect to the curved road ahead is the left-hand lane or the right-hand lane of the current lane of the vehicle than the current lane of the vehicle. According to a further embodiment of the present invention, when the lane change apparatus obtains from the determination unit 120 the determination result that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold value and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, the lane change apparatus may also wire/wirelessly communicate with the acquisition unit 110 to obtain the curvature and lane information of the curved road ahead and acquire on the basis thereof whether the lane further outside with respect to the curved road ahead is the left side lane or the right side lane of the current lane of the vehicle than the current lane of the vehicle.
According to an embodiment of the present invention, the lane change device includes a detection device for detecting a vehicle on a lane adjacent to a current lane of the vehicle, and particularly, the detection device may be installed at a rear portion and a side portion of the vehicle, and the detection device may include a sensor including a radar sensor, a laser sensor, an ultrasonic sensor, a camera, and the like, and a signal processing module that communicate with each other. Two examples are given below.
In one example, the detection device of the lane-changing device includes a camera and a signal processing module, and a still image and a moving image of the side and rear of the vehicle can be obtained using the camera installed at the side and rear of the vehicle. Then, the camera and the signal processing module communicate wired/wireless so as to transfer the still image and the moving image to the signal processing module. Next, the signal processing module processes and analyzes the still image and the moving image, for example, the signal processing module identifies whether there are other vehicles on the side of the vehicle in the still image (i.e., whether there are other vehicles on a lane adjacent to the current lane of the vehicle), and identifies whether there are other vehicles behind the still image vehicle, and, upon identifying that there are other vehicles behind the vehicle, identifies the speed of the vehicle behind the vehicle in the moving image. If it is recognized in the still image that there is no vehicle on the side of the vehicle and there is no vehicle behind the vehicle or the speed of the vehicle behind the vehicle is lower than a predetermined speed threshold (e.g., lower than 40km/h), the lane-changing device determines that the current situation is suitable for lane-changing, i.e., when the determination unit 120 determines that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, causes the vehicle to automatically change to a lane further outside with respect to the curved road ahead than the current lane of the vehicle. If the vehicle is identified to be present at the side of the vehicle in the static image, the signal processing module of the lane changing device further identifies whether the lane where the side vehicle is located is adjacent to the current lane of the vehicle in the static image, if the lane where the side vehicle is located is adjacent to the current vehicle of the vehicle, the signal processing module of the lane changing device further identifies whether the lane where the side vehicle is located is an outer lane relative to the current lane of the vehicle, if so, the lane changing device determines that the current situation is not suitable for lane changing, otherwise, the lane changing device determines that the current situation is suitable for lane changing; if the lane where the side vehicle is located is not adjacent to the current vehicle of the vehicle, further identifying in the still image whether there is a vehicle behind the vehicle, if there is no vehicle behind the vehicle or the speed of the vehicle behind the vehicle is below a predetermined speed threshold (e.g., below 40km/h), the lane-changing device determines that the current situation is suitable for lane-changing, otherwise, the lane-changing device determines that the current situation is not suitable for lane-changing.
In another example, the detection device of the lane-changing device includes a laser sensor and a signal processing module, and stereoscopic images of the side and rear of the vehicle may be obtained using the laser sensors mounted at the side and rear of the vehicle. Then, the laser sensor and the signal processing module communicate wired/wireless so that the stereoscopic image is transferred to the signal processing module. Next, the signal processing module processes and analyzes the stereo image, for example, the signal processing module identifies whether there is another vehicle at the side of the vehicle in the stereo image (i.e., whether there is another vehicle on the lane adjacent to the current lane of the vehicle), and identifies whether there is another vehicle behind the still image vehicle, and when it is identified that there is another vehicle behind the vehicle, the speed of the vehicle behind the vehicle is obtained through the stereo image behind the vehicle obtained at a certain time interval, and the principle that the lane change device determines whether the current situation is suitable for lane change is the same as the above-described embodiment, and is not described here again to avoid redundancy. Those skilled in the art will appreciate that other sensors such as ultrasonic sensors may be selected in place of the laser sensor in the above embodiments.
In another example, when the determination unit 120 determines that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold and that the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, the lane changing device causes the vehicle to automatically change to a lane that is further outside with respect to the curved road ahead than the current lane of the vehicle until the vehicle changes to the outermost lane with respect to the curved road ahead.
The execution unit 130 may also include a reminder device. The reminding device is used for reminding the driver of changing to the outermost lane relative to the front curved road when the judging unit 120 judges that the curvature of the front curved road of the vehicle is larger than the preset curvature threshold value and the current lane of the vehicle is not the outermost lane relative to the front curved road.
The reminder device is described in detail below.
According to an embodiment of the present invention, the warning device may be in wired/wireless communication with the determination unit 120 to obtain the determination result of the determination unit 120, that is, whether the curvature of the curved road ahead of the vehicle is greater than a predetermined curvature threshold and whether the current lane of the vehicle is not the outermost lane with respect to the curved road ahead. When the reminder obtains from the determination unit 120 the determination result that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold value and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, the reminder further acquires from the determination unit 120 whether the lane further outside with respect to the curved road ahead is the left-hand lane or the right-hand lane of the current lane of the vehicle than the current lane of the vehicle. According to a further embodiment of the present invention, when the reminder device obtains from the determination unit 120 the determination result that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold value and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, the reminder device may also wire/wirelessly communicate with the obtaining unit 110 to obtain the curvature and lane information of the curved road ahead and obtain on the basis thereof whether the lane further outside with respect to the curved road ahead is the left side lane or the right side lane of the current lane of the vehicle than the current lane of the vehicle.
According to an embodiment of the invention, the reminder device comprises a visual reminder device and/or an acoustic reminder device. For example, the acoustic warning device may include a unit capable of issuing an audible warning, when the determination unit 120 determines that the curvature of the curved road ahead of the vehicle is greater than a predetermined curvature threshold and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, an audible warning such as "suggest that the vehicle change lane to the leftmost/rightmost lane" is issued. For another example, the visual alert device may include a unit capable of light-emitting alert, graphic alert, and text alert, and display text such as "suggest vehicle lane change to leftmost/rightmost lane" or graphic indicating change to leftmost/rightmost lane and light when the determination unit 120 determines that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead.
Optionally, the driving assistance system according to the invention further comprises a triggering unit. The trigger unit is configured to allow the obtaining unit 110 to start operating when the trigger condition is satisfied. According to an embodiment of the invention, the triggering condition may comprise that the speed of the vehicle is greater than a predetermined speed threshold, which may be detected, for example, by a vehicle speed sensor of the vehicle or the like. According to an embodiment of the present invention, the triggering condition may further include that the vehicle is traveling on a closed road (e.g., an expressway, etc.), which may be detected by a navigation device of the vehicle, for example.
As an alternative, the trigger condition may also include a manual trigger, which may be obtained, for example, by detecting a trigger instruction input by the driver of the vehicle through a button, touch, voice, or the like. For example, an operation interface may be provided at a dashboard or other operable location of the vehicle to enable a driver of the vehicle to select whether to manually input a trigger instruction during travel of the vehicle.
Fig. 2 shows a flowchart of a driving assistance method according to an embodiment of the invention. The driving assistance method according to the invention is described below with reference to fig. 2.
In step S210, curvature and lane information of a curved road ahead of the vehicle are acquired. According to the embodiments of the present invention, it is possible to obtain the current position of the vehicle and the information of the road on which the vehicle is located, including whether or not there is a curved road in front of the road, the road grade (e.g., an expressway, a general road), etc., by the positioning device and the navigation device mounted on the vehicle, respectively, and in the case where the navigation device determines that there is a curved road in front, the curvature of the curved road in front of the vehicle and the lane information, such as the number of lanes, the lane in which the vehicle is traveling being the center lane or the leftmost lane or the rightmost lane, etc., are obtained from the navigation device. According to a further embodiment of the present invention, detecting whether a curved road exists in front of the vehicle using the detecting means and detecting the curvature and lane information of the curved road in front of the vehicle upon detecting that the curved road exists in front of the vehicle, the detection principle has been described in detail in the section of the driving assistance system and will not be described here again to avoid redundancy.
In step S220, it is determined whether the curvature of the curved road ahead of the vehicle is greater than a predetermined curvature threshold value, and whether the current lane of the vehicle is not the outermost lane with respect to the curved road ahead. According to an embodiment of the present invention, the curvature and lane information of the front curved road may be obtained from the above steps, on the basis of which the curvature of the front curved road is compared with a predetermined curvature threshold (e.g., 1/40 m)-1) To determine whether the curvature of the curved road ahead is greater than a predetermined curvature threshold value, and if the curved road ahead is curved leftward, the rightmost lane is the outermost lane with respect to the road ahead, and if the curved road ahead is curved rightward, the leftmost lane is the outermost lane with respect to the road ahead, thereby determining whether the current lane of the vehicle is not the outermost lane with respect to the curved road ahead.
If it is determined in step S220 that the curvature of the curved road ahead of the vehicle is not greater than the predetermined curvature threshold and/or that the current lane of the vehicle is the outermost lane with respect to the curved road ahead, the method may return to step S210 to continue to acquire the curvature and lane information of the curved road ahead of the vehicle. If it is determined in step S220 that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold value and the current lane of the vehicle is the outermost lane with respect to the curved road ahead, the method proceeds to step S230.
In step S230, when it is determined that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold value and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, the vehicle is caused to lane change to a lane that is more outside with respect to the curved road ahead than the current lane of the vehicle. In an embodiment according to the present invention, when it is determined that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold value and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, the vehicle is caused to automatically lane change to a lane that is further outside with respect to the curved road ahead than the current lane of the vehicle. This step is described in detail below. According to the embodiment of the present invention, the determination result of the above-described steps, i.e., whether the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold value and whether the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, is first obtained. When the curvature of the curved road ahead of the vehicle is greater than a predetermined curvature threshold value and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead as a result of the determination, it is further acquired whether the lane further outside with respect to the curved road ahead is the left-side lane or the right-side lane of the current lane of the vehicle than the current lane of the vehicle. According to a further embodiment of the present invention, when the obtained determination result is that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold value and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, the curvature and the lane information of the curved road ahead may be obtained, and on this basis, whether the lane further outside with respect to the curved road ahead is the left side lane or the right side lane of the current lane of the vehicle than the current lane of the vehicle is acquired. According to a further embodiment of the invention, the detection device is used for detecting a vehicle in a lane adjacent to a current lane of the vehicle, the detection principle having been explained in detail in the section of the driving assistance system and will not be described here in detail to avoid redundancy.
According to an embodiment of the present invention, when it is determined that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold value and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, the vehicle is caused to automatically lane change onto a lane that is further outside with respect to the curved road ahead than the current lane of the vehicle until the vehicle changes to the outermost lane with respect to the curved road ahead.
In the driving assistance method according to the invention, the following steps may also be included: when it is determined that the curvature of the curved road ahead of the vehicle is greater than a predetermined curvature threshold value and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, the driver is reminded to lane change to the outermost lane with respect to the curved road ahead. According to an embodiment of the invention, the alert comprises a visual alert and/or an acoustic alert. For example, the acoustic alert may include being capable of sounding a sound such as "suggest that the vehicle change lane to the leftmost/rightmost lane" when it is determined that the curvature of the curved road ahead of the vehicle is greater than a predetermined curvature threshold and the current lane of the vehicle is not the outermost lane relative to the curved road ahead. For another example, the visual alert may include making a light-emitting alert, a graphic alert, and a text alert, displaying text such as "suggest vehicle lane change to leftmost/rightmost lane" or a graphic representing lane change to leftmost/rightmost lane and emitting light when it is determined that the curvature of the curved road ahead of the vehicle is greater than a predetermined curvature threshold and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead.
According to the embodiment of the present invention, before performing step S210 (acquiring curvature and lane information of a curved road ahead of a vehicle), it may be determined whether a trigger condition is satisfied, and in a case where it is determined that the trigger condition is satisfied, the driving assistance method automatically starts to perform the steps. As an alternative, the driving assistance method may also be initiated manually by the driver of the vehicle to start executing the steps.
As described above, although the exemplary embodiments of the present invention have been described in the description with reference to the drawings, the present invention is not limited to the above-described embodiments, and the scope of the present invention should be defined by the claims and their equivalents.
Claims (16)
1. A driving assistance system for a vehicle, characterized by comprising:
an acquisition unit for acquiring curvature and lane information of a curved road ahead of a vehicle;
a determination unit for determining whether a curvature of a curved road ahead of the vehicle is greater than a predetermined curvature threshold value, and whether a current lane of the vehicle is not an outermost lane with respect to the curved road ahead; and
an execution unit for causing the vehicle to lane change to a lane further outside than the current lane of the vehicle with respect to the curved road ahead when the determination unit determines that the curvature of the curved road ahead of the vehicle is greater than a predetermined curvature threshold and that the current lane of the vehicle is not the outermost lane with respect to the curved road ahead.
2. The driving assist system according to claim 1, wherein the execution unit includes lane changing means for causing the vehicle to automatically change to a lane further outside with respect to the curved road ahead than the current lane of the vehicle, when the determination unit determines that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead.
3. The driving assist system according to claim 2, wherein when the determination unit determines that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold value and that the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, the lane changing device causes the vehicle to automatically change to a lane that is further outside with respect to the curved road ahead than the current lane of the vehicle until the vehicle changes to the outermost lane with respect to the curved road ahead.
4. The driving assist system according to claim 3, wherein the acquisition unit includes detection means for detecting whether a curved road exists ahead of the vehicle, and detecting the curvature and lane information of the curved road ahead of the vehicle when it is detected that the curved road exists ahead of the vehicle.
5. The driving assistance system according to claim 4, further comprising a triggering unit configured to allow the acquisition unit to start operating when at least one of the following conditions is satisfied:
the speed of the vehicle is greater than a predetermined speed threshold; and
the vehicle runs on a closed road.
6. The driving assist system according to claim 1, wherein the execution unit includes a warning device for warning the driver to change to an outermost lane with respect to the curved road ahead when the determination unit determines that the curvature of the curved road ahead of the vehicle is greater than the predetermined curvature threshold and that the current lane of the vehicle is not the outermost lane with respect to the curved road ahead.
7. The driving assistance system according to claim 6, wherein the warning device includes a visual warning device and/or an acoustic warning device.
8. The driving assist system according to claim 2, wherein the lane change means includes detection means for detecting the vehicle on a lane adjacent to a current lane of the vehicle.
9. A vehicle characterized by comprising the driving assist system according to any one of claims 1 to 8.
10. A driving assistance method for a vehicle, characterized by comprising:
acquiring curvature and lane information of a curved road in front of a vehicle;
determining whether a curvature of a curved road ahead of the vehicle is greater than a predetermined curvature threshold and whether a current lane of the vehicle is not an outermost lane relative to the curved road ahead;
when it is determined that the curvature of the curved road ahead of the vehicle is greater than a predetermined curvature threshold value and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead, the vehicle is caused to lane change to a lane that is further outside with respect to the curved road ahead than the current lane of the vehicle.
11. The drive assist method according to claim 10, wherein when it is determined that the curvature of the curved road ahead of the vehicle is greater than a predetermined curvature threshold value and the current lane of the vehicle is not an outermost lane with respect to the curved road ahead, the vehicle is caused to automatically lane change to a lane that is further outside with respect to the curved road ahead than the current lane of the vehicle.
12. The drive assist method according to claim 11, wherein when it is determined that the curvature of the curved road ahead of the vehicle is greater than a predetermined curvature threshold and the current lane of the vehicle is not an outermost lane with respect to the curved road ahead, the vehicle is caused to automatically lane change to a lane that is further outside with respect to the curved road ahead than the current lane of the vehicle until the vehicle changes to the outermost lane with respect to the curved road ahead.
13. The driving assist method according to claim 12, wherein it is detected whether a curved road exists ahead of the vehicle using a detecting device, and when it is detected that a curved road exists ahead of the vehicle, a curvature and lane information of the curved road ahead of the vehicle are detected.
14. The driving assist method according to claim 10, further comprising prompting the driver to change lane to an outermost lane with respect to the curved road ahead when it is determined that the curvature of the curved road ahead of the vehicle is greater than a predetermined curvature threshold and the current lane of the vehicle is not the outermost lane with respect to the curved road ahead.
15. The driving assistance method according to claim 14, wherein the reminder includes a visual reminder and/or an acoustic reminder.
16. The driving assist method according to claim 11, wherein the vehicle on a lane adjacent to a current lane of the vehicle is detected using a detection device.
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| JP2002342900A (en) * | 2001-05-21 | 2002-11-29 | Toyota Motor Corp | Travel supporting device |
| US8428843B2 (en) * | 2008-06-20 | 2013-04-23 | GM Global Technology Operations LLC | Method to adaptively control vehicle operation using an autonomic vehicle control system |
| KR101356203B1 (en) * | 2008-07-07 | 2014-01-24 | 현대자동차주식회사 | Aytomomous travelling controll system |
| JP2011065219A (en) * | 2009-09-15 | 2011-03-31 | Toyota Motor Corp | Device for estimation of road curvature |
| JP5601224B2 (en) * | 2010-03-04 | 2014-10-08 | 株式会社デンソー | Road shape learning device |
| KR20160115448A (en) * | 2015-03-27 | 2016-10-06 | 주식회사 만도 | Driving assistant system in a vehicle and method thereof |
| JP6506625B2 (en) * | 2015-05-29 | 2019-04-24 | 株式会社デンソー | Driving support device and driving support method |
| DE102016000185A1 (en) * | 2016-01-11 | 2017-07-13 | Trw Automotive Gmbh | Control system and method for determining a lane of a subsequent motor vehicle |
| CN106379237B (en) * | 2016-09-30 | 2018-08-21 | 西南交通大学 | Vehicle lane-changing overall process DAS (Driver Assistant System) based on augmented reality |
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