ES2859751T3 - Apparatus and method for controlling the driving of a vehicle - Google Patents

Abstract

Apparatus (100) for controlling the driving of a vehicle, the apparatus comprising: at least one input device (120) configured to receive an input from the driver of the vehicle; and a control circuit (140) electrically connected to the at least one input device (120), wherein the control circuit (140) is configured to: perform a lane keeping control in a vehicle driving lane during a first duration of time, when a first lane change entry is received from the driver through at least one entry device (120), when a second lane change entry is received from the vehicle through the at least one input device (120) after receiving the first input, perform a line access control so that the vehicle moves towards a line positioned in a direction of a target lane for lane change, after completion the lane keep control for the first time duration, and perform a lane entrance control towards the target lane when the lane access control is completed in e l term of a second duration of time.

Description

DESCRIPTION

Apparatus and method for controlling the driving of a vehicle

Cross reference to related requests

Countryside

The present invention relates to an apparatus and a method for providing a lane change function for a vehicle.

Background

The statements in this section merely provide background information related to the present invention and may not constitute prior art.

With the development of the automotive industry, an autonomous driving system and a driving assistance system have been developed, which partially allow autonomous driving, (hereinafter, autonomous driving and driving assistance are collectively referred to as “autonomous driving” for convenience of explanation). The autonomous driving system can provide various functions such as maintaining a set speed, maintaining a distance between vehicles, maintaining a lane, and changing lanes. The autonomous driving system can perform autonomous driving using various devices such as a sensor to detect the external environment of a vehicle, a sensor to detect information about the vehicle, a global positioning system (GPS), a detailed map, a system to detect the status of the driver, a steering actuator, an acceleration / deceleration actuator, a communication circuit, and a control circuit (eg, an electronic control unit (ECU)). The autonomous driving system can change lanes based, for example, on the driver's input. Document US 2017/240172 A1 discloses such a driving assistance system that provides both lane keeping and lane changing functions.

Summary

The present invention addresses a control strategy to ensure the safety of the driver of a vehicle that changes lane and the safety of the driver of a neighboring vehicle, when changing lanes. The control strategy may be time constrained and the need to consider various lane change cancellation conditions due to safety concerns.

The present invention has been made to solve the aforementioned problems that occur in the prior art, while keeping the advantages achieved by the prior art intact.

One aspect of the present invention provides an apparatus and a method for performing a vehicle control strategy, capable of ensuring the safety of one vehicle and the safety of a neighboring vehicle when changing lanes.

The technical problems to be solved by the present inventive concept are not limited to the problems mentioned above, and any other technical problems not mentioned herein will be clearly understood from the following description by those skilled in the art to which belongs to the present invention.

According to one aspect of the present invention, an apparatus for controlling the driving of a vehicle may include: at least one input device configured to receive an input from the driver of the vehicle, and a control circuit electrically connected to the at least one device input. The control circuit can perform a lane-keeping control in a driving lane of the vehicle for a first duration of time, when a first input to change lanes is received from the driver through the at least one input device, it can perform a line access control in such a way that the vehicle moves towards a line positioned in a direction of a target lane for lane change, after completion of the lane keep control for the first time duration, when receives a second lane change entry from the driver through the at least one entry device after receiving the first entry, and can perform lane entry control to the target lane when line access control is completed in the term of a second duration of time.

According to one form, the at least one input device may include a first input device and a second input device. The first input can be received through the first input device, and the second input can be received through the second input device.

According to another form, the first input device can be a turn signal lever, and the second input device Input can be a steering wheel, a switch or a button.

According to another form, the apparatus may further include an exit device, and the control circuit can issue a message associated with changing lanes through the exit device, when the first entry is received.

According to another exemplary way, the control circuit may stop the lane change, when a specified cancellation condition is satisfied while lane keeping control or line access control is being performed.

According to another form, the specified cancellation condition can be satisfied: when a dangerous situation is detected; when the driver turns off a system; when the system reaches a limit situation; when it is detected that the driver is hands-free; when the driver turns off a flashing light; when the lane change start is delayed; or when the lateral movement is discontinuous.

According to another way, the specified cancellation condition can be satisfied when it is predicted that it is impossible to complete the line access control within the period of the second time duration.

According to another way, the control circuit can stop the lane change and can continuously perform the lane keeping control in the driving lane, when the specified cancellation condition is satisfied during the lane keeping control.

According to another way, the control circuit can stop the lane change and can perform lane return control to return the vehicle to the center line of the driving lane in the driving lane, when the specified cancellation condition is satisfied during line access control.

According to another way, the control circuits can stop the lane return control, when the cancellation condition specified during the lane return control is canceled, and can perform the line access control, when the first entry and the second entry.

According to another form, the apparatus may further include an exit device, and the control circuits can issue a warning through the exit device and maintain lane entry control, when the cancellation condition specified during the lane control is satisfied. lane entrance.

According to another way, the specified cancellation condition can be satisfied when it is predicted that it is impossible to complete the lane entrance control for a third time duration.

According to another way, the control circuit can perform lane keeping control in the target lane, when the lane entrance control is completed within a third time duration.

According to another aspect of the present invention a method for controlling the driving of a vehicle may include: performing, by means of a control circuit, a lane keeping control in a driving lane of the vehicle for a first period of time, when it is received a first lane change entry from the driver of the vehicle; when a second lane change entry is received from the driver after receiving the first entry, perform a lane access control such that the vehicle moves towards a line positioned in a direction of a target lane for the lane change. lane, after the lane keeping check is completed for the first time duration; and performing, by means of the control circuit, a lane entrance control towards the target lane when the line access control is completed within a second time duration.

According to another form, the method may include stopping, by the control circuit, the lane change, when a specified cancellation condition is satisfied while lane keeping control or line access control is being performed.

According to an exemplary form, lane change stopping may include stopping the lane change and continuously performing lane keeping control in the driving lane, when the cancellation condition specified during the lane control is satisfied. lane keeping.

According to another exemplary way, stopping the lane change may include stopping the lane change and performing a lane return control to return the vehicle to the center line of the driving lane, when the specified cancellation condition is satisfied during line access control.

According to another form, the method may include stopping lane return control, when the cancellation condition specified during lane return control is canceled, and performing line access control, when the first and second inputs are received. entry.

According to another form, the method may further include issuing a warning through an output device, and maintaining the Lane entrance control, when the cancellation condition specified during lane entrance control is satisfied.

According to another form, the method may further include performing, by the control circuit, the lane keeping control in the target lane, when the lane entrance control is completed for a third duration of time. Additional areas of applicability will become apparent from the description provided herein. It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.

Drawings

In order that the invention may be well understood, various forms thereof, provided by way of example, will now be described with reference to the accompanying drawings, in which:

Figure 1 is a block diagram illustrating the component of an apparatus for controlling the driving of a vehicle;

Figure 2 is a block diagram illustrating the components included in a vehicle;

FIG. 3 is a view illustrating exemplary operation of an apparatus for controlling the driving of a vehicle;

FIG. 4 is a view illustrating exemplary operation of an apparatus for controlling the driving of a vehicle;

FIG. 5 is a view illustrating exemplary operation of an apparatus for controlling the driving of a vehicle;

Figure 6 is a flow chart illustrating a method of controlling the driving of a vehicle;

Figure 7 is a flow chart illustrating a method of controlling the driving of a vehicle; and

Figure 8 illustrates a block diagram illustrating a computer system for controlling the driving of a vehicle.

The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present invention in any way.

Detailed description

It should be understood that, throughout the drawings, corresponding reference numerals indicate similar or corresponding parts and features.

Furthermore, a detailed description of well-known features or functions will be discarded in the following description of the present invention in order not to unnecessarily obscure the spirit of the present invention.

In describing the exemplary shape components of the present invention, the terms 1st, 2nd, first, second, A, B, (a), (b), and the like may be used herein. These terms are only used to distinguish one component from another, but do not limit the corresponding components regardless of the order or priority of the corresponding components. Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meanings as those generally understood by those of ordinary skill in the art to which the present invention pertains. Such terms as those defined in a generally used dictionary should be construed as having the same meanings as contextual meanings in the relevant field of art, and should not be construed as having ideal or overly formal meanings unless clearly defined as having such in the present application. FIG. 1 is a block diagram illustrating the component of an apparatus for controlling the driving of a vehicle, in accordance with an exemplary form of the present invention.

Referring to Figure 1, according to the invention, an apparatus 100 for controlling the driving of a vehicle (vehicle driving control apparatus) includes a sensor 110, an input device 120, an output device 130 and a circuit 140 of control. The vehicle driving control apparatus 100 of FIG. 1 can be part of an autonomous driving system and can be mounted in the vehicle.

Sensor 110 is configured to detect information about an external environment of a vehicle and information about a vehicle having vehicle driving control apparatus 100 mounted thereon. The sensor 110 can detect an advancing vehicle, a rear vehicle, a lane line, other external object, and the like, and can detect vehicle speed, a steering angle, wheel speed, a rotational speed, and the like.

The input device 120 is configured to receive input from the driver of the vehicle. The input device 120 may be configured to receive, for example, a command to change lanes from the driver. The input device 120 may include, for example, a first input device and a second input device. The first input device can be, for example, a turn signal lever, and the second input device can be, for example, a steering wheel, a switch or a button. As another example, the vehicle may include an input device for receiving the command to change lanes, and the first input device and the second input device can be the same type of input devices.

The output device 130 is configured to broadcast information that is capable of being detected by the driver inside the vehicle. The output device 130 may include, for example, a speaker, a display element, and / or a vibration motor.

As not illustrated in FIG. 1, the vehicle driving control apparatus 100 may further include a steering device, an acceleration device, and a deceleration device.

Control circuit 140 is electrically connected to sensor 110, input device 120, and output device 130. Control circuit 140 can control sensor 110, input device 120, and output device 130, and can perform various data processing and various computations. The control circuit 140 may be, for example, an electronic control unit (ECU), a microcontroller unit (MCU), or a vehicle-mounted subcontroller.

According to another way, the control circuit 140 can perform a lane keeping control operation (lane keeping control). The control circuit 140 may, for example, perform lane keeping control using a driving assistance system on a dedicated vehicle road.

According to the invention, the control circuit 140 is configured to receive a first input from a driver to change lanes through the input device 120. The control circuit 140 may receive the first input through the first input device. For example, the control circuit 140 may receive an input for the turn signal lever by an action of the driver intending to change lanes.

In accordance with the invention, the control circuit 140 is configured to perform lane keeping control for a first duration of time, when the first input is received. The control circuit 140 may blink an intermittent light, when the first input is received. Control circuit 140 is configured to continuously perform lane keep control for the first duration of time (eg, one second) without instantly moving the vehicle in a lateral direction. The vehicle driving control apparatus 100 may notify the driver's intention to change lanes to a neighboring vehicle while continuously performing lane keeping control for the first duration of time. Consequently, safety can be ensured when changing lanes.

According to another exemplary form, the control circuit 140 may output a message associated with the lane change using the exit device 130, when the first entry is received. For example, the control circuit 140 may issue a lane change start notification message on a display element after receiving the first input.

According to another exemplary form, the control circuit 140 may stop the lane change, if a specified cancellation condition is satisfied while the lane keep control is being performed. For example, the specified cancel condition can be satisfied when a dangerous situation is detected (for example, breach of the safety distance), when the driver turns off a system, when a system reaches a limit situation (for example, the system does not detects a lane line), when the driver is detected to be hands-free, when the driver turns off a flashing light, when the start of the lane change is delayed (for example, within 10 seconds after the receives the first input), when the lateral movement is discontinuous. As another example, the cancel condition can be satisfied only when it is impossible to complete the line access control within a second length of time (eg, 5 seconds or 10 seconds). When it takes an excessively long time to perform line access control, security may be reduced. Accordingly, the cancellation condition described above can be established. For example, when the second entry is delayed after the first entry is received, it may be impossible to complete the line access control within the second length of time. In this case, the cancel condition can be satisfied while the line access control is in progress. The control circuit 140 can calculate an expected time (time to touch the line; TLC) that it takes to complete the line access control. When the calculated TLC is greater than a remaining time it takes to change lanes, it is determined that the cancellation condition. The TLC can be DLC / V ^and or LC. In this case, DLC, which stands for "distance to lane crossing", refers to a distance between a line and a first tire of the vehicle that crosses the line. The remaining time it takes to change lanes can be obtained by subtracting the time, which elapses from the first entry, from the second time duration.

According to another form, the control circuit 140 can stop the lane change and can continuously perform the lane keeping control, if a specified cancellation condition is satisfied while the lane keeping control is being performed. The control circuit 140 can turn off the blinker and can perform lane keeping control in a similar manner to the case before lane change. The control circuit 140 can automatically cancel the lane change, when the cancellation condition is satisfied and thus lane change is not safely.

In accordance with the invention, the control circuit 140 may receive a second input from a lane change driver through at least one input device 120 after the first input is received. The control circuit 140 may receive the second input through the second input device. For example, the control circuit 140 may receive an input for a steering wheel, a switch, or a button by an action of a driver intending to change lanes. The vehicle driving control apparatus 100 can accurately recognize the driver's intention to change lanes upon receiving the first entry and the second entry.

In accordance with the invention, the control circuit 140 is configured to perform a line access control operation (i.e., line access control) to move the vehicle towards a line positioned in a direction of a target lane to change gears. lane, after completion of the lane keeping check for the first time duration, when the second entry is received. For example, the control circuit 140 may perform line access control after continuously performing lane keeping control for the first time duration when the second input is received within the first time duration. As another example, the control circuit 140 may perform line access control immediately when the second input is received after the first time duration elapses. Line access control is a control operation of moving the vehicle towards the line, which is positioned in the direction of the target lane, in a lateral direction in a driving lane.

According to another form, the control circuit 140 may stop the lane change, if a specified cancellation condition is satisfied while the line access control is being performed. The cancellation condition set when the line access control is being performed may be the same as the cancellation condition set when the lane keeping control is being performed.

According to an exemplary way, the control circuit 140 can stop the lane change and can perform a lane return control operation (lane return control) on the driving lane such that the vehicle turns back. to the center line of the driving lane, when a specified cancellation condition is satisfied while line access control is in progress. The control circuit 140 can move the vehicle in the lateral direction towards the center line of the driving lane, when the cancellation condition is satisfied after the vehicle moves in the lateral direction in the driving lane, while the line access control. Lane control can be performed in the same way as lane keep control. When the lane return control is completed, the control circuit 140 can continuously perform lane keeping control.

According to an exemplary way, the control circuit 140 can stop the lane return control, when the specified cancellation condition is canceled while the lane return control is being performed, and can perform the line access control, when the first entry and second entry are received again. The cancel condition can be canceled while lane return control is in progress. While the cancellation condition is being canceled, the first entry and the second entry can be received again. In this case, the control circuit 140 can resume the line access control without completing the lane return control, that is, without moving the vehicle towards the center line of the driving lane for the purpose of improving control efficiency. .

In accordance with the invention, the control circuit 140 is configured to perform a control operation of entering a lane (i.e., a lane entrance control) towards a target lane, when the line access control is completed on time. of the second time duration. The control circuit 140 is configured to move the vehicle in the lateral direction toward the target lane such that the vehicle enters the target lane, when the vehicle sufficiently enters the lane. The control circuit 140 may align the vehicle such that lane keep control is possible after the vehicle enters the target lane while lane entry control is being performed. Lane entry control can be performed continuously until all vehicle wheels cross the line.

According to another form, the control circuit 140 can issue a warning through the exit device 130 and can continuously perform lane entrance control, when the specified cancellation condition is satisfied while lane entrance control is being performed. .

For example, the specified override condition can be satisfied when a dangerous situation is detected (for example, the breach of a safety distance), when the driver turns off a system, when a system reaches a limit situation (for example, the system does not detects a lane line), when the driver is detected to be hands-free, when the driver turns off a flashing light, when the start of the lane change is delayed (for example, within 10 seconds after the receives the first entry) or when the lateral movement is discontinuous. As another example, the cancellation condition can be satisfied only when it is impossible to complete the lane entrance control within a third time duration (eg, 5 seconds). When it takes an excessively long time to complete the lane entrance control, safety may be reduced. Accordingly, the cancellation condition described above can be established. The control circuit 140 may calculate an expected time (remaining until lane change; RTLC) it takes to complete the lane entrance control. When the RTLC is greater than the remaining time it takes to change lanes, it is determined that the cancel condition is satisfied. In this case, the RDLC can be DLT / V ^and LC. The RDLC, which represents the remaining distance until the lane change, can refer to a distance between a line and a last tire of the vehicle that crosses the line and, V ^and , LC can refer to an average lateral movement speed when changing rail. The remaining time it takes to change lanes can be obtained by subtracting the time, which elapses since the line breach, from the third time duration.

Since it may be more dangerous for the vehicle to return to a previous lane after lane entry control begins even though the cancel condition is satisfied, the control circuit 140 may issue a warning through the exit device 130 and may carry out continuous lane entrance control. The control circuit 140 can emit, for example, a visible warning, an acoustic warning and / or a tactile warning.

According to another way, the control circuit 140 can perform the lane keeping control in the target lane when the line access control is completed within the third time duration. The control circuit 140 can resume lane keeping control and can move the vehicle to the center line of the lane, when all the wheels of the vehicle enter the target lane. Accordingly, the lane change can be completed.

Figure 2 is a block diagram illustrating the components included in the vehicle, in accordance with an exemplary form of the present invention.

Referring to Figure 2, the vehicle may include a lane change assist device 210, an external vehicle information sensor 220, an internal vehicle information sensor 230, a driver input device 240, an HMI 250 and a path tracking device 260.

The lane change assist device 210 can be mounted on the vehicle. The lane change assist device 210 can determine whether the ability to perform lane change control exists, in response to driver input, and can perform steering control and acceleration / deceleration control for lane control. lane change. The lane change assist device 210 may include a lane change status determiner 211 and a target trajectory generator 212. The lane change status determiner 211 may determine the status associated with the lane change by fully considering whether driver input is present and whether lane change is possible. The target trajectory generator 212 may generate an appropriate trajectory for driving the vehicle, depending on the state associated with the lane change.

The external vehicle information sensor 220 may include a sensor, such as a camera, radar, or LiDAR, to detect a lane line and an object, and may include a sensor, such as a navigation, to determine an attribute. of a driving lane.

The internal vehicle information sensor 230 may detect the driving status of the vehicle and may include an acceleration sensor and a rotational speed sensor.

Driver input device 240 may include means for detecting intentional driver action in a steering system such as a steering torque switch and sensor.

The HMI 250 can display a screen such that the driver recognizes a lane status, which is changed, inside the vehicle.

The trajectory tracking device 260 may perform a control operation to follow a target trajectory through the control of an actuator such as a motor-driven power steering system (MDPS) or an electronic stability control (ESC).

Figure 3 is a view illustrating the operation of an apparatus for controlling the driving of a vehicle, according to the present invention.

Referring to Figure 3, a vehicle 310 may change lanes from a driving lane to a lane. objective. Vehicle 310 may flash an intermittent light when the first input is received. Vehicle 310 performs a lane keep check for at least the first duration of time after the first entry is received. Vehicle 310 begins line access control after lane keeping control is performed continuously for the first time duration, when the second entry is received within the first time duration. Vehicle 310 may immediately begin line access control when the second entry is received after the first time duration.

Vehicle 310 can perform line access control to a line interposed between the driving lane and the target lane. Vehicle 310 can travel in a lateral direction towards the line. Vehicle 310 can complete line access control within the second time duration.

Vehicle 310 performs lane entry control when lane access control is completed. Vehicle wheel 310 may traverse a line while lane entry control is in progress. Vehicle 310 can roll in a lateral direction toward the target lane. The vehicle entry control can be performed continuously from the time the vehicle wheel 310 begins to traverse the line to the time all the vehicle wheels 310 traverse the line.

Vehicle 310 can perform lane keep control when lane entrance control is completed. Vehicle 310 may travel in a lateral direction toward the centerline of the target lane. When vehicle 310 travels to the centerline of the target lane, vehicle 310 may turn off the blinker.

FIG. 4 is a view illustrating exemplary operation of a vehicle driving control apparatus of a vehicle according to another form of the present invention.

Referring to FIG. 4, a vehicle 410 may change lanes from a driving lane to a target lane. Vehicle 410 may flash an intermittent light when the first input is received. Vehicle 410 may begin a line access control when the second entry is received.

Vehicle 410 can perform line access control to a line interposed between the driving lane and the target lane. Vehicle 410 can travel in a lateral direction towards the line. The specified cancel condition can be satisfied while line access control is in progress.

When the cancel condition is satisfied, since it may be too dangerous for the vehicle 410 to change lanes, the vehicle 410 can stop the lane change and can perform a lane return check. Vehicle 410 can stop lane change, can turn off the blinker, and can roll in the lateral direction toward the center line of the driving lane. The lane return control can be performed in the same way as the lane keeping control manner.

When the lane return control is completed, the vehicle 410 can continuously perform the lane keeping control at the center line of the driving lane.

FIG. 5 is a view illustrating exemplary operation of a vehicle driving control apparatus in accordance with an exemplary form of the present invention.

Referring to FIG. 5, a vehicle 510 may change lanes from a driving lane to a target lane. Vehicle 510 may flash a blinker when the first input is received. Vehicle 510 may begin line access control when the second entry is received.

Vehicle 510 can perform line access control to a line interposed between the driving lane and the target lane. Vehicle 510 may travel in a lateral direction towards the line. The specified cancel condition can be satisfied while line access control is in progress.

When the cancellation condition is satisfied, since it is too dangerous for the vehicle 510 to change lanes, the vehicle 510 can stop the lane change and can perform a lane return check. The vehicle 510 can stop the lane change, can turn off the blinker, and can roll in the lateral direction toward the center line of the driving lane. The lane return control can be performed in the same way as the lane keeping control manner.

The vehicle 510 may perform the line access control again, when the cancellation condition is canceled during the lane return control and the first entry and the second entry are received again. Vehicle 510 can blink the blinker without completing lane return control and can resume line access control, for control efficiency.

Vehicle 510 can perform lane entry control when lane access control is completed.

Figure 6 is a flow chart illustrating a method for controlling the driving of a vehicle, according to another exemplary form of the present invention.

Hereinafter, it is assumed that a vehicle including the vehicle driving control apparatus 100 of FIG. 1 performs the procedure of FIG. 6. Furthermore, in the following description made with reference to FIG. 6, the Operation described as being performed by the vehicle can be understood as being controlled by the control circuit 140 of the vehicle driving control apparatus 100.

Referring to Figure 6, in step 610, the vehicle may receive a first entry to change lanes. The vehicle can continuously perform a lane keep check until the first entry is received. When the first input is received, the vehicle performs lane keeping control in the vehicle's driving lane for the first time duration, in operation 620. In operation 630, the vehicle may receive a second input to change gears. lane after first entry is received. The vehicle can continuously perform a lane keep check when the second entry is not received.

When the second entry is received, the vehicle performs a line access control such that the vehicle drifts towards a line positioned in a direction of a target lane after the first time duration, at step 640. At the In operation 650, the vehicle determines whether the line access control is completed within the second time duration. When the line access control is not completed within the second time duration, the vehicle can cancel the lane change and can perform the lane keeping control in the driving lane. When the line access control is completed within the second time duration, the vehicle performs lane entrance control towards the target lane, in operation 660. In operation 670, the vehicle can determine if it is completed. the control of entry to line within the period of the third duration of time. When the lane entrance control is not completed within the third time duration, the vehicle can perform the lane entrance control together with the warning, in operation 670. When the lane entrance control is completed in Within the third time duration, the vehicle can perform lane keeping check inside the target lane, in operation 690.

Figure 7 is a flow chart illustrating a method of controlling the driving of a vehicle, according to another form of the present invention.

Hereinafter, it is assumed that a vehicle including the vehicle driving control apparatus 100 of FIG. 1 performs the procedure of FIG. 7. Furthermore, in the following description made with reference to FIG. 7, the Operation described as being performed by the vehicle can be understood as being controlled by the control circuit 140 of the vehicle driving control apparatus 100.

Referring to FIG. 7, at step 705, the vehicle may perform a lane keep check. At step 710, the vehicle can determine if a first input is received from the driver. The vehicle can continuously perform lane keep control until the first entry is received. When the first input is received, the vehicle can perform a lane keep check, in operation 715. While the lane keep check is being performed in operation 715, the vehicle can determine if the cancel condition is satisfied in the operation 720. When the cancellation condition is satisfied, the vehicle can cancel the lane change and can continuously perform lane keeping control in operation 705. When the cancellation condition is not satisfied, the vehicle can perform continuous lane keeping control in operation 715.

While performing lane keeping check in operation 715, the vehicle can determine whether the second input from the driver is received in operation 725. When the second input is not received, the vehicle can continuously perform maintenance check in operation 715. When the second input is received, the vehicle can perform the line access control, in operation 730. While the line access control is being performed, the vehicle can determine whether the condition of cancellation in operation 735. When the cancellation condition is satisfied, the vehicle can cancel the lane change and can perform a lane return control in operation 740. When the cancellation condition is not satisfied, the vehicle can perform continuous line access control.

While lane return control is being performed, the vehicle can determine whether lane return is completed in operation 745. When lane return is completed, the vehicle can perform lane keep control in operation 705. While lane return control is being performed, the vehicle can determine whether the cancellation condition is canceled in operation 750. When the cancellation condition is canceled and when the first input from the driver is received, the vehicle can perform maintenance control lane in operation 715.

While the line access control is being performed, the vehicle can determine if the line access is completed in operation 755. When the line access is completed, the vehicle can perform a lane entrance control in operation 760. While lane entry control is being performed, the vehicle may determine if the cancellation condition is satisfied in operation 765. When the cancellation condition is satisfied, the vehicle it can maintain lane entrance control and can issue a warning in operation 770. When the cancellation condition is not satisfied, the vehicle can continuously perform line access control.

While lane entry control is in progress, the vehicle can determine if lane entry is completed in operation 775. Similarly, while lane entry control and warning issuance are being performed, the vehicle can determine whether lane entry is completed in operation 780. When lane entry is completed, the vehicle can perform lane keeping control in operation 705.

Figure 8 illustrates a computer system, according to another form of the present invention.

Referring to FIG. 8, a method according to an exemplary form of the present invention may be implemented through a computer system. A computer system 1000 may include at least a processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage 1600, and a network interface 1700, which are connected between yes through a 1200 bus.

Processor 1100 may be a central processing unit (CPU) or semiconductor device for processing instructions stored in memory 1300 and / or storage 1600. Each of memory 1300 and storage 1600 may include various types of storage media. volatile or non-volatile storage. For example, memory 1300 may include read-only memory (ROM) and random access memory (RAM).

Thus, the operations of the methods or algorithms described in connection with the forms disclosed in the specification can be implemented directly with a hardware module, a software module, or combinations thereof, executed by the processor 1100. The module of Software may reside on a storage medium (for example, memory 1300 and / or storage 1600) such as a RAM, a flash memory, a ROM, an erasable and programmable ROM (EPROM), an electrically EPROM (EEPROM), a registry, hard disk, removable disk, or compact disk-ROM (CD-ROM). Exemplary storage medium can be coupled to processor 1100. Processor 1100 can read information from the storage medium and can write information to the storage medium. Alternatively, the storage medium can be integrated with the processor 1100. The integrated processor and the storage medium can reside on an application-specific integrated circuit (ASIC). The ASIC can reside in a user terminal. Alternatively, the integrated processor and storage medium may reside as a separate component of the user terminal.

As described above, according to an exemplary form of the present invention, the vehicle driving control apparatus can provide a lane change strategy based on a specified limited time, thereby improving driver safety. Furthermore, the control strategy is modified depending on the cancellation condition that is satisfied, thereby providing security while improving control efficiency.

Furthermore, various effects can be produced directly or indirectly through the present invention.

Although the present invention has been described with reference to exemplary forms, it will be apparent to those skilled in the art that various changes and modifications can be made in accordance with the appended claims.

Claims (15)

i. Apparatus (100) for controlling the driving of a vehicle, the apparatus comprising: at least one input device (120) configured to receive input from the driver of the vehicle; and a control circuit (140) electrically connected to the at least one input device (120), wherein the control circuit (140) is configured to: perform a lane keeping control in a driving lane of the vehicle for a first period of time, when a first input to change lanes is received from the driver through at least one input device (120), when a second entry is received to change the lane coming from the vehicle through the at least one entry device (120) after receiving the first entry, perform a line access control so that the vehicle moves towards a line positioned in a direction of a target lane for lane change, after completion of the lane keep check for the first duration of time, and perform a lane entry control to the target lane when the lane access control is completed within a second time duration. Apparatus according to claim 1, wherein the at least one input device (120) includes: a first input device and a second input device, wherein the first input is received through the first input device, and wherein the second input is received through the second input device. Apparatus according to claim 1, wherein the at least one input device (120) includes: a first input device and a second input device configured to receive at least one of the first input and the second input, wherein the first input device and the second input comprise at least one of a turn signal lever, a steering wheel, a switch or a button. An apparatus according to claim 1, further comprising: an output device (130), wherein the control circuit (140) is configured to broadcast a message associated with the lane change through the output device (130), when the first input is received. Apparatus according to claim 1, wherein the control circuit (140) is configured to: stop lane change, when a specified cancellation condition is satisfied while lane keep control or line access control is in progress. Apparatus according to claim 5, wherein the specified cancellation condition is satisfied: when a dangerous situation is detected; when the driver turns off a system; when the system reaches a limit situation; when it is detected that the driver is hands-free; when the driver turns off a flashing light; when the start of the lane change is delayed; or when the lateral movement is discontinuous. Apparatus according to claim 5, wherein the specified cancellation condition is satisfied when it is predicted that it is impossible to complete the line access control within the second time duration. Apparatus according to claim 5, wherein the control circuit (140) is configured to: stop lane change and continuously perform lane keep control in the driving lane, when the cancellation condition specified during lane keep control is satisfied. Apparatus according to claim 5, wherein the control circuit (140) is configured to: stop the lane change and perform a lane return control to return the vehicle to the center line of the driving lane, when the cancellation condition specified during the line access control is satisfied. Apparatus according to claim 9, wherein the control circuit (140) is configured to: stop lane return control, when the cancellation condition specified during lane return control is canceled; and perform line access control, when the first entry and the second entry are received. Apparatus according to claim 1, further comprising: an output device (130), in which the control circuit (140) is configured to: issue a warning through the output device (130), and maintain lane entrance control, when a specified cancellation condition is satisfied during lane entrance control. Apparatus according to claim 11, wherein the specified cancellation condition is satisfied when it is predicted that it is impossible to complete the lane entrance control for a third duration of time. An apparatus according to claim 1, wherein the control circuit (140) is configured to: perform lane keep control in the target lane, when lane entrance control is completed within a third time duration. 14. Method to control the driving of a vehicle, comprising the method: performing, by means of a control circuit (140), a lane keeping control in the driving lane of the vehicle for a first duration of time, when a first input to change lanes is received from the driver of the vehicle; when a second lane change entry is received from the driver after receiving the first entry, perform, by means of the control circuit, a line access control in such a way that the vehicle moves towards a line positioned in a direction of a target lane for lane change, after lane keep control is completed for the first time duration; and perform, by means of the control circuit, a lane entrance control towards the target lane when the line access control is completed within a second duration of time. 15. The method of claim 14, further comprising: stopping, by the control circuit, the lane change, when a specified cancellation condition is satisfied while lane keeping control or line access control is being performed.