KR100469054B1 - Auto driving device with lane sensing - Google Patents

Auto driving device with lane sensing Download PDF

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Publication number
KR100469054B1
KR100469054B1 KR10-2002-0038560A KR20020038560A KR100469054B1 KR 100469054 B1 KR100469054 B1 KR 100469054B1 KR 20020038560 A KR20020038560 A KR 20020038560A KR 100469054 B1 KR100469054 B1 KR 100469054B1
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lane
driving
range
steering angle
setting
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KR10-2002-0038560A
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Korean (ko)
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KR20040003765A (en
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이재관
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현대모비스 주식회사
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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/10—Path keeping
    • B60Y2300/12—Lane keeping

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

본 발명은 차선감지 자동주행장치에 관한 것으로 주행차선의 범위를 일정 허용치이내에서 운전자의 의사에 의하여 설정할 수 있는 장치를 제공함에 그 목적이 있다.The present invention relates to a lane detecting autonomous driving apparatus, and an object thereof is to provide a device capable of setting a range of a driving lane by a driver's intention within a predetermined allowable value.

이를 위하여 본 발명은 주행차선을 영상신호로 감지하는 주행차선감지부와, 조향각을 검출하는 조향각센서와, 전체 시스템을 온, 오프시키는 메인스위치와, 시스템을 제어하는 컨트롤 유니트와, 상기 제어부의 출력신호에 의하여 구동되는 조향각액츄에이터를 구비하는 차선감지 자동주행장치에 있어서, 상기의 차선감지 자동주행장치는 주행차선의 범위를 일정 허용치이내에서 운전자의 의사에 의하여 설정할 수 있는 주행차선 범위설정수단과, 주행차선의 범위를 일정 허용치이내에서 운전자의 의사에 의하여 설정하는 경우 상기 설정치를 청각적인 수단으로 안내하는 음성발생수단과, 상기 설정치를 시각적인 수단으로 안내하는 표시수단과, 주행차선 범위설정수단에 의하여 설정된 범위이내에서 구동되는 조향각액츄에이터와, 상기 차선감지 자동주행장치를 온, 오프시키는 설정수단이 포함된 것에 특징이 있다.To this end, the present invention provides a driving lane detection unit for detecting a driving lane as an image signal, a steering angle sensor for detecting a steering angle, a main switch for turning on and off the entire system, a control unit for controlling the system, and an output of the controller. A lane detecting autonomous driving apparatus comprising a steering angle actuator driven by a signal, wherein the lane detecting autonomous driving apparatus includes: driving lane range setting means capable of setting a range of a driving lane by a driver's intention within a predetermined allowable value; When the range of the driving lane is set by the driver's intention within a certain allowable value, the voice generating means for guiding the set value to an audible means, the display means for guiding the set value to a visual means, and the driving lane range setting means. Steering angle actuator driven within the range set by the, and the lane detector It is characterized in that the setting means for turning the driving device on and off is included.

Description

차선감지 자동주행장치{ Auto driving device with lane sensing }Lane detection automatic driving device {Auto driving device with lane sensing}

본 발명은 차선감지 자동주행장치에 관한 것으로서, 보다 상세하게는 주행차선의 범위를 운전자의 의사에 의하여 설정할 수 있는 차선감지 자동주행장치에 관한 것이다.The present invention relates to a lane detecting autonomous driving apparatus, and more particularly, to a lane detecting autonomous driving apparatus capable of setting a range of a driving lane by a driver's intention.

일반적으로, 차선감지 자동주행장치는 자동차의 전방부에 설치되어 도로상에 인쇄된 차선을 영상신호로 촬영하는 CCD 카메라와, 상기 CCD 카메라에서 촬영된 아날로그의 영상신호를 디지털신호로 변환시켜 주는 A/D 컨버터와, 차선의 기울기에 따라 스티어링휠의 각도를 얼마나 변화시켜야 하는지에 따른 데이터를 포함하여 시스템의 제어에 필요한 소정의 프로그램 등이 저장되는 ROM과, 이전의 차선 기울기 등을 포함하여 각종 데이터를 일시적으로 저장하는RAM과, 자동 또는 수동으로 주행할 것인지를 선택하는 주행모드 선택 스위치와, 상기 주행모드 선택 스위치가 자동모드로 선택되면 소정 프로그램을 통하여 상기 A/D 컨버터에서 이미지 데이터로부터 차선의 기울기를 계산한 다음, 이전의 차선 기울기와 상호 비교하여 그 값을 산출한 후 미리 설정해 놓은 테이블로부터 그 값에 대응되는 조향각도를 찾아내어 액츄에이터 구동부로 출력신호를 발생시켜주는 제어부와; 상기 제어부의 출력신호에 응하여 액츄에이터를 구동시켜 자동차가 차선을 따라 진행되도록 스티어링휠의 각도를 조작시켜 주는 액츄에이터구동부로 구성하여 운전자가 필요에 의하여 스티어링휠을 놓더라도 자동차가 차선을 따라 자동으로 주행되도록 함으로써, 운전의 편의성 및 상품성을 향상시킬 수 있는 것이 있다.In general, a lane detecting autonomous driving apparatus is installed in a front part of a vehicle to scan a lane printed on a road as an image signal, and A to convert an analog image signal captured by the CCD camera into a digital signal. Various data including the / D converter, a ROM storing predetermined programs necessary for controlling the system, including data on how much the angle of the steering wheel should be changed according to the inclination of the lane, a previous lane inclination, and the like. RAM to temporarily store the driving mode, a driving mode selection switch for selecting whether to drive automatically or manually, and when the driving mode selection switch is selected as the automatic mode, the lanes from the image data in the A / D converter are transferred through a predetermined program. Calculates the slope, compares it with the previous lane slope, calculates the value, and then presets A control unit which finds a steering angle corresponding to the value from the table and generates an output signal to the actuator driver; In response to the output signal of the control unit is configured to drive the actuator to operate the steering wheel so that the car proceeds along the lane so that the driver is automatically driven along the lane even if the driver releases the steering wheel if necessary Thereby, there exists a thing which can improve the convenience of convenience and a commercial property.

그러나, 상기 차선감지 자동주행장치는 주행차선의 중앙을 추종(tracking)하도록 구성되어 있어 운전자의 운전특성에 의한 주행모드를 반영하기가 어렵다는 문제점이 있다.However, since the lane detecting autonomous driving device is configured to track the center of the driving lane, it is difficult to reflect the driving mode based on the driver's driving characteristics.

본 발명은 상기한 바와 같은 문제점을 해결하기 위하여 안출된 것으로서, 주행차선의 범위를 일정 허용치이내에서 운전자의 의사에 의하여 설정할 수 있는 차선감지 자동주행장치를 제공함에 그 목적이 있다.SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and an object thereof is to provide a lane detecting autonomous driving apparatus capable of setting a range of a driving lane by a driver's intention within a predetermined allowable value.

상기와 같이 함으로써 운전자의 개인적인 차량주행특성을 반영시킬 수 있고, 이로 인하여 보다 넓은 범위의 차량운전을 가능하게 할 수 있다.By doing this, it is possible to reflect the driver's personal vehicle driving characteristics, thereby enabling a wider range of vehicle driving.

도 1은 본 발명의 실시예에 따른 시스템구성을 나타내는 구성도.1 is a configuration diagram showing a system configuration according to an embodiment of the present invention.

도 2는 본 발명의 실시예에 따른 작동상태를 나타내는 플로우챠트.2 is a flowchart showing an operating state according to an embodiment of the present invention.

♣ 도면의 주요부분에 대한 부호의 설명 ♣♣ Explanation of symbols for main part of drawing ♣

101 : 메인스위치 102 : 주행차선 범위설정스위치101: main switch 102: driving lane range setting switch

103 : 조향각센서 104 : 주행차선 영상감지장치103: steering angle sensor 104: driving lane image detection device

105 : 컨트롤 유니트 106 : 음성발생장치105: control unit 106: sound generator

107 : 표시장치 108 : 조향각액츄에이터107: display device 108: steering angle actuator

S201 : 메인스위치 작동검출 단계S201: Main switch operation detection step

S202 : 주행차선 영상입력처리 단계S202: driving lane image input processing step

S203 : 조향각 입력처리 단계S203: steering angle input processing step

S204 : 주행차선 범위설정 입력처리 단계S204: driving lane range setting input processing step

S205 : 주행차선 범위설정 단계S205: driving lane range setting step

S206 : 주행차선 설정범위 음성발생장치구동 단계S206: driving lane setting range voice generator driving step

S207 : 주행차선 설정범위 표시장치구동 단계S207: driving lane setting range display device driving step

S208 : 조향각액츄에이터구동 단계S208: Steering Angle Actuator Driving Stage

상기한 바와 같은 목적을 달성하기 위한 본 발명에 따른 차선감지 자동주행장치는 주행차선을 영상신호로 감지하는 주행차선감지부와, 조향각을 검출하는 조향각센서와, 전체 시스템을 온, 오프(on-off)시키는 메인스위치(main switch)와, 시스템을 제어하는 컨트롤 유니트(control unit)와, 상기 제어부의 출력신호에 의하여 구동되는 조향각액츄에이터를 구비하는 차선감지 자동주행장치에 있어서,상기의 차선감지 자동주행장치는 운전자가 차선의 중앙으로부터 좌우최대 0.3m이내에서 차량의 중앙을 좌우로 조절하여 주행할 수 있도록 설정하는 스위치와 상기 스위치의 설정신호를 입력받아 차량을 차선의 중앙으로부터 좌우최대 0.3m이내에서 좌측 또는 우측으로 주행하게 하는 컨트롤 유니트를 포함하여 구성이 되는 것을 특징으로 하며 상기의 주행차선 범위설정수단의 스위치는 설정 눈금이 표시된 로터리타입의 스위치로 구성이 되고, 주행차선의 범위를 일정 허용치이내에서 운전자의 의사에 의하여 설정하는 경우 상기 설정치를 청각적인 수단으로 안내하는 음성발생수단과, 상기 설정치를 시각적인 수단으로 안내하는 표시수단과, 주행차선 범위설정수단에 의하여 설정된 범위이내에서 구동되는 조향각액츄에이터가 포함된 것을 특징으로 한다. The lane detection automatic driving device according to the present invention for achieving the above object is a driving lane detection unit for detecting a driving lane as an image signal, a steering angle sensor for detecting a steering angle, and the whole system on, off (on- in the off) lane detection automatic traveling apparatus having a main switch (main switch) and the control unit (control unit) for controlling the system, steering actuator driven by the output signal of the controller to, detection of the lane automatically The traveling device is a switch that allows the driver to drive by adjusting the center of the vehicle from side to side within a maximum of 0.3m from the center of the lane, and the vehicle receives a setting signal of the switch within a maximum of 0.3m from the center of the lane. Including the control unit for driving to the left or right side in the driving lane range The switch of the above setting means is composed of a rotary type switch marked with a setting scale, the voice generating means for guiding the set value to an audible means when setting the range of the driving lane within a certain allowable value by the driver's intention; And display means for guiding the set value to visual means, and a steering angle actuator driven within a range set by the driving lane range setting means.

이하, 본 발명의 바람직한 실시예에 대하여, 첨부 도면을 참조하여 설명한다.EMBODIMENT OF THE INVENTION Hereinafter, the preferred embodiment of this invention is described with reference to an accompanying drawing.

도 1은 본 발명의 실시예에 따른 시스템구성을 나타내고 있으며, 메인스위치(101)는 전체 시스템을 온, 오프시키는 기능을 하고 통상적으로는 스위치 온(on)시 스위치내에 포함된 LED가 점등되거나 계기판내에 지시등이 점등되어 시스템이 작동중임을 운전자로 하여금 인식할 수 있도록 한다.1 shows a system configuration according to an embodiment of the present invention, wherein the main switch 101 functions to turn on and off the entire system, and typically, an LED included in the switch is turned on or the instrument panel is switched on when the switch is turned on. An indicator light will illuminate within the operator to allow the driver to recognize that the system is operating.

주행차선 범위설정스위치(102)는 운전자가 차선의 중앙으로부터 좌우최대 0.3m이내에서 차량의 중앙을 좌우로 조절하여 주행할 수 있도록 설정하는 스위치로서 설정 눈금이 표시된 로터리(rotary)타입의 스위치가 적용되고 상기 로터리타입 스위치는 스위치의 중앙을 기준으로 좌로 돌려서 최대 0.3m까지 눈금이 표시되고 스위치의 중앙을 기준으로 우로 돌려서 최대 0.3m까지 눈금이 표시되어 있으며 상기 좌우 눈금치에 의하여 주행차선의 범위를 설정하도록 한다. 또한 로터리타입 스위치의 내부에는 일단에 전압이 인가된 가변저항이 내장되어 상기 스위치의 설정위치에 의하여 가변전압이 컨트롤 유니트로 송신되어 설정하고자 하는 주행차선의 범위를 정하게 한다.The driving lane range setting switch 102 is a switch that allows the driver to adjust the center of the vehicle from side to side within a maximum of 0.3 m from the center of the lane to drive the vehicle. The rotary type switch is displayed to the scale up to 0.3m by turning to the left of the switch, and the scale is displayed to 0.3m to the maximum by turning to the right of the center of the switch. Set it. In addition, a variable resistor having a voltage applied to one end of the rotary type switch is built in, so that the variable voltage is transmitted to the control unit by the setting position of the switch to determine the range of the driving lane to be set.

조향각센서(103)는 스티어링휠(steering wheel) 등에 부착되어 조향각을 검출한다.The steering angle sensor 103 is attached to a steering wheel or the like to detect the steering angle.

주행차선감지장치(104)는 자동차의 전방부에 설치되어 도로상에 인쇄된 차선을 영상신호로 촬영하는 CCD 카메라 등으로 구성되어 주행차선을 영상신호로 감지한다.The driving lane detecting apparatus 104 is configured by a CCD camera or the like installed in the front part of a vehicle and photographs a lane printed on a road as an image signal to detect the driving lane as an image signal.

컨트롤 유니트(105)는 차선정보추출 알고리즘을 이용하여 차선의 곡률 및 차선과의 거리를 판단하고, 상기 데이터와 현재 차량의 조향각센서로부터 휠각도정보 등을 입력받아 연산한 후 음성발생장치, 표시장치와 조향각액츄에이터를 제어한다.The control unit 105 determines the curvature of the lane and the distance between the lane by using the lane information extraction algorithm, receives the data and the wheel angle information from the steering angle sensor of the current vehicle, and calculates the voice. And steering angle actuator.

음성발생장치(106)는 주행차선의 범위를 일정 허용치이내에서 운전자의 의사에 의하여 설정하는 경우 상기 설정치를 스피커 등을 통하여 청각적으로 안내하며, 표시장치(107)는 상기 설정치를 계기판 또는 인스트루먼트 판넬(instrument panel)에 위치한 표시장치 등을 통하여 시각적인 수단으로 안내한다.When the range of the driving lane is set by the driver's intention within a certain allowable value, the sound generating device 106 guides the set value acoustically through a speaker or the like, and the display device 107 displays the set value on the instrument panel or the instrument panel. Use visual means such as a display unit located on the instrument panel.

조향각액츄에이터(108)는 모터(motor) 또는 솔레노이드(solenoid) 등으로 구성이 되며 주행차선 범위설정수단에 의하여 설정된 범위이내에서 휠의 각도를 구동시킨다.The steering angle actuator 108 is composed of a motor or a solenoid, and drives the angle of the wheel within a range set by the driving lane range setting means.

도 2는 본 발명의 실시예에 따른 작동상태를 나타내는 플로우챠트(flow chart)를 나타내고 있으며, 메인스위치의 작동을 검출하는 단계(S201)와, 주행차선의 영상을 입력받아 처리하는 단계(S202)와, 조향각의 신호를 입력받아 처리하는 단계(S203)와, 주행차선 범위설정 입력을 처리하는 단계(S204)와, 주행차선의 범위를 설정하는 단계(S205)와, 주행차선의 설정된 범위를 청각적으로 표시되도록 음성발생장치를 구동하는 단계(S206)와, 주행차선의 설정된 범위를 시각적으로 표시되도록 표시장치를 구동하는 단계(S207)와, 조향각액츄에이터를 구동하는 단계(208)로 순차적으로 컨트롤 유니트내의 프로그램에 의하여 이행이 된다.2 is a flowchart illustrating an operation state according to an exemplary embodiment of the present invention, in which an operation of the main switch is detected (S201), and an image of a driving lane is received and processed (S202). And receiving the signal of the steering angle (S203), processing the driving lane range setting input (S204), setting the range of the driving lane (S205), and hearing the set range of the driving lane. Step S206 of driving the voice generator so as to be displayed as a target, driving the display device to visually display the set range of the driving lane (S207), and driving the steering angle actuator 208 sequentially. This is implemented by the program in the unit.

상기한 바와 같이, 본 발명에 관한 차선감지 자동주행장치에 의하면, 주행차선의 범위를 일정 허용치이내에서 운전자의 의사에 의하여 설정할 수 있는 차선감지 자동주행장치를 제공하여 운전자의 개인적인 차량주행특성을 반영시킬 수 있고, 이로 인하여 보다 광범위한 차량운전을 가능하게 할 수 있다.As described above, according to the lane detection automatic driving device according to the present invention, by providing a lane detection automatic driving device that can set the range of the driving lane by the driver's intention within a certain allowable value to reflect the driver's personal vehicle driving characteristics This can allow for a wider range of vehicle operations.

Claims (7)

주행차선을 영상신호로 감지하는 주행차선감지부와, 조향각을 검출하는 조향각센서와, 전체 시스템을 온, 오프시키는 메인스위치와, 시스템을 제어하는 컨트롤 유니트와, 상기 제어부의 출력신호에 의하여 구동되는 조향각액츄에이터를 구비하는 차선감지 자동주행장치에 있어서,A driving lane detection unit for detecting a driving lane as an image signal, a steering angle sensor for detecting a steering angle, a main switch for turning the entire system on and off, a control unit for controlling the system, and an output signal from the controller In the lane detection automatic driving device having a steering angle actuator, 상기의 차선감지 자동주행장치는 운전자가 차선의 중앙으로부터 좌우최대 0.3m이내에서 차량의 중앙을 좌우로 조절하여 주행할 수 있도록 설정하는 스위치와 상기 스위치의 설정신호를 입력받아 차량을 차선의 중앙으로부터 좌우최대 0.3m이내에서 좌측 또는 우측으로 주행하게 하는 컨트롤 유니트를 포함하여 구성이 되는 것을 특징으로 하는 차선감지 자동주행장치.The lane detecting autonomous driving device is configured to allow a driver to drive the vehicle by adjusting the center of the vehicle from side to side within a maximum of 0.3m from the center of the lane, and receiving a setting signal of the switch to move the vehicle from the center of the lane. Lane detection automatic driving device comprising a control unit for driving to the left or right within a maximum of 0.3m left and right. 제 1 항에 있어서, 상기의 주행차선 범위설정수단은 설정 눈금이 표시된 로터리타입의 스위치로 구성이 되는 것을 특징으로 하는 차선감지 자동주행장치.2. The lane detecting autonomous driving apparatus according to claim 1, wherein the traveling lane range setting means comprises a rotary type switch having a setting scale. 제 1 항에 있어서, 상기의 차선감지 자동주행장치는 주행차선의 범위를 일정 허용치이내에서 운전자의 의사에 의하여 설정하는 경우 상기 설정치를 청각적인 수단으로 안내하는 음성발생수단이 포함된 것을 특징으로 하는 차선감지 자동주행장치.The method of claim 1, wherein the lane detection automatic driving apparatus includes voice generating means for guiding the set value to an audible means when the range of the driving lane is set by a driver's intention within a predetermined allowable value. Lane detection automatic driving device. 제 1 항에 있어서, 상기의 차선감지 자동주행장치는 주행차선의 범위를 일정 허용치이내에서 운전자의 의사에 의하여 설정하는 경우 상기 설정치를 시각적인 수단으로 안내하는 표시수단이 포함된 것을 특징으로 하는 차선감지 자동주행장치.The lane detecting apparatus according to claim 1, wherein the lane detecting autonomous driving apparatus includes display means for guiding the set value to visual means when the range of the driving lane is set by a driver's intention within a predetermined allowable value. Detection autopilot. 제 1 항에 있어서, 상기의 차선감지 자동주행장치는 주행차선 범위설정수단에 의하여 설정된 범위이내에서 구동되는 조향각액츄에이터가 포함된 것을 특징으로 하는 차선감지 자동주행장치.The lane detection autonomous driving apparatus according to claim 1, wherein the lane detection autonomous driving apparatus includes a steering angle actuator driven within a range set by the driving lane range setting means. 삭제delete 제 1 항에 있어서, 상기 컨트롤 유니트내의 프로그램은 메인스위치의 작동을 검출하는 단계와, 주행차선의 영상을 입력받아 처리하는 단계와, 조향각의 신호를 입력받아 처리하는 단계와, 주행차선 범위설정 입력을 처리하는 단계와, 주행차선의 범위를 설정하는 단계와, 주행차선의 설정된 범위를 청각적으로 표시되도록 음성발생장치를 구동하는 단계와, 주행차선의 설정된 범위를 시각적으로 표시되도록표시장치를 구동하는 단계와, 조향각액츄에이터를 구동하는 단계로 순차적으로 이행이 되는 것을 특징으로 하는 차선감지 자동주행장치.The method of claim 1, wherein the program in the control unit detects the operation of the main switch, receives and processes an image of a driving lane, receives and processes a signal of a steering angle, and inputs a driving lane range setting. Processing a step of setting a range of the driving lane, a step of setting a range of a driving lane, driving a voice generating device to visually display the set range of the driving lane, and driving a display device to visually display the set range of the driving lane. And a step of driving the steering angle actuator.
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