KR101391606B1 - Apparatus for controlling vehicle and method for controlling vehicle thereof - Google Patents

Abstract

The present invention provides a vehicle control apparatus and a vehicle control method thereof. The vehicle control apparatus comprises an object detection unit that detects a current object in the vicinity of a subject vehicle which is in driving in an underground parking lot; a control unit that is supplied with the current object which is detected by the object detection unit and includes an access information range from a pre-set reference object; a first determination unit that determines whether the current object which is detected by the object detection unit is within the access information range from the reference object according to control of the control unit; and a first recognition unit that discerns a situation of collision with the current object according to the control of the control unit in case where the current object determined by the first determination unit is within the access information range from the reference object.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle control apparatus,

The present invention relates to a vehicle control apparatus and a vehicle control method thereof.

In general, when a conventional vehicle is running in an alleyway, an underground parking lot, or a narrow passage, an inexperienced driver has to operate while preventing a collision with a current object.

Such a conventional vehicle has a problem that fatigue is piled up due to stress on driving, and serious collision with a current object can not be prevented beforehand, which has a problem of damaging the passenger's life.

Accordingly, in recent years, when a collision situation occurs in any one of an alleyway, an underground parking lot, and a narrow passage, it is identified that the collision situation with the current object is in advance and the collision with the current object is prevented in advance, There has been a continuous study on an improved vehicle control apparatus and a vehicle control method therefor.

SUMMARY OF THE INVENTION It is an object of the present invention to make it possible to identify a collision situation with a current object when a collision situation occurs according to an access state of the current object in an alley, an underground parking lot, or a narrow passage, Which can protect the passenger's life, and a vehicle control method for the vehicle.

Another object of the present invention is to provide a vehicle control system capable of preventing collision with a current object more effectively because it is possible to identify the presently possible lane when the presently possible lane can be regarded as the reference travelable lane information range And a vehicle control method thereof.

It is a further object of the present invention to provide a lane keeping apparatus and a lane keeping apparatus which can maintain a lane by adjusting a lane of a lane in which the lane of the lane of the lane is maintained to the reference lane keeping interval range to further prevent collision with the current lane, And a vehicle control method thereof.

It is a further object of the present invention to provide a vehicle speed control system and a vehicle speed control method for controlling a speed of a subject vehicle traveling in a driving lane in accordance with a reference speed level range so that collision with a current object can be prevented further, And a vehicle control method therefor.

In order to accomplish the above object, the present invention provides an object detection apparatus comprising: an object detection unit for detecting a current object in a vicinity of a vehicle, which is running in an alley, an underground parking lot, or a narrow passage; A control unit receiving a current object detected by the object detection unit and including an access information range with the already set reference object; A first judging unit for judging whether the current object detected by the object detecting unit is in the access information range with the reference object under the control of the controller; And a first identification unit for identifying a collision situation with the current object under the control of the control unit when the current object determined by the first determination unit is in the access information range with the reference object.

According to another aspect of the present invention, the control unit further includes the already set reference travelable lane information range; Further comprising: a travelable lane sensing section for sensing a current lane capable of traveling around the subject vehicle when the current object determined by the first determination section is out of the access information range with the reference object; Further comprising: a second determination unit for determining, based on the control of the control unit, whether the current driveable lane sensed by the driveable lane sensing unit is in the reference driveable lane information range; And a second identification unit for identifying the currently-travelable lane according to the control of the control unit when the current driveable lane determined by the second determination unit is the reference driveable lane information range.

According to another aspect of the present invention, the control unit further includes a reference lane keeping interval range that is already set; And a lane keeping unit for keeping the lane by keeping the lane keeping interval within the reference lane keeping interval range according to the control of the control unit when the current object determined by the first determining unit is the access information range with the reference object.

According to another aspect of the present invention, the control unit further includes a predetermined reference speed level range; And a speed adjusting unit for adjusting the speed of the subject vehicle under the control of the control unit according to the reference speed level range when the current object determined by the first determining unit is the access information range with respect to the reference object.

According to another aspect of the present invention, the current object is at least one of an outer wall and other vehicles, a motorcycle, a bicycle, an animal, and an obstacle.

According to another aspect of the present invention, there is provided an object detection method comprising: an object detection step of detecting a current object in a vicinity of a running vehicle in an alleyroad, an underground parking lot, or a narrow passage; A first determination step of determining whether the current object detected by the object detection unit is a range of access information with respect to a reference object set in the control unit according to control of the control unit; And a first identification step of identifying, in a case where the current object determined by the first determination unit is the access information range with the reference object, a collision situation with the current object in the first identification unit under the control of the control unit.

According to another aspect of the present invention, in the case where the current object determined by the first determination unit is out of the access information range with respect to the reference object after the first determination step, Further performing a driveable lane detection step for sensing the vehicle; A second determination step of determining whether the current driveable lane sensed by the driveable lane sensing unit is the reference driveable lane information range set in the control unit, in accordance with the control of the control unit; And a second identifying step of identifying, in accordance with the control of the control unit, that the current driving allowable lane determined by the second determining unit is the currently drivable lane in the second identifying unit.

According to another aspect of the present invention, in a case where the current object determined by the first determination unit is in the access information range with respect to the reference object after the first determination step, the control unit controls the vehicle in- A lane keeping step of keeping the lane in accordance with the reference lane keeping interval range set in the lane keeping step.

According to another aspect of the present invention, when the current object determined by the first determination unit is in the access information range with respect to the reference object after the first determination step, the control unit controls the vehicle in- And the speed is adjusted in accordance with the reference speed level range set in the speed control step.

According to the vehicle control apparatus and the vehicle control method of the present invention constructed as described above, the following effects can be obtained.

First, it is possible to identify a collision situation with the current object in the event of a collision according to the access state with the current object at any one of the alley, the underground parking lot, and the narrow passage, so that the collision with the current object can be prevented There is an effect that can protect the life of the passenger.

Secondly, if the presently possible lane is in the range of the standard lane possible information, it is possible to identify the presently possible lane, so that it is possible to prevent collision with the present object more effectively, thereby further improving the life of the occupant have.

Third, since the lane can be maintained by adjusting the range of the lane keeping interval to the range of the reference lane keeping interval, it is possible to further prevent collision with the current object, thereby further protecting the occupant's life. have.

Fourth, since the speed of the subject vehicle traveling in the driving lane can be adjusted to the range of the reference speed level, it is possible to further prevent the collision with the current object, thereby further protecting the life of the occupant .

1 is a block diagram showing a vehicle control apparatus according to a first embodiment of the present invention;
FIG. 2 is a plan view illustrating a process of irradiating a scan region of a predetermined size with light through the object detection unit shown in FIG. 1 and detecting the scan region. FIG.
3 is a flowchart showing a control method of the vehicle control apparatus according to the first embodiment of the present invention.
4 is a block diagram showing a vehicle control apparatus according to a second embodiment of the present invention;
FIG. 5 is a plan view illustrating a process of sensing a current driving lane around a subject vehicle by illuminating a scan area of a predetermined size with light through the driveable lane detecting unit shown in FIG. 4; FIG.
6 is a flowchart showing a control method of a vehicle control apparatus according to a second embodiment of the present invention.
7 is a block diagram showing a vehicle control apparatus according to a third embodiment of the present invention;
8 is a flowchart showing a control method of a vehicle control apparatus according to a third embodiment of the present invention.
9 is a block diagram showing a vehicle control apparatus according to a fourth embodiment of the present invention;
10 is a flowchart showing a control method of a vehicle control apparatus according to a fourth embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

≪ Embodiment 1 >

FIG. 1 is a block diagram illustrating a vehicle control apparatus according to a first embodiment of the present invention. FIG. 2 shows a process of irradiating a scan region of a predetermined size with light through the object sensing unit shown in FIG. Fig.

1 and 2, a vehicle control apparatus 100 according to a first embodiment of the present invention includes an object detection unit 102, a control unit 104, a first determination unit 106, 108).

The object detection unit 102 is provided to detect the current object P around the subject vehicle V1 running on the driving lane L1 at any one of the alleyway, the underground parking lot, and the narrow passage.

At this time, the object detecting unit 102 irradiates the scan area S1 of a predetermined size with light to detect the current object P around the subject vehicle V1 in the alley, the underground parking lot, and the narrow passage I can do it.

Here, the current object P may be at least one of a vehicle, a motorcycle, a bicycle, an animal, and an obstacle other than the outer wall.

The object sensing unit 102 may include an ultrasonic sensor (not shown), a radar sensor (not shown), and an optical sensor (not shown) to detect at least one of a vehicle, a motorcycle, a bicycle, And at least one of an infrared sensor (not shown) and a blind spot detection (BSD) sensor (not shown).

The control unit 104 receives the current object P sensed by the object sensing unit 102 and is provided to include an access information range with the previously set reference object.

For example, the control unit 104 may be provided to include at least one of a range of approach distance to a reference object corresponding to an already set reference object and an approach speed range of the reference object.

The first determination unit 106 is provided to determine whether the current object P sensed by the object detection unit 102 is in the access information range with respect to the reference object under the control of the control unit 104. [

Although not shown, the controller 104 and the first determiner 106 may be implemented by an ECU (Electric Control Unit, Engine Control Unit, etc.) that controls the overall operation of the main computer, which controls the internal operation of the engine, (Not shown), or an MCU (Micro Control Unit) (not shown) that has a processor, a memory, and an input / output device in a single chip to control overall operation.

When the current object P determined by the first determination unit 106 is in the access information range with respect to the reference object, the first identification unit 108 determines that the current state is a collision situation with the current object P under the control of the control unit 104 .

Although not shown, the first identification unit 108 includes a speaker (not shown), a light emitting member (not shown), and an HMI (Human Machine Interface) module (not shown) At least one of a voice operation of a speaker (not shown), a light emitting operation of a light emitting member (not shown), and a HMI (human machine interface) message display operation of an HMI (human machine interface) module It is possible to identify the collision situation with the current object P.

A method of controlling the vehicle using the vehicle control device 100 according to the first embodiment of the present invention will now be described with reference to FIG.

3 is a flowchart showing a control method of the vehicle control apparatus according to the first embodiment of the present invention.

3, the control method 300 of the vehicle control device 100 according to the first embodiment of the present invention includes an object detection step S302, a first determination step S304, and a first identification step S306, .

First, the object detection step S302 detects the current object (P in Fig. 2) around the subject vehicle (V1 in Fig. 2) running at any one of the alleyway, underground parking lot, ). ≪ / RTI >

Thereafter, the first determination step S304 determines whether the current object (P in FIG. 2) detected by the object detection unit 102 (FIG. 1) is in the access information range with respect to the reference object set in the control unit (106 in FIG. 1) according to the control of the control unit (104 in FIG. 1).

Lastly, in the first identification step S306, when the current object (P in FIG. 2) determined by the first determination unit 106 in FIG. 1 is the access information range with respect to the reference object, And performs a step of identifying the collision situation with the current object (P in Fig. 2) in the first identification unit (108 in Fig. 1) according to the control.

The vehicle control apparatus 100 and the vehicle control method 300 according to the first embodiment of the present invention may include an object detection unit 102, a control unit 104, a first determination unit 106, (S302), a first determination step (S304), and a first identification step (S306).

Therefore, the vehicle control apparatus 100 and the vehicle control method 300 according to the first embodiment of the present invention can control a collision situation (hereinafter referred to as " collision situation ") according to the access state with the current object P at any one of the alleyway, The collision with the current object P can be identified, so that the collision with the current object P can be prevented beforehand, and the life of the occupant can be protected.

≪ Embodiment 2 >

FIG. 4 is a block diagram showing a vehicle control apparatus according to a second embodiment of the present invention. FIG. 5 is a view showing a state in which a scan area of a predetermined size is irradiated with light through the driveable lane detecting unit shown in FIG. FIG. 5 is a plan view showing a process of detecting a current lane capable of driving.

4 and 5, a vehicle control apparatus 400 according to a second embodiment of the present invention includes an object detection unit 102 and a control unit 404 (not shown) similar to the vehicle control apparatus 100 according to the first embodiment. And a first determination unit 106 and a first identification unit 108. [

The function of each component corresponding to the vehicle control apparatus 400 according to the second embodiment of the present invention and the organic connection relation between them are the same as those of the vehicle control apparatus 100 according to the first embodiment The functions of the respective components and the organic connection relationship therebetween are the same, so that the respective further explanations thereof will be omitted below.

The vehicle control apparatus 400 according to the second embodiment of the present invention further includes the driving possibility lane sensing units 410 and 510, the second determination unit 412, and the second identification unit 414. [

That is, if the current object V2 determined by the first determination unit 106 is out of the access information range with respect to the reference object, the driveable lane detection unit 410 or 510 may detect the current lane (L2).

At this time, the driveable lane detecting units 410 and 510 can sense the current driveable lane L2 around the own vehicle V1 by irradiating the scan area S2 of a predetermined size with light.

Here, the current object V2 may be at least one of another vehicle, a motorcycle, a bicycle, an animal, and an obstacle.

At this time, the travelable lane detecting units 410 and 510 are provided with an ultrasonic sensor (not shown), a radar sensor (not shown), an optical sensor (not shown) and an infrared sensor (Not shown) and a blind spot detection (BSD) sensor (not shown).

The second determination unit 412 is provided to determine whether the current driveable lane L2 detected by the driveable lane sensing unit 410 is in the reference driveable lane information range under the control of the controller 404.

Here, the control unit 404 may further include the already set reference travelable lane information range.

For example, the control unit 404 may further include at least one of a reference travelable lane approach distance and a reference travelable lane approach speed corresponding to the already set reference travelable lane information range.

The control unit 404 and the second determination unit 412 may be implemented by an ECU (Electric Control Unit) (not shown) for controlling the overall operation of the main computer, A microcontroller (MCU) (not shown) may be provided that includes a processor, a memory, and an input / output device in a single chip to control the overall operation.

The second identifying unit 414 identifies the current driving lane by the control of the controller 404 when the current driving lane L2 determined by the second determining unit 412 is in the reference driving possible lane information range / RTI >

Although not shown, the second identification unit 414 includes a speaker (not shown), a light emitting member (not shown), and an HMI (Human Machine Interface) module (not shown) At least one of a voice operation of a speaker (not shown), a light emitting operation of a light emitting member (not shown), and a HMI (human machine interface) message display operation of an HMI (human machine interface) module It is possible to identify the collision situation with the current object P.

A method of controlling the vehicle using the vehicle control device 400 according to the second embodiment of the present invention will be described below with reference to FIG.

6 is a flowchart showing a control method of the vehicle control device according to the second embodiment of the present invention.

6, the control method 600 of the vehicle control device 400 according to the second embodiment of the present invention is similar to the control method 300 of the vehicle control device 100 according to the first embodiment, The detection step S302, the first determination step S304, and the first identification step S306.

The function of each step corresponding to the control method 600 of the vehicle control apparatus 400 according to the second embodiment of the present invention and the organic connection relation between them are the same as those of the vehicle control apparatus 400 according to the first embodiment, The functions of the respective steps corresponding to the control method 300 of the image forming apparatus 100 and the organic connections between them are the same as those of the control method 300 of FIG.

Here, the control method 600 of the vehicle control device 400 according to the second embodiment of the present invention may include a step S606 of detecting a driveable lane and a step S608 ) And a second identification step (S610).

That is, if the current object (V2 in FIG. 2) determined in the first determination unit S304 is out of the access information range with respect to the reference object, the driveable lane detection step S606 (Step L2 in FIG. 5) is sensed by the driveable lane sensing unit (410 in FIG. 4).

Then, in the second determination step S608, the current driveable lane (L2 in FIG. 5) sensed by the driveable lane sensing unit 410 (see FIG. 4) is stored in the reference driveable lane information (412 of FIG. 4) according to the control of the control unit (404 of FIG. 4).

Lastly, in the second identification step S610, the controller (404 in FIG. 4), if the current driveable lane (L2 in FIG. 5) determined in the second determination unit 412 in FIG. 4 is in the reference driveable lane information range, (Step 414 in FIG. 4) according to the control of the control unit 405. In this case, as shown in FIG.

The vehicle control apparatus 400 and the vehicle control method 600 according to the second embodiment of the present invention may include the object detection unit 102, the control unit 104, the first determination unit 106, The object recognition step S302, the first determination step S304, and the first identification step S302 including the first and second identification units 410 and 422, the second determination unit 412, and the second identification unit 414, Step S306, the driving lane detection step S606, the second determination step S608, and the second identification step S610 are performed.

Therefore, the vehicle control apparatus 400 and the vehicle control method 600 according to the second embodiment of the present invention can be applied to the approach state with the current object (P in Fig. 2) at any one of the alleyway, the underground parking lot, The collision situation with the current object (P in Fig. 2) can be identified, so that the collision with the current object (P in Fig. 2) can be prevented in advance, and the life of the occupant can be protected.

In addition, the vehicle control apparatus 400 and the vehicle control method 600 according to the second embodiment of the present invention can determine that the presently-travelable lane (L2 in Fig. 5) The collision with the current object (V2 in Fig. 5) can be prevented more effectively, and the life of the occupant can be further protected.

≪ Third Embodiment >

7 is a block diagram showing a vehicle control apparatus according to a third embodiment of the present invention.

7, the vehicle control apparatus 700 according to the third embodiment of the present invention includes an object detection unit 102, a control unit 404, 1 judgment unit 106 and a first identification unit 108. [

The function of each component corresponding to the vehicle control apparatus 700 according to the third embodiment of the present invention and the organic connection relation therebetween are the same as those of the vehicle control apparatus 100 according to the first embodiment The functions of the respective components and the organic connection relationship therebetween are the same, so that the respective further explanations thereof will be omitted below.

Here, the vehicle control device 700 according to the third embodiment of the present invention further includes a lane-keeping unit 716. [

That is, when the current object (P in Fig. 2) determined by the first determination unit 106 is in the access information range with respect to the reference object, the lane-keeping unit 716 performs the lane-keeping operation in accordance with the control of the control unit 704 (V1 in Fig. 2) to the reference lane keeping interval range in the lane L1 of the vehicle.

Here, the control unit 704 may further include a predetermined reference lane-keeping interval range.

A method of controlling the vehicle using the vehicle control device 700 according to the third embodiment of the present invention will now be described with reference to FIG.

8 is a flowchart showing a control method of the vehicle control device according to the third embodiment of the present invention.

8, the control method 800 of the vehicle control device 700 according to the third embodiment of the present invention is similar to the control method 300 of the vehicle control device 100 according to the first embodiment, The detection step S302, the first determination step S304, and the first identification step S306.

The function of each step corresponding to the control method 800 of the vehicle control device 700 according to the third embodiment of the present invention and the organic connection relation between them are the same as those of the vehicle control device 100 according to the first embodiment, The functions of the respective steps corresponding to the control method 300 of the image forming apparatus 100 and the organic connections between them are the same as those of the control method 300 of FIG.

Here, the control method 800 of the vehicle control device 700 according to the third embodiment of the present invention further performs the lane keeping step (S808) after the first determination step (S304).

For example, the control method 800 of the vehicle control device 700 according to the third embodiment of the present invention may further perform the lane keeping step S808 after the first identifying step S306.

That is, in the lane keeping step S808, when the current object (P in Fig. 2) determined by the first determining unit 106 is in the access information range with the reference object, the lane keeping unit 716 (V1 in Fig. 2) in the running lane (L1 in Fig. 2) to the reference lane keeping interval interval set in the control unit 704 to maintain the lane.

The vehicle control apparatus 700 and the vehicle control method 800 according to the third embodiment of the present invention may include the object detection unit 102, the control unit 104, the first determination unit 106, The object recognition step S302, the first determination step S304, the first identification step S306, and the lane maintenance step S808 are performed.

Therefore, the vehicle control apparatus 700 and the vehicle control method 800 according to the third embodiment of the present invention can be applied to a state of approach to the current object (P in Fig. 2) at any one of the alleyway, the underground parking lot, The collision situation with the current object (P in Fig. 2) can be identified, so that the collision with the current object (P in Fig. 2) can be prevented in advance, and the life of the occupant can be protected.

The vehicle control apparatus 700 and the vehicle control method 800 according to the third embodiment of the present invention can be applied to a vehicle lane (L1 in Fig. 2) The collision with the current object (P in Fig. 2) can be prevented more effectively, and the life of the occupant can be further protected.

<Fourth Embodiment>

9 is a block diagram showing a vehicle control apparatus according to a fourth embodiment of the present invention.

9, the vehicle control apparatus 900 according to the fourth embodiment of the present invention includes an object detection unit 102, a control unit 904, and a control unit 904, as in the vehicle control apparatus 100 according to the first embodiment. 1 judgment unit 106 and a first identification unit 108. [

The function of each component corresponding to the vehicle control apparatus 900 according to the fourth embodiment of the present invention and the organic connection relationship therebetween are the same as those of the vehicle control apparatus 100 according to the first embodiment The functions of the respective components and the organic connection relationship therebetween are the same, so that the respective further explanations thereof will be omitted below.

Here, the vehicle control device 900 according to the fourth embodiment of the present invention further includes a speed adjusting unit 910. [

That is, when the current object (P in FIG. 2) determined by the first determination unit 106 is in the access information range with respect to the reference object, the speed adjusting unit 910 controls the speed lane (V1 in Fig. 2) to the reference speed level range to adjust the speed.

Here, the control unit 904 may further include a predetermined reference speed level range.

A method of controlling the vehicle using the vehicle control device 900 according to the fourth embodiment of the present invention will be described with reference to FIG.

10 is a flowchart showing a control method of the vehicle control device according to the fourth embodiment of the present invention.

10, the control method 1000 of the vehicle control device 900 according to the fourth embodiment of the present invention is similar to the control method 300 of the vehicle control device 100 according to the first embodiment, The detection step S302, the first determination step S304, and the first identification step S306.

The function of each step corresponding to the control method 1000 of the vehicle control apparatus 900 according to the fourth embodiment of the present invention and the organic connection relation between them are the same as those of the vehicle control apparatus 1000 according to the first embodiment, The functions of the respective steps corresponding to the control method 300 of the image forming apparatus 100 and the organic connections between them are the same as those of the control method 300 of FIG.

Here, the control method 1000 of the vehicle control device 900 according to the fourth embodiment of the present invention further performs a speed adjustment step (S1008) after the first determination step (S304).

For example, the control method 1000 of the vehicle control device 900 according to the fourth embodiment of the present invention may further perform the speed adjustment step S1008 after the first identification step S306.

That is, if the current object (P in FIG. 2) determined by the first determination unit 106 is in the access information range with respect to the reference object, the speed adjustment step S1008 is performed by the speed adjustment unit 910 (V1 in Fig. 2) in the traveling lane (L1 in Fig. 2) to the reference speed level range set in the control unit 904 to adjust the speed.

The vehicle control apparatus 900 and the vehicle control method 1000 according to the fourth embodiment of the present invention may be applied to an object detection unit 102, a control unit 104, a first determination unit 106, The object detection step S302, the first determination step S304, the first identification step S306, and the speed adjustment step S1008 are performed, including the step S108 and the speed adjustment unit 910. [

Therefore, the vehicle control apparatus 900 and the vehicle control method 1000 according to the fourth embodiment of the present invention can be applied to the approach state with the current object (P in Fig. 2) at any one of the alleyway, the underground parking lot, The collision situation with the current object (P in Fig. 2) can be identified, so that the collision with the current object (P in Fig. 2) can be prevented in advance, and the life of the occupant can be protected.

The vehicle control apparatus 900 and the vehicle control method 1000 according to the fourth embodiment of the present invention can be applied to a vehicle speed control system in which a vehicle (V1 in Fig. 2) The collision with the current object (P in Fig. 2) can be prevented more effectively, and the life of the occupant can be further protected.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Therefore, it should be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than the foregoing description, It is intended that all changes and modifications derived from the equivalent concept be included within the scope of the present invention.

Claims (9)

An object detection unit for detecting a current object in the vicinity of the subject vehicle;
A controller receiving a current object sensed by the object sensing unit and including an access information range and a reference travelable lane information range with respect to a preset reference object;
A first judging unit for judging whether the current object detected by the object detecting unit is in the access information range with respect to the reference object under the control of the control unit;
A first identification unit for identifying a collision situation with a current object under the control of the control unit when the current object determined by the first determination unit is in the access information range with the reference object;
A lane-capable lane sensing unit for sensing a current lane capable of traveling around the subject vehicle when the current object determined by the first determination unit is out of the access information range with the reference object; And
And a second determiner for determining whether the presently drivable lane detected by the drivable lane detector is in the reference drivable lane information range under the control of the controller.
The method according to claim 1,
And a second identification unit that identifies the currently-travelable lane under the control of the control unit when the current driveable lane determined by the second determination unit is in the reference driveable lane information range.
The method according to claim 1,
Wherein the control unit further includes a reference lane keeping interval range that is already set;
And a lane keeping unit for keeping the lane by keeping the lane of the vehicle in the reference lane keeping interval range according to the control of the control unit when the current object determined by the first determining unit is the access information range with the reference object .
The method according to claim 1,
Wherein the control unit further comprises a predetermined reference speed level range;
And a speed control unit for controlling the speed of the subject vehicle in accordance with the reference speed level range under the control of the control unit when the current object determined by the first determination unit is the access information range with the reference object, Vehicle control device.
The method according to claim 1,
Wherein the current object is at least one of a vehicle, a motorcycle, a bicycle, an animal, and an obstacle other than the outer wall.
An object detecting step of detecting the current object in the vicinity of the subject vehicle by the object detecting unit;
A first determination step of determining, by the first determination unit, whether the current object detected by the object detection unit is an access information range with respect to a reference object set in the control unit, under the control of the control unit;
A first identification step of identifying a collision situation with a current object in the first identification unit under the control of the control unit when the current object determined by the first determination unit is in the access information range with the reference object;
If the current object determined by the first determination unit is out of the access information range with respect to the reference object, sensing the presently drivable lane around the subject vehicle by the drivable lane sensing unit; And
And a second determination step of determining, by the second determination unit, whether the current driveable lane sensed by the driveable lane sensing unit is a reference driveable lane information range set in the control unit, under the control of the control unit.
The method according to claim 6,
After the second determination step,
Further comprising a second identification step of identifying, in accordance with the control of the control unit, that the current lane possible is the current lane enabling the vehicle, Way.
The method according to claim 6,
After the first determination step,
When the current object determined by the first determination unit is in the approach information range with respect to the reference object, the lane keeping unit adjusts the lane keeping unit to the reference lane keeping interval range set in the control unit, And a lane-keeping step of maintaining the lane-keeping state.
The method according to claim 6,
After the first determination step,
When the current object determined by the first determination unit is in the approach information range with respect to the reference object, the speed control unit adjusts the speed of the subject vehicle under the control of the control unit to the reference speed level range set in the control unit The vehicle speed control method further comprising:

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