KR101427454B1 - Lane Keeping Control Device and Its Method thereof - Google Patents

Abstract

The present invention relates to a lane keeping control device and a method thereof, which can improve driving stability of a vehicle by warning when a driver's attention deteriorates while lane keeping control is being performed.
The present invention relates to a lane-keeping control for performing a lane-keeping control for preventing lane departure when it is determined that the vehicle will depart from a lane, And a warning command generation unit for generating and outputting a warning command to perform warning processing when it is determined that the vehicle is in the inattentive state.

Description

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

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lane-keeping control, and more particularly, to a lane-keeping control device and a method thereof, which enable a stable running by warning a driver's negligence due to lane-keeping control.

Recently, it has become a major task of a vehicle manufacturing company to improve the driving safety of a vehicle. Accordingly, a vehicle control system for improving driving safety has been developed.

In accordance with this trend, a control device capable of maintaining a lane is mounted on a vehicle. Such a lane keeping control device detects a lane using a camera sensor mounted on the vehicle and controls the vehicle so that the vehicle can travel while maintaining the lane .

Such lane-keeping control devices are increasingly mounted on various vehicles and becoming popular.

However, when such a general lane-keeping controller is mounted on the vehicle, the driver of the vehicle can keep the lane during driving even if he / she does not pay much attention. Therefore, attention for maintaining the lane gradually decreases, There is a problem that the possibility of an accident is increased because the driver is neglected or is driven to sleep.

In view of the foregoing, it is an object of the present invention to provide a lane keeping control device and a method thereof, which can improve driving stability of a vehicle by giving a driver's attention even during lane keeping control.

In order to achieve the above-mentioned object, in one aspect, the present invention provides a lane keeping controller for performing lane keeping control for preventing lane departure of a vehicle; Wherein the lane-keeping control unit cumulatively calculates a time during which the lane-keeping control unit performs the lane-keeping control, and determines that the driver is in an inattentive state when the calculated cumulative time exceeds a predetermined warning determination time; And a warning command generation unit for generating and outputting a warning command when the carelessness determination unit determines that the driver is in a state of carelessness.

According to another aspect of the present invention, there is provided a lane keeping controller for performing lane keeping control for preventing lane departure of a vehicle; The lane departure control unit calculates the number of times the lane-keeping control is performed or the number of times the lane departure detection signal is received from the lane-keeping control unit, and determines that the driver of the vehicle is in an inattentive state if the calculated number is greater than a preset number ; And a warning command generation unit for generating and outputting a warning command when the carelessness determination unit determines that the driver's state is in an inattentive state.

According to another aspect of the present invention, there is provided a lane-keeping control method provided by a lane-keeping control device, comprising: recognizing a lane based on an image of a periphery of the vehicle; Performing lane keeping control for lane departure avoidance if it is determined that the vehicle leaves the recognized lane; Accumulating the time during which the lane-keeping control is performed, or calculating the number of times the lane-keeping control is performed; And performing a warning process for warning the driver of the vehicle if the calculated cumulative time is equal to or greater than a predetermined warning determination time or is greater than or equal to a predetermined number of times.

As described above, according to the present invention, it is possible to improve the driving stability of the vehicle and to improve the control stability of the lane-keeping control by determining whether the driver is careless during the lane-keeping control.

1 is a diagram showing a concept of a lane keeping control method according to the present invention.
2 is a block diagram showing the configuration of a lane-keeping control system according to an embodiment of the present invention.
FIG. 3 is a block diagram showing the configuration of the lane-keeping control device according to the embodiment of the present invention shown in FIG.
4 is an exemplary diagram showing a method for determining a driver's carelessness in a lane-keeping control device according to an embodiment of the present invention.
5 is a diagram illustrating another example of a method of determining a driver's carelessness in a lane-keeping control device according to an embodiment of the present invention.
FIG. 6 is a flowchart illustrating a process of warning a driver's negligence in a lane-keeping control method according to an embodiment of the present invention.
7 is a flowchart showing a process of releasing the warning and returning to normal lane-keeping control in the lane-keeping control method according to Fig.

The lane keeping control device and the method provided by the present invention are characterized in that when the lane keeping control mounted on the vehicle is repeatedly performed, do.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected,""coupled," or "connected."

1 is a diagram showing a concept of a lane keeping control method according to the present invention.

The lane-keeping control method according to the present invention is a method for controlling a lane-keeping control system in which a driver does not operate the steering apparatus in a normal lane-keeping control system as described above, If the lane-keeping control is repeatedly performed a predetermined number of times, it is determined that the driver's attention is degraded, and the driver is warned by warning.

Referring to FIG. 1, when the vehicle 1 approaches a virtual boundary line set for lane or lane keeping control in a direction deviating from the lane or the boundary lines L1 and L2, (The direction of the center of the lane or the boundary) that does not deviate from the lane.

If the lane-keeping control is repeated a plurality of times (P1, P2, P3, P4), the lane-keeping control device according to the present invention determines that the driver's driving attention is currently degraded, A warning is output by outputting a message or a buzzer to output a warning sound so that the driver can call attention, thereby enabling a stable running.

2 is a block diagram showing the configuration of a lane-keeping control system according to an embodiment of the present invention.

2, the lane-keeping control system according to the embodiment of the present invention includes an image obtaining unit 10 for obtaining images for lane-keeping control, vehicle speed information received from the vehicle speed sensor 20, The lane keeping controller 100 determines whether or not the vehicle is traveling stably along the lane through the steering angle information received from the lane departing controller 30 and changes the traveling direction of the lane so as to maintain the lane do.

The HMI controller 60 generates a lane departure warning message according to a warning message generation command received from the lane-keeping control device 100, and outputs the generated lane departure warning message through the HMI (Human-Machine Interface) 60 40 and a steering control unit 50 for controlling the steering force applied to the steering apparatus 80 in accordance with the steering control command received from the lane-keeping control unit 100.

The image obtaining unit 10 obtains images of the front or rear of the vehicle. For this, the image information obtaining unit 10 may include at least one camera sensor mounted on the front or rear surface of the vehicle.

The image obtained by the image acquiring unit 10 may be color or monochrome image data, and the image data may be generated by including a coordinate value of a pixel and a gray scale of a pixel corresponding to the coordinate value .

The steering control unit 50 generates a steering force in accordance with the steering control command or the steering assist control command received from the lane-keeping controller 100. In the embodiment of the present invention, the steering control unit 50 generates a steering force in various manners. For example, the steering control unit 50 generates a current based on the current torque inputted from the torque sensor and the current vehicle speed inputted from the vehicle speed sensor, The steering apparatus 80 can be controlled by an electric power assist system. In addition, the steering force may be supplied by an electronic power assist system in which the current generated based on the current torque and the current vehicle speed is supplied to the solenoid.

The HMI control unit 40 controls the generation or output of a message so that a message about the operation state and the driving state of the vehicle internal apparatus is outputted through the HMI 60 so that the driver can recognize the outputted message, A warning message, a message for starting or ending lane keeping control, a warning message for negligence of the driver, etc. are output through the HMI 60.

FIG. 3 is a block diagram illustrating the configuration of the lane-keeping control apparatus according to an embodiment of the present invention.

The lane-keeping control device 100 according to an embodiment of the present invention includes a lane recognition unit 110 for recognizing both lanes on which the vehicle is currently traveling, a lane recognition unit 110 for detecting whether there is a possibility that the vehicle is departing or departing from a lane in which the vehicle is traveling A lane-keeping control unit 130 for changing the driving direction of the vehicle so as to prevent the vehicle from departing from the lane and maintaining the lane, and a lane-keeping control operation for the lane- And a carelessness judging unit 140 judging whether it is repeatedly performed.

The lane-keeping control device 100 according to an embodiment of the present invention may be configured such that when the lane-keeping control unit 140 determines that the lane-keeping control operation is repeatedly performed under a predetermined condition, And a warning command generator 150 for generating a warning command such as an alarm command or an output command for a warning message and transmitting the warning command to the HMI controller 40.

The information of the lane recognized by the lane recognition unit 110 and the information of the virtual boundary that can be set to determine whether or not the lane departure detection unit 120 has departed the lane, And a memory unit (not shown). The memory unit may include at least one of a random access memory (RAM) or a flash memory.

The lane recognition unit 110 recognizes a lane based on the image data transmitted from the image acquisition unit 10. The lane recognition unit 110 recognizes lanes located on both sides of the vehicle based on the image data and acquires lane information. For example, a method of recognizing a lane and acquiring lane information can be applied to various methods known in the art. For example, in the case of using image data, difference between gray level values of a lane portion and a portion other than a lane is used, So that the lane information can be obtained.

The departure detection unit 120 determines whether there is a possibility that the vehicle leaves one of the two lanes based on the lane information. Therefore, it is preferable that lane-keeping control by lane departure is not performed if at least one lane of both lanes is not recognized in the lane recognition unit 110. [

 In order to determine whether there is a possibility that the vehicle is separated from the lane, the departure detection unit 120 detects the departure of the lane of the vehicle based on the steering angle input from the steering angle sensor or the torque sensor, the rotational angular velocity input from the yaw rate sensor, Can be generated.

If a virtual boundary line is set from the recognized lane to the lane center direction, that is, the inside direction of both lane lines, and if it is detected from the running information of the vehicle that the vehicle has deviated from the set boundary line, It can be judged.

If the lane departure control unit 130 determines that the vehicle is likely to leave one of the lanes in the lane departure detection unit 120, And generates a steering control command to change the direction of the steering control command to the middle direction. In other words, lane-keeping control for preventing lane departure of the vehicle is performed.

The lane-keeping control unit 130 generates a torque generating command to generate a torque for changing the traveling direction so that the vehicle can be brought back into the boundary line when the front surface of the vehicle reaches or exceeds the set boundary line, and transmits the generated torque generating command to the steering control unit 50 .

When the lane departure controller 120 detects that the vehicle is departing from the lane, the lane departure controller 120 generates a control command to output a warning message or a buzzer to inform that the lane has departed, Or to the buzzer 70. The steering assist control command may be generated and transmitted so that the driver can generate the steering assist torque during the steering operation for maintaining the lane according to the output warning message or the warning sound.

The carelessness determining unit 140 determines whether the steering control for maintaining the lane, which is performed in accordance with the operation of the lane-keeping controller 130, satisfies the set condition. If the condition is satisfied, It is assumed that the situation is distracted and careless.

The carelessness determination unit 140 can set any one of the time, distance, and the number of times the steering control for lane keeping is performed on the condition of determining the careless situation.

1 hours

FIG. 4 is a diagram illustrating an example of a method for determining an inattentive state of a driver in a lane-keeping control system according to an exemplary embodiment of the present invention.

Referring to FIG. 4, the carelessness determining unit 140 accumulates the time at which the steering control command for maintaining the lane is generated, that is, the time at which the lane keeping controller 130 performs the lane keeping control, If the calculated cumulative time is equal to or longer than the warning judgment time, it can be determined that the driver is in a careless state.

For this, the carelessness determination unit 140 may include a control start counter (not shown) for counting the time during which the steering control command is generated in accordance with the lane keeping control, and a control end counter (not shown) for counting the time during which the steering control command is not generated (Not shown).

More specifically, the control start counter is determined to be traveling in the direction of departing from the steering control command generated in accordance with the lane-keeping control with respect to the vehicle traveling in the direction of leaving the lane, (T1, T3, T5, and T7) from the point in time when the generation of the steering control command is started until the generation of the steering control command is terminated.

Accordingly, when the departure detection unit 120 senses that the vehicle travels in the direction of leaving the lane based on the travel information of the vehicle, the control start counter starts to operate. When the departure detection unit 120 detects the travel of the vehicle The control start counter stops operating if it is determined that the vehicle is traveling while maintaining the lane on the basis of the information.

The accumulated time when the control start counter repeats operation and stop is compared with the time set as the warning judgment time. If the time T1 + T3 + T5 + T7 cumulatively calculated in the control start counter becomes equal to or longer than the warning determination time, the carelessness determination unit 140 determines that the driver is in a careless state, The warning command generating unit 150 generates a warning command to output a warning message or a warning sound indicating that the driver is careless and outputs the warning command to the HMI controller 40 or the buzzer 70, .

The control termination counter counts the time (T2, T4, T6) from the time when it is determined that the vehicle is running while maintaining the lane to the point when it is determined that the vehicle will leave the lane again and the steering control command for lane keeping control is generated, . That is, the time during which the steering torque value generated in accordance with the steering control command of the lane-keeping controller 130 holds 0 is calculated.

Therefore, if it is determined that the vehicle is traveling while maintaining the lane based on the driving information of the vehicle at the departure detection unit 120, the control end counter starts to operate. If it is detected that the vehicle is leaving the lane, (140) initializes the control end counter.

In other words, the lane-keeping control system according to the present invention determines whether the lane-keeping control to prevent the lane departure is repeated, so that the steering control according to the lane-keeping control is also repeated. Therefore, the control start counter determines whether or not the time at which the steering control for maintaining the lane is made is cumulative (T1 + T3 + T5 + T7) and exceeds the preset time as the warning determination time, .

The control end counter determines whether or not the driver is careless. In addition, the driver recognizing the warning signal output through the HMI 60 or the warning sound outputted through the buzzer 70 calls attention, It is a means provided for judging whether or not the vehicle is running.

Accordingly, when it is determined that the time calculated at the control end counter has a value equal to or greater than a predetermined release determination time, the carelessness determining unit 140 determines that the normal and stable travel is being performed by the driver, And initializes the value of the control start counter calculated up to the judgment time.

At this time, the warning state indicates a state where an inadvertent warning message is output or a warning sound is output through the HMI 60. The warning command generating unit 150 not only notifies the inadvertent warning message or the alarm sound once, It is possible to generate and deliver the control command so that the inadvertent warning message or the warning sound is output repeatedly or periodically until it is detected that the alarm is released.

2. Number of times

5 is a view illustrating another example of a method for determining a driver's carelessness in a lane-keeping control system according to an embodiment of the present invention.

Referring to FIG. 5, the inattentiveness determining unit 140 accumulates and calculates the number of times the steering control command starts to be output as it is determined that the vehicle is likely to leave the lane from the lane-keeping control unit 130. [ If it is determined that the accumulated number of times has a value equal to or greater than a predetermined number, and it is determined that the lane departs more than the number of times set as the warning judgment number, it can be determined that the driver is in a careless state.

For this, the carelessness determination unit 140 may include an on counter (Con) for counting the number of times the steering control command is generated in accordance with the lane keeping control and an off counter (Coff) for counting the number of times that the steering control command is not generated have.

More specifically, the on-counter Con counts the number of times the steering control command for changing the direction of travel of the vehicle starts to be output from the lane-keeping control unit 130 when it is determined that the vehicle is likely to leave the lane T1 ', T3', T5 '). In other words, the number of times the lane-keeping control unit 130 has performed the lane-keeping control is calculated.

The on-counter Con may calculate the number of received vehicle departure detection signals when receiving a separate vehicle departure detection signal from the lane-keeping control unit 130. At this time, the lane-keeping control unit 130 may generate a vehicle departure detection signal at a time point T1 ', T3', T5 'at which the steering control command is generated according to the lane departure detection of the vehicle, and may transmit it to the on counter Con.

The carelessness determining unit 140 compares the number of times calculated in the on counter Con with a predetermined number of times and determines that the driver is in a careless state when the number of times calculated in the on counter Con is equal to or greater than a predetermined number Generates a warning command so as to output a warning message or a warning sound indicating that the driver is in a state of carelessness, and outputs a warning command to the HMI controller (40) or the buzzer (70).

In other words, the lane-keeping control system according to the present invention determines whether the lane-keeping control to prevent lane departure is repeatedly performed. The on counter (Con) accumulates the number of times the lane- Is applied as a comparative object for judging whether or not it is.

Off counter Coff determines whether or not the driver is careless. In addition, the driver recognizing the warning signal output via the HMI 60 or the buzzer output via the HMI 60 notifies the driver of the normal driving along the lane Is performed.

For this, the off counter Coff calculates the number of times T2 ', T4', T6 'that the vehicle is determined to travel while maintaining the lane while the lane keeping control is being performed, A separate lane keeping signal can be received from the lane keeping controller 130 and counted. The lane-keeping control unit 130 may generate a lane keeping signal and transmit the lane keeping signal to the off counter Coff when it is determined that the driving direction of the vehicle is completely changed in the opposite direction of departure from the lane departure direction.

Therefore, if the number of on-counters Con does not increase from the time T6 'at which the number of off counters is increased to a predetermined time or longer as the vehicle completely changes its traveling direction in the direction opposite to the lane departure , It is determined that normal driving by the driver is being performed, and the warning state is canceled and the on counter (Con) value up to the determination timing is initialized.

In addition to the above-described method, the carelessness determining unit 140 can determine that the driver is in a careless state when the lane departure of the vehicle is detected exceeding the set number of times, and the carelessness determining unit 140 may set the predetermined distance, It is possible to determine that the driver is careless even when the lane departure of the vehicle is detected exceeding the number of times or the steering control command is generated beyond the set time within the set distance.

The lane keeping control method according to an embodiment of the present invention configured as described above is configured as follows.

6 and 7 are flowcharts illustrating a lane-keeping control method according to an embodiment of the present invention. The carelessness determination unit 140 includes a control start counter and a control end counter, So that a normal lane-keeping control operation can be performed again.

FIG. 6 is a flowchart showing a process of warning a driver's carelessness in a lane keeping control method according to an embodiment of the present invention, and is an exemplary flowchart illustrating a process of determining a driver's carelessness based on time.

First, an image for lane recognition is acquired through an imaging device provided in the front or rear of the vehicle, and the obtained image is processed to recognize both left and right lanes in which the vehicle currently running is present (S110)

Next, it is determined whether there is a possibility that the vehicle will depart from or depart from the recognized lane from the speed or steering angle of the vehicle (S120)

The lane-keeping control is started to calculate the steering torque necessary for maintaining the lane, and the current control command is generated and transmitted to the steering apparatus so that the calculated torque value is generated (S130).

Further, the control end counter is initialized and the control start counter is operated (S140, S150)

Next, the control start counter value is compared with a preset warning determination time value. If the control start counter value exceeds the warning determination time value, it is determined that the driver is careless and a warning sound or warning message is output. S160, S170)

If it is determined in step S160 that the direction of travel of the vehicle is deviated from the lane in the case where the control start counter value does not exceed the predetermined warning determination time value, The start counter is continuously operated (S180)

If it is determined in step S180 that the vehicle should travel while maintaining the lane, it is determined that the steering control command for lane-keeping control is no longer generated and the operation of the control start counter is suspended (S190)

7 is a flowchart showing a process of releasing the warning and returning to normal lane-keeping control in the lane-keeping control method according to Fig.

First, it is determined that the driver is in a state of carelessness according to the degree of lane keeping control, and a warning sound or a warning message is output (S210)

It is detected whether the vehicle currently being driven is traveling while keeping the lane without leaving the lane (S220)

If it is determined that the vehicle should travel stably without departing from the lane, the lane-keeping control is terminated (S230)

When the lane keeping control is ended, the control end counter is operated (S240)

The control end counter value is compared with a preset release determination time value (S250). If the value is greater than or equal to the control end counter value, it is determined that the driver is driving the vehicle stably.

If it is determined that the driver is traveling stably, the control start counter is initialized and the warning state is canceled (S260, S270)

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. The codes and code segments constituting the computer program may be easily deduced by those skilled in the art. Such a computer program can be stored in a computer-readable storage medium, readable and executed by a computer, thereby realizing an embodiment of the present invention. As the storage medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, or the like may be included.

It is also to be understood that the terms such as " comprises, "" comprising," or "having ", as used herein, mean that a component can be implanted unless specifically stated to the contrary. But should be construed as including other elements. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas falling within the scope of the same shall be construed as falling within the scope of the present invention.

Claims (9)

A lane keeping controller for performing lane keeping control for preventing lane departure of the vehicle;
Wherein the lane-keeping control unit cumulatively calculates a time during which the lane-keeping control unit performs the lane-keeping control, and determines that the driver is in an inattentive state when the calculated cumulative time exceeds a predetermined warning determination time; And
And a warning command generating unit for generating and outputting a warning command when the inattentiveness determining unit determines that the driver's state is in an inattentive state,
And the lane-keeping controller. The method according to claim 1,
The carelessness determination unit
A control start counter for calculating a time during which the lane-keeping control is performed; And
And a control end counter for calculating the time during which the lane-keeping control is stopped or terminated,
And the control start counter is initialized when the time calculated at the control end counter is equal to or greater than a predetermined release determination time. 3. The method of claim 2,
And accumulates the time during which the lane-keeping control is stopped or terminated. 3. The method of claim 2,
And when the lane-keeping control is performed, initializes the control end counter. A lane keeping controller for performing lane keeping control for preventing lane departure of the vehicle;
The lane departure control unit calculates the number of times the lane-keeping control is performed or the number of times the lane departure detection signal is received from the lane-keeping control unit, and determines that the driver of the vehicle is in an inattentive state if the calculated number is greater than a preset number ; And
And a warning command generation unit for generating and outputting a warning command when the carelessness unit determines that the driver is in a careless state. delete 6. The method of claim 5,
The carelessness determination unit
Wherein the lane departure control unit initializes the calculated number of times when the elapsed time from the time point at which the lane-keeping control is performed is equal to or greater than a predetermined warning release time. 6. The method of claim 5,
The carelessness determination unit
And generates the warning command if the calculated number of times within a predetermined driving distance or driving time is equal to or greater than the preset number of times. In a lane-keeping control method provided by a lane-keeping control device,
Recognizing a lane based on an image of the surroundings of the vehicle;
Performing lane keeping control for lane departure avoidance if it is determined that the vehicle leaves the recognized lane;
Accumulating the time during which the lane-keeping control is performed, or calculating the number of times the lane-keeping control is performed; And
Performing warning processing for warning the driver of the vehicle if the calculated cumulative time is equal to or greater than a predetermined warning determination time or the calculated number is greater than or equal to a preset number of times
The lane-keeping control method comprising:

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