KR101442702B1 - Method for vehicles change lanes and turn lanes at the crash protection system - Google Patents

Abstract

The present invention relates to a lane-changing vehicle and a collision avoidance system and method thereof, and a method for preventing collision between a lane-changing vehicle and a lane-changing vehicle between a main vehicle and other vehicles connected by V2X communication, A process of periodically receiving other vehicle information data, a process of determining whether the main vehicle has entered the adjacent lane of the lane of rotation, a process of determining whether or not the other vehicle exists in the front lane of the main vehicle, A procedure for calculating a collision probability between the main vehicle and the lane-changing attempt vehicle, a procedure for calculating a recommendation speed recommended when driving in the lane-turning lane adjacent to the main lane, And a driver alarm procedure for informing the driver of the recommended speed It includes.

Description

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

More particularly, the present invention relates to a V2X technology, that is, a vehicle to infrastructure (V2I), a vehicle-to-vehicle (V2V) communication system, To change the lane to the straight lane, and to secure the safety of the rear-driving lane in the straight lane, the lane change preventing lane change The present invention relates to a vehicle collision avoidance system and a method thereof.

Intelligent Transportation Systems (ITS) is a system that integrates electronic, information, communication, and control technologies into a transportation system. It uses a passive method that recognizes the vehicle as an object and obtains the driving information of the vehicle when passing through the vehicle at a certain point by using techniques such as image and electromagnetic waves, and performs communication between the terminals installed in the vehicle and the roadside equipment It is difficult to cope with various unexpected situations on the road even if there is no problem in traffic information and statistical calculation.

On the other hand, V2X technology refers to vehicle-to-infrastructure communication (V2I) and vehicle-to-vehicle communication (V2V), which continuously communicate with infrastructure and other vehicles as the vehicle travels. If ITS technology is a unidirectional information delivery technology, V2X is a bi-directional information delivery technology. The vehicle can send forward collision warning or collision warning between vehicles, and the infrastructure can control the traffic flow by informing the vehicle of the real time traffic situation or controlling the signal waiting time. In addition, it is possible to eliminate a road congestion due to vehicle concentration by setting a bypass road.

On the other hand, a vehicle traveling along a route leading from a departure point to a destination departs from a preset route in accordance with road conditions such as a road congestion, a road construction area, an accident occurrence area, and the like, The behavior of the driver who wants to change to another lane and continue driving by changing the driving lane is a natural driving behavior. The most important consideration when changing these lanes is the safety of vehicles and other vehicles that want to change lanes.

For example, a driver of a vehicle traveling in a lane adjacent to a lane in which the lane on which the lane on which the lane on which the lane on which the lane on which the lane on which the lane on which the lane is possible to turn . This is because the lane-changing behavior during the above-described driving is a natural driving behavior, and most of the drivers of the other vehicles are driving the vehicle along their own route because the driving ability is immature and the vehicle enters the lane different from the route, Thereby causing a collision accident and a vehicle congestion on the lane change target lane, that is, the rearward vehicles running on the adjacent lane of the revolving lane.

It is also difficult to avoid a collision when the lane changing vehicle is unable to recognize the lane changing vehicle due to the viewing angle of the driver or the visibility disturbance of the other vehicles in the adjacent lane of the rotating lane.

In addition, the traffic congestion is caused by the drivers who are involved in the collision.

Conventional inter-vehicle collision prevention technology is a technique for a driver of a vehicle which desires to change lanes, and includes the presence of another vehicle at an entry position and a vehicle control technique for entering the lane.

However, in order to allow the driver to respond to the lane change vehicle as well as the road described above on the detailed road condition of the vehicle, the possibility of collision and prevention of collision according to the physical condition of each vehicle should be provided to drivers of each vehicle.

The driver in the lane change lane should be able to recognize the lane changing vehicle or the lane changing lane regardless of the driver's viewing angle or obstructing the visibility of other vehicles. Therefore, it is possible to prevent an accident caused by the lane change in advance.

In addition, the driver attempting to change lanes must consider the possibility of collision between the driving vehicle and the preceding vehicle, and the possibility of collision with the driving vehicle in the target lane for changing lanes at the time of departure from the current lane. The accident can be prevented in advance.

This is because the driver skill of each vehicle differs from the ability to cope with sudden situations. Therefore, in order to prevent the accident, the physical condition of the driver's vehicle and the other vehicle described above must be sensed in real time, and the driver should be provided with the recommended lane information and risk of collision with the other vehicle It is also possible to prevent traffic accidents by providing danger to other vehicles that may act as a risk factor in changing lanes due to possibility of collision due to lane change.

JP 2003-025868 A1

The present invention provides a lane changing vehicle and a collision avoidance system and method thereof so that a vehicle driver who is driving in a lane adjacent to a lane of rotation can recognize a vehicle in which a lane change attempt is easily made to prevent a collision accident.

Further, the present invention provides a lane changing vehicle and a collision avoidance system and a method for enabling a vehicle driver, who is driving in a lane adjacent to a lane of rotation, to recognize a lane changing vehicle regardless of the viewing angle of the driver .

A method for preventing a collision with a lane-changing vehicle between a main vehicle and other vehicles connected by V2X communication according to an embodiment of the present invention, the main vehicle further includes a step of periodically receiving other vehicle information data of the other vehicles A step of determining whether or not the main vehicle has entered the lane adjacent to the lane of rotation, a process of determining whether or not the other vehicle exists in the front lane of the main vehicle, A procedure for calculating a possibility of collision between the main vehicle and the lane changing attempt vehicle, a procedure for calculating a recommended speed recommended when driving in the lane lane adjacent lane, and a driver alarm for notifying the driver of the possibility of collision and the recommended speed ≪ / RTI >

The procedure for extracting the lane-changing attempt vehicle among other vehicles in the forward lane may include a procedure for determining whether or not there is a vehicle that transmits a lane change signal among other vehicles in the lane of rotation, A lane change target lane is extracted from the lane change signal, and a lane change attempt vehicle is extracted by discriminating whether the target lane coincides with the lane on which the main vehicle is currently running; Determining whether there is a vehicle whose turning direction of the turn signal lamp is the same as the turning direction of the steering device, A second method comprising a procedure for extracting a vehicle, And a third step of extracting a lane change attempting vehicle by discriminating whether or not there is a vehicle in which the steering apparatus is rotated in the lane in which the main vehicle is running, among the other vehicles, and extracting the lane change attempting vehicle by one or more of the first to third methods And the estimated lane change attempting vehicle calculates the predicted position in the lane of travel of the main vehicle when the lane change is made.

The procedure for determining whether the lane change signal is received by the main vehicle further includes performing a procedure for re-receiving the lane signal received in the preceding vehicle.

The recommended speed is a speed that can prevent collision with the lane-changing attempt vehicle in which the main vehicle attempts to change lanes on the lane adjacent lane during driving, and the lane- And a speed at which the main vehicle can stop without causing a secondary collision with accident vehicles.

Also, it is preferable that a procedure of periodically receiving location information through a location information receiver provided in the main vehicle, before the procedure of periodically receiving other vehicle information data of the other vehicles performed by the main vehicle, And then performing a process of periodically generating the data.

The procedure for periodically receiving the positional information through the positional information receiving unit of the main vehicle performed by the main vehicle may include performing a triangulation between at least three or more satellites and a GPS or DGPS module provided in the main vehicle Obtaining positioning information data of the vehicle, executing the positioning error analysis of the reference position data of the GPS reference station with the position information data, and mapping the position information data with the precision map data provided in the main vehicle .

Further, as the estimated position of the lane-changing attempt vehicle is the lane current position + the attempt to change vehicle ((current speed × lane running time) + (running time ²⁾ of the acceleration-deceleration coefficient × lane change attempt vehicles attempt to change the vehicle) And the expected position of the main vehicle is calculated by the current position of the main vehicle + ((current speed x running time of main vehicle) + (acceleration / deceleration coefficient x running time of main vehicle ² )).

The calculation of the possibility of collision between the main vehicle and the lane-changing attempting vehicle is based on the distance between the main vehicle and the lane-changing attempting vehicle, the safety distance, the current traveling speed of each vehicle, .

The safety factor is calculated by multiplying the total length of the main vehicle by the safety factor. The safety factor is calculated based on driving speed data of the main vehicle, state data of the running road surface, friction coefficient data of the road surface and the tire, Based on the performance data of the apparatus.

Also, the driver's warning includes outputting the possibility of collision and the recommended speed as a color change of a voice message, a text message, and a screen using a screen display device and a sound output device.

Further, in a system for avoiding a collision with a lane-changing vehicle between a main vehicle and other vehicles connected by V2X communication according to an embodiment of the present invention, the main vehicle includes: position information A detailed map DB connected to the other vehicles through wireless communication with the receiver and receiving the vehicle information data of other vehicles periodically transmitted by the other vehicles, Based on vehicle information data of the other vehicle information data and the main vehicle, a vehicle information generating unit for periodically generating vehicle information data of the main vehicle, a vehicle information transmitting unit periodically transmitting the vehicle information data of the main vehicle to the other vehicles, And a control unit for calculating recommended speed data, In accordance with the group data collision probability and data rate like a display of alarm to the driver through a display device provided in the vehicle.

In addition, the vehicle information data of the main vehicle and the other vehicles may include identification data of the vehicle, time data, vehicle position data, vehicle driving data, vehicle control data, vehicle size data, Route record data of the vehicle, estimated route data of the vehicle, and relative position data using the GPS (Global Positioning System).

Also, the controller corrects the position information data of the main vehicle and the other vehicles by mapping the position information data of the main vehicle and the vehicle information data of the other vehicles to the precision map.

Also, the control unit may be arranged such that the main vehicle is located in a lane adjacent to the lane of rotation, there are other vehicles in the lane of rotation, and a lane change signal is transmitted among the other lanes or a turn signal lamp And if the direction of rotation of the steering device coincides with the direction of the driving lane of the main vehicle or the direction of rotation of the steering device of the vehicle among the other vehicles coincides with the driving lane direction of the main vehicle, And calculates the recommended speed data.

In addition, the control unit may include receiving a lane change signal received by another vehicle located in the front.

The possibility of collision is calculated based on the distance between the main vehicle and the lane-changing attempt vehicle, the safety distance, the current driving speed of each vehicle, and the current position of each vehicle.

The recommended speed data has a speed that can prevent collision with the lane change attempting vehicle in which the main vehicle attempts to change lanes in the lane lane adjacent lane while driving, And having a speed at which the main vehicle can stop without causing a secondary collision accident with accident vehicles.

The safety factor is calculated based on the driving speed data of the main vehicle, the state data of the running road surface, the friction coefficient data of the road surface and the tire, the weight data of the vehicle, Based on the performance data of the braking device.

Also, the alarm includes outputting the possibility of collision and the recommended speed as a color change of a voice message, a text message, and a screen using a screen display device and a sound output device.

According to the embodiments of the present invention, the lane-changing vehicle and the collision avoidance system allow the lane-changing vehicle and the lane-changing vehicle to prevent the lane-changing vehicle and the collision- System and method therefor.

The present invention also provides a lane-changing vehicle, a collision avoidance system, and a method for preventing accident from occurring by providing recommended speed information for preventing collision with a lane-changing vehicle.

1 is a configuration diagram of a vehicle according to an embodiment of the present invention.
2 is a flowchart of a collision avoidance process with a lane-changing vehicle according to an embodiment of the present invention.
3 is a flowchart of a lane-changing attempt vehicle extraction process according to an embodiment of the present invention.
Fig. 4 is a graph showing the probability of collision (a) between a lane-changing vehicle and another vehicle entering the same lane according to an embodiment of the present invention, a possibility (b) of collision with the lane departure- , And a possibility (c) of collision between the lane-changing vehicle and the preceding vehicle in the same lane.
Fig. 5 is a view showing a lane-changing vehicle according to an embodiment of the present invention, collision probability information and acceleration recommendation deceleration rate information together with a display (a), a lane change vehicle, to be.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It will be apparent to those skilled in the art that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, It is provided to let you know. Wherein like reference numerals refer to like elements throughout.

Hereinafter, the lane changing vehicle and the collision avoidance system and method thereof provided in accordance with the embodiment of the present invention can be applied to V2X communication, that is, a roadside apparatus supporting vehicle-to-infrastructure communication (V2I) The risk warning system will be described by way of example.

In addition, there is no limitation to the present invention as long as it is a system having at least one or more V2X communication supporting roadside apparatuses and vehicles. Since the communication technology of V2X used herein is well-known technology, a detailed description is omitted.

Further, in the present invention described below, communication between the roadside apparatus and the vehicle means V2I communication, and communication between the vehicle and the vehicle means V2V communication. V2I and V2V communication transmits and receives vehicle information, that is, a basic vehicle status message, between the roadside apparatus and the vehicle, and between the vehicle and the vehicle. The basic vehicle status message essentially includes identification data of the vehicle, data permutation, time data, vehicle position data, vehicle driving data, vehicle control data, and vehicle size data. Also, event information such as rapid braking data and vehicle control loss data of the vehicle, route record data of the vehicle, estimated route data of the vehicle, relative position data using the GPS (Global Positioning System), and the like are transmitted and received. Here, it is possible to acquire the driving position and lane information of the vehicle through the relative position information using the GPS.

In addition, V2V communication between the vehicle and the vehicle and V2I communication between the vehicle and the roadside apparatus are performed within the V2X communication range, without the need of a separate communication setup procedure for data transmission / reception. This is because the data transmission and reception in the V2X communication is a technology developed on the assumption that the vehicle is traveling along the movement path where the starting point and the destination are set.

Further, the terms used in the system for securing straight running of the vehicle and the method according to the embodiment of the present invention will be described.

"Turn lanes" means lanes in which the vehicle can only run on the right or left turn.

"Master Vehicle " means a vehicle in which the driver is driving, and in the embodiment of the present invention means a vehicle that is located in a lane adjacent to the turning lane and is running.

"Vehicles change lanes" means a vehicle that attempts to change lanes into an adjacent lane within a revolving lane and is located in front of the main vehicle.

"Objective lane" means a lane in which the lane changing vehicle attempts to enter for lane change. That is, it means a lane adjacent to the revolving lane.

"Expected location" means a position where the lane-changing vehicle travels to the target lane when the lane change is made.

"Others vehicle " means a neighboring vehicle other than the main vehicle, and is classified as follows based on the driving lane of the main vehicle.

In the case where the main vehicle travels in the target lane, the other vehicles are located in front of the main vehicle, and are vehicles located in the rotating lane, and the vehicle in which the lane change signal is transmitted, the direction in which the lighting direction is coincident with the driving lane direction of the main vehicle , And the vehicle in which the direction of rotation of the steering apparatus coincides with the driving lane direction of the main vehicle.

The term of the other vehicle means each vehicle described above according to a method of attempting to change lanes by being located on a rotating lane of the vehicle.

The lane changing vehicle and the collision avoidance system and the method described below will be described in detail in the following order.

1. A method of recognizing a present driving lane according to an embodiment of the present invention will be described.

2. A lane-changing vehicle and a collision avoidance system according to an embodiment of the present invention will be described.

3. The configuration of the vehicle according to the embodiment of the present invention will be described.

4. The lane-changing vehicle and the collision avoidance information processing according to the embodiment of the present invention will be described.

5. A lane-changing attempt vehicle extracting process among other vehicles in a rotating lane according to an embodiment of the present invention will be described.

6. The possibility of collision with the main vehicle when the lane-changing vehicle according to the embodiment of the present invention enters the target lane will be described.

7. A method of providing the possibility of collision and the recommended speed information according to an embodiment of the present invention will be described.

1. A method of recognizing a present driving lane according to an embodiment of the present invention will be described.

The conventional method of acquiring position information using GPS has an error range of 10 meters to acquire position information by a triangulation method between a plurality of satellites and a GPS module. In the case of roads in the Republic of Korea, the width of the road designated by the Road Traffic Act is 3.5 meters or more for highways and 3 meters to 3.5 meters or more for ordinary roads, depending on the speed of the road. Considering the error range of 10 meters, It is hard to recognize.

The vehicle according to the embodiment of the present invention is intended for a vehicle to which the V2X technology is applied. When the relative position data using the GPS (Global Positioning System) is utilized among the V2X vehicle information data, the present driving lane can be recognized. The GPS technology used herein is to acquire vehicle position information data by performing triangulation between a GPS module provided in a vehicle and a plurality of satellites using DGPS (Differential Global Positioning System) technology, and to reduce an error range of vehicle position information data The positioning error analysis is performed between the reference position data of the GPS reference station installed on the ground surface and the vehicle position data. Here, GPS data used for maritime traffic safety is used as the base data for positioning error analysis. The current position data of the calibrated vehicle has an error range within 1 meter. Since this is an error within the range of the road width described above, it is possible to recognize the driving lane of the present vehicle.

Further, the position data of the corrected vehicle and the precision map data provided in the vehicle are mapped to recognize the present driving lane and the current vehicle position.

2. A lane-changing vehicle and a collision avoidance system according to an embodiment of the present invention will be described.

The conventional technology for preventing collision between vehicles is a technique for preventing an accident when the driver of the vehicle attempts to change the lane by determining whether the vehicle can be entered or not, that is, And a technique to prevent an accident by warning the possibility of collision with a vehicle which is located in the lane of change and is running from the rear.

On the other hand, there is a need for a technology that can prevent accidents from collision with the main vehicle and the preceding vehicles that are changing lanes in a rotating lane.

Further, there is a need for a technique capable of preventing an accident from a possibility of secondary collision of the main vehicle due to collision between the lane-changing vehicle and the other vehicle. It is difficult to solve the above-described difficulties with conventional inter-vehicle collision technology and conventional intelligent transportation systems.

Therefore, the lane-changing vehicle and the collision avoidance system and method according to the embodiment of the present invention can prevent the lane change intention of the lane changing intention on the lane changing lane from the lane change lane, do. For example, in a case where a vehicle in a position that the driver of the host vehicle can not perceive visually in a rotating lane tries to change lanes, it is a technique to secure the safety of the host vehicle in consideration of the possibility of impulse between main engines.

For example, the following vehicles should be considered.

When the main vehicle travels in the adjacent lane of the revolving lane, it is located in front of the main lane. Of the vehicles located in the revolving lane, the possibility of collision with the vehicle transmitting the lane change signal, the turn indicator light is turned on, The possibility of collision with the vehicle coinciding with the driving lane direction of the vehicle, and the possibility of collision with the vehicle in which the steering direction of the steering apparatus coincides with the driving lane direction of the main vehicle should be considered.

Further, the lane-changing vehicle and the collision avoidance system and method according to the embodiment of the present invention can prevent collision with a lane-changing vehicle by avoiding collision with a lane-changing vehicle, Provides the possibility of accident with the lane change vehicle and the recommended deceleration rate. Therefore, the lane changing vehicle and the collision avoidance system and method according to the embodiment of the present invention provide collision probability information that may be caused by the lane changing vehicle in the adjacent lane of the turning lane.

In addition, information is provided so that the driver of the main vehicle can easily judge how much the current driving speed should be adjusted in order to prevent a collision depending on the possibility of collision with the lane changing vehicle. For example, it is possible to provide the driver with the recommended speed information to what extent the speed should be reduced or stopped so that the driver can easily judge.

3. The configuration of the vehicle according to the embodiment of the present invention will be described.

1 is a configuration diagram of a vehicle according to an embodiment of the present invention.

In the risk notification system, when the lane change occurs, the vehicle 100 supports the V2X communication. The vehicle 100 receives the positional information of the main vehicle during traveling through the positional information receiving unit 103 in real time, So that the main vehicle recognizes the currently running lane in real time. In addition, vehicle information of other vehicles is acquired in real time through V2V communication with other vehicles, and real-time recognition of the currently driving lane of other vehicles is performed by mapping the position information of other vehicles among the obtained other vehicle information with the precise map. Therefore, it is possible to recognize when a stagnation phenomenon occurs on the front of the main vehicle. In order to travel straight ahead beyond the stagnation zone ahead of the vehicle, the main vehicle calculates the vehicle information of the acquired other vehicles and the vehicle information of the main vehicle Provides recommended speed data that can avoid impulsive possibility and collision possibility to the driver together to prevent collision between the main vehicle and other vehicles. Here, the main vehicle and the other vehicles are basically V2X communicable vehicles, and generate real-time vehicle information data through the vehicle information generating unit 105 provided in the vehicle in real time, And transmits it to the sidewalk device.

The vehicle 100 includes a position information receiving unit 103 for receiving a GPS signal for calculating the position recognition information of the vehicle, a surrounding vehicle information receiving unit 102 for receiving the vehicle information signals transmitted by other vehicles, A precise map DB 104 used for correcting the positional information, a vehicle information generating unit 105 for generating vehicle information, a vehicle information transmitting unit 106 for transmitting the vehicle information of the vehicle to the surrounding vehicles and the roadside apparatus, A control unit 101 for comparing the vehicle information of the other vehicles received from the information receiving unit 102 with the vehicle information of the main vehicle generated by the vehicle information generating unit 105 and generating the collision possibility data and the recommended speed data, And a display unit 107 for receiving the possibility of collision and recommended speed data from the control unit 101 and performing display and notification to the driver through a display device provided in the vehicle.

The position information receiving unit 103 receives the GPS signal of the main vehicle and calculates the position of the main vehicle based on the received GPS signal. Here, the position information of the main vehicle includes information of the driving lane in the current driving, the position of the main vehicle in the driving lane, the number of total lanes of the main road running on the main vehicle, and the position information of each lane. For example, as a method of calculating the position of the main vehicle by receiving the position information, a method of acquiring position information using the conventional GPS described in detail above, and a method of calculating the position of the main vehicle by utilizing the relative position data using GPS among the V2X vehicle information data A method of recognizing the position of the main vehicle in the V2V communication, a method of recognizing the position of the main vehicle by calculating the relative position between the vehicles using the V2V communication, and the like.

The surrounding vehicle information receiving unit 102 receives the vehicle information data from other surrounding vehicles. Here, the description of each data constituting the vehicle information data is omitted because it is the same as the description of the vehicle information of the vehicle using the V2X communication detailed above. For example, the main vehicle can transmit and receive data using the V2V communication between the vehicle and the vehicle, and the V2I communication between the vehicle and the roadside apparatus, without establishing communication connection with the roadside apparatus and other vehicles around the vehicle within the V2V communication range.

The vehicle information generating unit 105 generates vehicle information of the main vehicle. For example, the vehicle information may be stored in the vehicle 100 based on the vehicle electronic device data received from the electronic control unit ECU (Electronic Control Unit) and the position information received from the position information receiving unit 103 by the V2X terminal device provided in the vehicle And generates information data.

The control unit 101 generates a collision possibility and recommended speed data between the main vehicle and another vehicle.

The possibility of collision between main vehicle and other vehicle is calculated as follows. When the lane changing vehicle makes a lane change, the main lane changing vehicle checks whether the lane on which the lane changing lane is changed coincides with the lane on which the main lane travels. If the lane changing lane and the lane of the main lane The physical environment with the vehicle that is changing lanes or changes lanes in the forward lane on the basis of the current position of the main vehicle and the main vehicle, that is, the distance between the vehicles, the traveling speed of the main vehicle and the lane- The possible collision potentials and recommendation speeds should be calculated. For example, the inter-vehicle distance is calculated based on the current position information of the main vehicle and the position information of the lane-changing vehicle, and the possibility of collision with the lane-changing vehicle at the current driving speed is calculated, Calculate the speed at which the lane change vehicle can run without collision. Here, the recommended speed is calculated by comparing the current driving speed of the main vehicle with the speed at which the main vehicle can run without impact and the lane change vehicle.

In addition, the recommended speed data may be calculated based on the driving speed of the current main vehicle and the driving speed of other vehicles, and provided to the driver when the value of the collision risk prediction time value is equal to or greater than a predetermined reference time value . Here, the predetermined reference time value means a time at which the driver recognizes the danger information at the time and can perceive it. Normally, a time of 2 to 2.5 seconds is a time required for the perception reaction of the driver, so that it can be set within the above range. It is also possible to set the time to 2.5 seconds or more depending on the driving skill of the driver.

The display unit 107 receives the collision possibility data and the recommended speed data generated from the control unit 101 and provides the driver with danger information and recommended speed information through a screen display and an alarm. For example, a danger is warned by using a screen display device, a sound output device, an interior light brightness control, and the like provided in a vehicle. Change the lane from light color to dark color on the screen display device Display the danger level according to the approach direction of the vehicle to output a danger message or change the lane. You can notice the danger by lighting different colors.

In addition, in the case of a sound output device, the risk level can be warned by outputting dangerous information by changing the degree of sound magnitude. For example, when a lane change vehicle is found, such as "DANGER! Approaching within 2 meters of a lane changing vehicle ", the possibility of collision with the main vehicle may be outputted as a voice difference in remaining distance from the lane changing vehicle.

It is also possible to provide the driver of the main vehicle with the recommended speed information when recognizing the lane change vehicle, and display it as "30+ " when acceleration of 30km is required and" 30- & For the output device, it is possible to calculate the recommended speed based on the driving speed of the main vehicle and other vehicles and change the lane of the other vehicle, such as "30 km acceleration / deceleration,

In addition, in the case of the interior light brightness control, a dimming change is given to give a change in the color of the interior light or repeated lighting of the interior light or the like, thereby warning the driver of the possibility of collision.

The vehicle information transmission unit 106 basically transmits the vehicle information of the main vehicle to the other vehicle and the roadside apparatus periodically, and in the case of the lane-changing vehicle, transmits the lane change signal to the main vehicle and the roadside apparatus when the lane change occurs.

4. The lane-changing vehicle and the collision avoidance information processing according to the embodiment of the present invention will be described.

2 is a flowchart of a collision avoidance process with a lane-changing vehicle according to an embodiment of the present invention.

First, the main vehicle performs a procedure of receiving position information (SlOO). Here, the positional information is received in real time from the positional information receiving unit of the vehicle, and the current positional information data of the other vehicles is extracted from the vehicle information of the other vehicle received in real time from the neighboring vehicle information receiving unit, The main vehicle current position data and the current position information data of the other vehicles are mapped with the precision map data built in the precision map database provided in the vehicle to correct the error so that the lane position and the other vehicle It is possible to recognize a driving lane while driving. Therefore, the main vehicle can grasp not only the current position of the main vehicle but also the current position of the surrounding vehicles of the main vehicle in real time. The procedure is updated in real time and iteratively performed independently of the procedure.

Here, the vehicle means a main vehicle and another vehicle communicating with the V2X, and periodically receives position information of the vehicle through a position information receiving unit provided in each vehicle. For example, a GPS or DGPS module provided in each vehicle and at least three or more satellite triangulation are performed to obtain the positional information data of the vehicle.

Further, the acquired position information data can be used to calculate the position information data in which the error is reduced by executing the reference position data of the GPS reference station and the positioning error analysis.

In addition, the calculated position information data is mapped to the precision map data provided in the vehicle, so that the position of the current vehicle can be known.

Thereafter, the main vehicle generates main vehicle information and periodically transmits it to peripheral vehicles and the roadside apparatus (S101). For example, vehicle information of the main vehicle is periodically generated through a vehicle information generating unit provided in the vehicle. Here, the description of the vehicle information is the same as the description of the vehicle information described in detail above, and is omitted.

Also, the vehicle information periodically generated in the main vehicle is periodically transmitted to the surrounding vehicles. The procedure is updated in real time and iteratively performed independently of the procedure.

Thereafter, the main vehicle performs a procedure of periodically receiving other vehicle information of nearby vehicles (S102). For example, vehicles communicating with V2X periodically generate vehicle information and periodically transmit and receive vehicle information with other vehicles. Here, the description of the vehicle information is the same as the description of the vehicle information data described in detail above, and thus will be omitted. The procedure is updated in real time and iteratively performed independently of the procedure.

Then, it is determined whether the main vehicle has entered the lane adjacent to the revolving lane (S103). Here, the rotating lane means a lane that can proceed in one direction of travel. In Korea, the position of a lane designated as a rotating lane is likely to be the lane located at the leftmost position and the lane located at the rightmost position based on the direction of travel of the vehicle. For the leftmost lane, it is possible to turn left or turn, and for the rightmost lane, turn right. The direction in which the lane can be driven is determined by the Road Traffic Act of each country. Also, it is possible to determine whether the current main vehicle is traveling in a lane adjacent to the lane of rotation based on the positional information of the corrected main vehicle through the accurate map DB provided in the vehicle. If the main vehicle is traveling in a lane adjacent to the lane of travel, the procedure proceeds to the next step. If the main vehicle is not traveling in the lane adjacent to the lane of travel, the procedure goes to the location information reception procedure S100.

Thereafter, a procedure is performed to determine whether there is another vehicle in the forward lane based on the current position of the main vehicle (S104). Here, if no other vehicle exists in the forward lane, the main vehicle is allowed to travel in the lane of rotation without possibility of collision with another vehicle performing lane change to the lane in which the main vehicle is traveling. Therefore, the process moves to the location information reception procedure S100. Also, if there is another vehicle ahead, the following procedure is performed.

Thereafter, the routine moves to a routine for extracting a vehicle that attempts to change lanes among other vehicles in the rotating lane, and performs the procedures (S105). Here, the description of the extraction routine for the vehicle which attempts to change the lane among other vehicles in the rotating lane will be described in detail with reference to FIG.

Thereafter, the distance between the main vehicle and the lane-changing attempting vehicle is calculated (S106). Here, the vehicle-to-vehicle distance is the distance between the current position of the main vehicle and the expected position of the lane-changing attempt vehicle, which is updated in real time, based on the current position, estimated position, running speed,

Thereafter, the main vehicle calculates the possibility of collision with the lane-changing attempt vehicle at the time of driving (S107). Here, the possibility of collision with the lane-changing attempt vehicle is calculated based on the distance between the main vehicle and the lane-changing attempt vehicle, the safety distance, the current driving speed of each vehicle, and the current position of each vehicle calculated in the S106 procedure. For example, the calculation of the safety distance is calculated based on the overall length of each vehicle, the safety factor, and the like. The safety distance is the distance required for the driver to detect the danger by sight and operate the brake to stop the vehicle. The safety factor is calculated based on the weight of each vehicle, the traveling speed of each vehicle, the performance of the braking-related device of each vehicle, and the road surface condition of the road. For example, the information on the vehicle is acquired from the vehicle information data, the weather information data is received on the basis of the current position of the vehicle, the road surface state data of the road is calculated, and the total length of the vehicle, Performance and so on. Safety distance criterion can be calculated by the following formula of safety distance criterion.

Safety distance reference = total length x safety factor

Further, the distance data between the expected position of the lane-changing attempt vehicle and the expected position of the main vehicle is compared with the calculated safety distance data. If the distance data between the expected position of the main vehicle and the expected position of the other vehicle has a value larger than the safety distance data, the lane change attempting vehicle may be changed It can be judged that the braking distance for stopping is sufficiently secured.

On the other hand, if the safety distance data has a value larger than the distance data between the expected position of the main vehicle and the expected position of the other vehicle, when the lane change attempting vehicle occurs a forward accident during the lane change, The braking distance for stopping the braking operation can not be secured sufficiently, so that a second collision accident may occur. Therefore, in order to reduce the possibility of collision in the recommended speed calculation procedure described below, the driver of the main vehicle is informed of the risk of decelerating or stopping the driving speed of the main vehicle.

Thereafter, the recommended speed calculation is performed (S108). The recommended speed calculated here means the speed at which the driver can travel more safely than when driving at the current driving speed if the driver performs the driving with reference to the recommended speed information. For example, the recommended speed is that the main vehicle must travel in response to entry into the driving lane of the main vehicle of the lane-changing attempting vehicle during driving to ensure safety of the main vehicle. Generally, when changing lanes in a lane of change, the vehicle accelerates. Therefore, in the procedure, decelerated speed data is generated at a recommended speed of the main vehicle than the current driving speed.

Thereafter, the driver is warned of the possibility of collision and the recommended speed through display and alarm (S109). A collision possibility data is generated in accordance with the degree of the result calculated in the collision probability calculation procedure of the main vehicle and the preceding vehicle so as to warn the display and the alarm corresponding to the collision possibility data generated so that the driver can safely drive in the lane adjacent to the lane. And recommended speed.

Thereafter, when the main vehicle passes through the lane adjacent to the lane of rotation, the travel is resumed by the operation of the driver along the set travel route again. Here, the main vehicle moves to the procedure S100 for receiving the position information.

5. A lane-changing attempt vehicle extracting process among other vehicles in a rotating lane according to an embodiment of the present invention will be described.

3 is a flowchart of a lane-changing attempt vehicle extraction process according to an embodiment of the present invention.

First, vehicle information of another vehicle is received again and data is updated (S200). For example, the current position of other vehicles can be recognized by mapping the other vehicle information data periodically received through the vehicle information receiving unit of the nearby vehicle installed in the vehicle with the precision map built in the accurate map DB. In the main vehicle, the three lanes of the vehicles located in the revolving lane, which are changing lanes or attempt to change lanes, are recognized as three states based on the position of the recognized other vehicles. The procedure for calculating the position is performed independently.

First, a procedure is performed to determine whether there is a vehicle that is transmitting a lane change signal among the vehicles waiting in the turning lane (S201). For example, a vehicle attempting to change lanes transmits a lane change signal to alert the surrounding vehicle that the lane change is being performed when the vehicle is changing lane through the vehicle information data. Therefore, the main vehicle receives the lane change signal of the other vehicle, and judges that there is a lane changing vehicle ahead. When the lane change signal is received, the following procedure is performed. If there is no received lane change signal, the flow moves to the location information reception procedure S100 (S206).

Further, a procedure may be performed in which the preceding vehicle receives the received lane change signal again. For example, in order to prevent the lane change signal from being received directly due to the communication distance between the lane change attempting vehicle and the main lane for receiving the lane change signal, And searches for vehicles that have received the lane change signal of the preceding vehicle. If a vehicle receiving the lane change signal of the preceding vehicle exists among the searched vehicles, the lane change signal can be received. For example, in the case of a road traveling at a high speed, the lane change vehicle may not be searched within the communication range because the distance between the vehicles is relatively wider than the downtown road. However, it is possible to overcome the limitation of the communication range by receiving the lane change signal received by the preceding vehicle, and protect the driver of the main vehicle from a collision at high speed.

Thereafter, when the lane change signal is received, a procedure is performed to determine whether the lane changing target lane of the lane changing lane is the same lane as the lane on which the main vehicle is currently running (S202). At this time, the procedure for determining whether the target lane in which the lane changing vehicle is lane changing is the same lane as the lane in which the main vehicle is currently running can be named as the first method. Here, if the target lane and the driving lane of the main vehicle are the same lane, the expected position calculating procedure S207 of the next other vehicle is performed. If the target lane and the driving lane of the main vehicle are not in the same lane, the process proceeds to the position information reception procedure S100 (S206).

Secondly, a procedure is performed to determine if there is a vehicle whose turn indicator is lit in the lane in which the main vehicle is traveling among the vehicles waiting in the turning lane (S203). For example, if the main vehicle is a two-lane driving lane and the revolving lane is a one-lane vehicle, the vehicle attempting to change lanes will light the turn signal light to the right. Therefore, it can be regarded as a lane change attempt vehicle, and it is a vehicle that can act as a potential risk to the driving of the main vehicle. If there is a vehicle whose turn indicator lights in the lane in which the main vehicle is running, the following procedure is performed. If the vehicle is not present, the process goes to the location information reception procedure S100 (S206).

Thereafter, a procedure is performed to determine whether the direction of the turned direction indicator light matches the rotation direction of the steering apparatus (S204). At this time, the procedure for determining whether the direction of the turned direction indicator light and the direction of rotation of the steering device are coincident can be named as the second method. For example, in the second method, the driver of the vehicle waiting in the turning lane may inadvertently turn on the turn indicator in the opposite direction without turning on the turn indicator in the turn running direction. Therefore, The intention can be grasped. If the direction of the turned direction indicator matches with the direction of rotation of the steering apparatus, the expected position calculation procedure S207 of the other vehicle is performed in the following procedure. If the direction of the illuminated direction indicator does not coincide with the direction of rotation of the steering apparatus, the process proceeds to the position information reception procedure S100 (S206).

Thirdly, a procedure is performed to determine whether there is a vehicle in which the steering apparatus is rotated in the lane in which the main vehicle is traveling among the vehicles waiting in the turning lane (S205). At this time, the procedure of determining whether there is a vehicle in which the steering apparatus is rotated in the lane in which the main vehicle is traveling among the vehicles waiting in the turning lane may be named as the third method. For example, in the third method, the driver of the vehicle waiting in the turning lane may attempt to change the lane by only turning the steering device without turning on the turn signal lane in the lane in which the main vehicle is running. The lane change intention can be grasped. Here, if the direction of rotation of the steering apparatus coincides with the direction of the lane while the main vehicle is running, the expected position calculation procedure S207 of the other vehicle is performed in the following procedure. If the lane in which the main vehicle is traveling does not coincide with the direction of rotation of the steering apparatus, the process proceeds to the position information reception procedure S100 (S206).

In the above-described procedure, the turn indicator lighting state of the lane change attempting vehicle, the rotation state of the steering apparatus, and the like can be obtained by extracting the vehicle control data from the other vehicle information data described above.

Thereafter, a procedure for calculating an expected position of another vehicle is performed (S207). At this time, the lane-changing attempt vehicle extracted by one or more of the first to third methods can calculate the expected position in the driving lane of the main vehicle when the lane is changed. Here, the expected position is calculated based on the current position of the other vehicle, the current traveling speed of the other vehicle, the traveling time, the acceleration / deceleration coefficient, and the like. For example, the expected position can be calculated by the following equation.

Expectation of other vehicle = current position + ((current speed x running time of other vehicle) + (acceleration / deceleration coefficient x running time of other vehicle ² ))

In addition, it is calculated by including variables that take 2 seconds to complete the entry into the target lane when changing other lanes. The second criterion is that traffic engineering defines lane change within 2 seconds. That is, the predicted position of the finally calculated other vehicle is a position calculated by estimating the position where the lane change is performed for 2 seconds from the current driving lane to the target lane.

The lane departure attempting vehicle extraction procedure among the vehicles in the above-described rotating lane is independently performed in real time. That is, the procedure does not proceed according to the order of the time intervals among each other, and the control unit simultaneously performs the multiple operation method.

6. The possibility of collision with the main vehicle when the lane-changing vehicle according to the embodiment of the present invention enters the target lane will be described.

Fig. 4 is a graph showing the probability of collision (a) between a lane-changing vehicle and another vehicle entering the same lane according to an embodiment of the present invention, a possibility (b) of collision with the lane departure- , And a possibility (c) of collision between the lane-changing vehicle and the preceding vehicle in the same lane.

The possibility of collision between the main vehicle and the lane-changing vehicle according to the embodiment of the present invention can be classified into the following three cases. For example, as shown in (a), the probability of collision with a vehicle that attempts to enter the same position when the lane-changing vehicle enters the predicted position of the target lane, and (b) The possibility of collision with the rear main vehicle running on the same target lane at the time of entering the predicted position of the lane, and (c) the possibility that the lane change vehicle slows down the traveling speed of the forward driving vehicle when entering the predicted position of the target lane The possibility of collision with the vehicle can be classified. In this case, (a) and (c) mean the case where there is a possibility of a second collision with the main vehicle due to a collision accident between the main vehicle and the lane changing vehicle and the other vehicle.

The three cases described above may occur as a single case according to an embodiment of the present invention, and may occur in combination with each other. For example, (a), (b), and (c) of FIG. 4 may occur simultaneously in combination with each other. Therefore, in the lane-changing vehicle and the collision avoidance system and method of the present invention, in order to prevent the possibility of collision between the main vehicle and the lane-changing attempt vehicle, To provide a recommendation speed with indication of the possibility of collision and an alarm so as to avoid a collision accident.

7. A method of providing the possibility of collision and the recommended speed information according to an embodiment of the present invention will be described.

FIG. 5 is a view showing a lane-changing vehicle according to an embodiment of the present invention, collision possibility information and acceleration recommendation deceleration rate information together with a display (a), a lane- to be.

(a) is a lane adjacent to a lane while the main vehicle is running, a vehicle attempting to change lanes from the left lane to the lane of the main vehicle is detected, the entry direction of the lane changing vehicle is displayed from left to right, Based on the possibility of a collision between the modified vehicle and the main vehicle, information is displayed to decelerate from the current running speed in order to prevent a collision accident.

(b) shows that the lane-changing vehicle is moving from the left lane to the driving lane of the main vehicle while the main vehicle is running while the lane-changing vehicle is approaching the left lane, Based on the possibility of collision between the modified vehicle and the main vehicle, information was provided to "stop" when a collision between forward vehicles was anticipated to prevent a collision.

Also, in the figure, the vehicle can be represented by a change in color depending on the difference in distance between the main vehicle and the lane-changing vehicle. For example, in (a), the safety distance between the front vehicle and the lane-changing vehicle may be indicated in a blue system, and the distance below the safety distance may be indicated in a red system. In addition, a method of projecting the information to a vehicle window having a height at which a driver's eye is located can be used through a display unit provided in the vehicle, and a voice message can be simultaneously output and alarmed.

In addition, it is possible to output the danger level together with the screen display by voice. The method of warning the driver of the possibility of collision and the recommendation speed is the same as that of the display section described above, and therefore, a detailed description thereof will be omitted.

Although the present invention has been described with reference to the accompanying drawings and the preferred embodiments described above, the present invention is not limited thereto but is limited by the following claims. Accordingly, those skilled in the art will appreciate that various modifications and changes may be made thereto without departing from the spirit of the following claims.

100: vehicle 101: control unit
102: surrounding vehicle information receiving unit 103: position information receiving unit
104: precision map DB 105: vehicle information generating unit
106: vehicle information transmission unit 107: display unit

Claims (19)

A method for preventing collision with a lane change vehicle between a main vehicle and other vehicles connected to V2X communication,
In the main vehicle,
A procedure for periodically receiving other vehicle information data of the other vehicles;
Determining whether the main vehicle has entered the lane adjacent to the lane of rotation;
A step of determining the presence or absence of another vehicle in the forward rotation lane of the main vehicle;
A procedure for extracting a lane-changing attempting vehicle among other vehicles in the forward lane;
Calculating a possibility of collision between the main vehicle and the lane-changing attempt vehicle;
A procedure for calculating a recommended speed recommended when driving to the lane adjacent to the lane of revolution; And
A driver alarm procedure for informing the driver of the possibility of collision and the recommended speed;
The lane change vehicle and the collision avoidance method. The method according to claim 1,
The procedure for extracting the lane-changing attempt vehicle among the other vehicles in the forward lane,
A step of determining whether or not there is a vehicle that transmits a lane change signal among other vehicles in the rotating lane;
A step of determining whether the main vehicle is received with the lane change signal;
Extracting a lane change target lane from the lane change signal, and determining whether the target lane coincides with the lane on which the main vehicle is currently running; A first method comprising:
A step of determining whether any of the other vehicles in the lane is in a lane in which the main vehicle is running,
A procedure for extracting a lane-changing attempt vehicle by discriminating whether there is a vehicle whose turning direction of the turn signal lamp matches the turning direction of the steering apparatus; / RTI >
A step of extracting a lane change attempting vehicle by discriminating whether or not any vehicle among the other lanes in the lane of rotation is a vehicle turning the steering device in the lane direction in which the main vehicle is running; A third method comprising:
A procedure for calculating a predicted position in the driving lane of the main vehicle when the lane-changing attempt vehicle extracted by one or more of the first to third methods changes lanes;
Wherein the lane-changing vehicle further comprises: The method of claim 2,
Wherein the procedure for determining whether the lane change signal has been received by the main vehicle additionally performs a procedure for re-receiving the lane signal received in the preceding vehicle. The method according to claim 1,
Wherein the recommended speed has a speed that can prevent a collision with the lane-changing attempt vehicle in which the main vehicle attempts to change lanes in the lane adjacent lane during driving, And a speed at which the vehicle can be stopped without causing a second collision accident with the accident vehicles. The method according to claim 1,
Before the procedure of periodically receiving other vehicle information data of the other vehicles performed by the main vehicle,
A step of periodically receiving position information through a position information receiving unit provided with the main vehicle; And
Wherein the main vehicle further performs a procedure of periodically generating vehicle information. The method of claim 5,
Wherein the main vehicle periodically receives the position information through the position information receiver including the main vehicle,
Performing triangulation between at least three or more satellites and a GPS or DGPS module provided in the main vehicle to obtain the positional information data of the vehicle and executing the positioning error analysis of the reference position data of the GPS reference station ; And
And mapping the position information data to the precision map data provided on the main vehicle. The method of claim 2,
Estimated position of the lane-changing attempt vehicle is calculated by the lane current position of the attempt to change the vehicle + ((running time ^2), the current speed × travel time of a lane-changing attempt vehicle) + (acceleration-deceleration coefficient × lane change attempt vehicle) , The predicted position of the main vehicle is calculated as the current position of the main vehicle + ((current speed x running time of main vehicle) + (acceleration / deceleration coefficient x running time of main vehicle ² )). And a method for preventing a crash. The method according to claim 1,
The possibility of collision between the main vehicle and the lane-changing attempting vehicle is calculated based on the distance between the main vehicle and the lane-changing attempting vehicle, the safety distance, the current traveling speed of the vehicle, and the current position of each vehicle Characterized in that the lane change vehicle and the crash prevention method. The method of claim 8,
Wherein the safety distance is calculated as an overall length x safety factor of the main vehicle, and the safety factor is calculated based on the running speed data of the main vehicle, the state data of the running road surface, the friction coefficient data of the road surface and the tire, Wherein the lane change vehicle is calculated based on the performance data. The method according to claim 1,
Wherein the driver alarm outputs the collision possibility and the recommended speed as a voice message, a text message, and a color change of a screen using a screen display device and a sound output device. A system for preventing collision with a lane change vehicle between a main vehicle and other vehicles connected to V2X communication,
In the main vehicle,
A position information receiving unit for receiving position information data of the main vehicle;
An adjacent vehicle information receiving unit connected to the other vehicles through wireless communication and receiving vehicle information data of other vehicles periodically transmitted by the other vehicles;
Precise map DB with precision map;
A vehicle information generating unit for periodically generating the main vehicle information data;
A vehicle information transmission unit periodically transmitting vehicle information data of the main vehicle to the other vehicles;
A control unit for calculating collision possibility data and recommendation speed data based on the other vehicle information data and the vehicle information data of the main vehicle; And
A display unit for alerting the driver through a display unit provided in the vehicle according to the collision possibility data and recommendation speed data received from the control unit;
And a collision avoidance system. The method of claim 11,
The vehicle information data of the main vehicle and the other vehicles includes identification data of the vehicle, time data, vehicle position data, vehicle operation data, vehicle control data, vehicle size data, sudden braking data of the vehicle, The route record data, the estimated route data of the vehicle, and the relative position data using the GPS (Global Positioning System). The method of claim 11,
Wherein the controller corrects the position information data of the main vehicle and the other vehicles by mapping the position information data of the main vehicle and the vehicle information data of the other vehicles to the precision map. The method according to claim 11 or 13,
The control unit determines whether the main vehicle is located in a lane adjacent to the lane of rotation, other vehicles are present in the lane of rotation, a lane change signal among the other lanes is transmitted, or a turn signal lamp, And the direction of rotation of the steering apparatus coincides with the direction of the driving lane of the main vehicle or the direction of rotation of the steering apparatus of the vehicle among the other vehicles coincides with the direction of the driving lane of the main vehicle, A lane change vehicle and collision avoidance system that calculate recommended speed data. 15. The method of claim 14,
Wherein the control unit receives the lane change signal received by another vehicle located in the front side again. 15. The method of claim 14,
Wherein the collision possibility data is calculated based on the distance between the main vehicle and the lane change attempting vehicle, the safety distance, the current driving speed of each vehicle, and the current position of each vehicle. Prevention system. 15. The method of claim 14,
Wherein the recommended speed data has a speed that can prevent collision with the lane change attempting vehicle in which the main vehicle attempts to change lanes in the lane adjacent lane during driving, Wherein the vehicle has a speed at which the vehicle can stop without causing a second collision with the accident vehicles. 18. The method of claim 16,
Wherein the safety distance is calculated as an overall length x safety factor of the main vehicle, and the safety factor includes at least one of running speed data of the main vehicle, state data of the running road surface, friction coefficient data of the road surface and the tire, And the collision avoidance system is calculated based on the performance data of the lane-changing vehicle and the collision avoidance system. The method of claim 11,
Wherein the alarm outputs the collision possibility and the recommended speed using a screen display device and a sound output device by outputting a voice message, a text message, or a color change of the screen.

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