KR102078771B1 - Vehicle, and control method for the same - Google Patents

Abstract

A vehicle and a control method thereof for determining a driving lane based on a position of an object detected by a radar.
According to an embodiment of the present disclosure, a vehicle may include: a storage unit configured to store a map including lane number information of a road; A radar for detecting an object in front of the vehicle; And a controller configured to determine a driving lane based on a position of the detected object on a driving road. It may include.

Description

Vehicle, and its control method {VEHICLE, AND CONTROL METHOD FOR THE SAME}

The present invention relates to a vehicle for determining a traveling lane and a control method thereof.

A vehicle is a type of vehicle that can move humans, objects, or animals from one location to another while traveling along a road or track. Examples of the vehicle may be a three-wheeled or four-wheeled vehicle, a two-wheeled vehicle such as a motorcycle, a construction machine, a prime mover bicycle, a bicycle and a train traveling on a track.

Recently, the vehicle industry is increasing interest in the Advanced Driver Assistance System (ADAS), which provides more convenience and safety to the driver.

In particular, research is being actively conducted on the apparatus and method for predicting the road environment by using a precise map and providing appropriate control and convenience services corresponding to the predicted road environment. For example, the vehicle may check the information of the road currently being driven by using the precision map, predict the road environment in advance, and provide the driver with the prediction.

According to one embodiment of the disclosed invention, there is provided a vehicle and a control method thereof for determining a driving lane based on a position of an object sensed by a radar.

According to an embodiment of the present disclosure, a vehicle may include: a storage unit configured to store a map including lane number information of a road; A radar for detecting an object in front of the vehicle; And a controller configured to determine a driving lane based on a position of the detected object on a driving road. It may include.

The controller may determine the driving lane using a lateral distance from the detected object.

The controller may determine the driving lane according to a region of interest in which the detected object is located, from among a plurality of regions of interest preset based on a lateral distance from the vehicle.

The controller may determine the driving lane using the plurality of ROIs set using the radar detection result for a predetermined time on the driving road.

The controller may determine the driving lane using the plurality of ROIs set by classifying the radar detection result according to the lateral distance from the vehicle for the predetermined time.

The controller may determine a moving state of the detected object based on the detected relative speed of the object and determine the driving lane according to the checked moving state.

The controller may determine the driving lane based on the position of the detected object when the detected object is determined to be in a stationary state.

The controller may determine a non-driving lane based on the position of the detected object when the detected object is determined to be in a moving state.

The controller may be further configured to calculate a probability that the driving lanes are for each of the plurality of lanes based on the position of each of the detected objects, and determine the lane having the highest probability of being the driving lane. You can decide by driving lane.

The controller may provide a matching point to a lane corresponding to each detected position of the object, and determine a lane having the highest matching point as the driving lane.

According to an embodiment, a control method of a vehicle may include: detecting, by a radar, an object in front of a vehicle in which a map including road number information of a road is stored; Determining a driving lane based on a position of the detected object on a driving road; It may include.

The determining of the driving lane may include determining the driving lane using a lateral distance from the detected object.

The determining of the driving lane may include determining the driving lane according to a region of interest in which the detected object is located, from among a plurality of regions of interest preset based on a lateral distance from the vehicle.

The determining of the driving lane may include determining the driving lane using the plurality of ROIs set using the radar detection result for a predetermined time on the driving road.

The determining of the driving lane may include determining the driving lane using the plurality of ROIs set by classifying the radar detection result according to the lateral distance from the vehicle for the predetermined time.

The determining of the driving lane may include determining a moving state of the detected object based on the detected relative speed of the object and determining the driving lane according to the checked moving state.

The determining of the driving lane may include determining the driving lane based on the position of the detected object when the detected object is determined to be in a stationary state.

In the determining of the driving lane, when the detected object is determined to be in a moving state, the driving lane may be determined based on the position of the detected object.

The determining of the driving lane may include determining a probability of the driving lane for each of the plurality of lanes based on the position of each of the detected objects, and determining the driving lane. The highest lane can be determined as the driving lane.

In the determining of the driving lane, a matching point may be assigned to a lane corresponding to each position of the detected object, and the driving lane having the highest matching point may be determined as the driving lane.

According to one embodiment of the disclosed vehicle and its control method, since the detection result of the radar is used, the accuracy of determining the driving lane can be increased.

Further, according to another embodiment of the disclosed vehicle and its control method, it is possible to easily predict the driving route at the branch point and the intersection using the determined driving lane.

1 illustrates an exterior of a vehicle according to an exemplary embodiment.
2 is a diagram illustrating an internal configuration of a vehicle according to an exemplary embodiment.
3 is a control block diagram of a vehicle according to an exemplary embodiment.
4A is a graph illustrating a result of radar detecting an object on a driving lane for a predetermined time according to an embodiment on a xy plane, and FIG. 4B illustrates a frequency distribution table of x-axis coordinates of the graph of FIG. 4A.
5 is a diagram for describing a method of determining a driving lane using a preset ROI, according to an exemplary embodiment.
FIG. 6 is a diagram for describing a method of determining a driving lane using a preset ROI according to another exemplary embodiment.
7 is a flowchart illustrating a vehicle control method according to an exemplary embodiment.

Hereinafter, a vehicle and a control method thereof will be described in detail with reference to the accompanying drawings.

1 illustrates an exterior of a vehicle according to an exemplary embodiment.

As shown in FIG. 1, an embodiment of a vehicle includes a main body 10 forming an exterior of a vehicle 1, wheels 21 and 22 for moving the vehicle 1, and a door for shielding the inside of the vehicle 1 from the outside. 14, a windshield 17 that provides a driver in the vehicle 1 with a view in front of the vehicle 1, and side mirrors 18, 19 that provide a driver with a view in the rear of the vehicle 1. .

The wheels 21 and 22 include a front wheel 21 provided at the front of the vehicle and a rear wheel 22 provided at the rear of the vehicle, and the front wheel 21 or the rear wheel 22 provides a rotational force from a driving device to be described later. The main body 10 can be moved forward or backward.

The door 14 is pivotally provided on the left and right sides of the main body 10 to allow the driver to ride inside the vehicle 1 at the time of opening and to shield the inside of the vehicle 1 from the outside at the time of closing. .

The windshield 17 is provided on the front upper side of the main body 10 so that a driver in the vehicle 1 may obtain visual information in front of the vehicle 1 and is also referred to as windshield glass.

In addition, the side mirrors 18 and 19 include a left side mirror 18 provided on the left side of the main body 10 and a right side mirror 19 provided on the right side. 1) It is possible to acquire the visual information of the side and rear.

2 is a diagram illustrating an internal configuration of a vehicle according to an exemplary embodiment.

As shown in FIG. 2, the vehicle 1 includes a seat 110 on which a driver, etc., and a dashboard 150 provided with a gear box 120, a center fascia 130, a steering wheel 140, and the like ( Dashboard).

The gear box 120 may include a shift lever 124 for shifting the vehicle 1 and a dial operation unit 123 for controlling the performance of the vehicle 1.

The steering wheel 140 provided on the dashboard 150 is a device for adjusting the driving direction of the vehicle 1. The steering wheel 140 is connected to the rim 141 gripped by the driver and the steering device of the vehicle 1 and is connected to the rim 141. And a spoke 142 connecting the hub of the rotating shaft for steering. According to an embodiment, the spokes 142 may be provided with operation devices 142a and 142b for controlling various devices in the vehicle 1, for example, an audio device.

The air conditioning device 131, the watch 132, the audio device 133, the display 134, and the like may be installed in the center fascia 130 provided on the dashboard 150.

The air conditioning apparatus 131 maintains the interior of the vehicle 1 comfortably by adjusting the temperature, humidity, cleanliness of the air, and air flow in the vehicle 1. The air conditioning apparatus 131 may include at least one discharge port 131a installed in the center fascia 130 to discharge air. The center fascia 130 may be provided with buttons or dials for controlling the air conditioner 131. A passenger such as a driver may control the air conditioning apparatus 131 by using a button disposed in the center fascia 130.

The watch 132 may be provided around a button or dial for controlling the air conditioner 131.

The audio device 133 may include an operation panel provided with a plurality of buttons for performing a function of the audio device 133. The audio device 133 may provide a radio mode for providing a radio function and a media mode for playing audio files of various storage media containing audio files.

The display 134 may display a user interface (UI) for providing the driver with information related to the vehicle 1 in the form of an image or text. To this end, the display 134 may be embedded in the center fascia 130. However, the installation example of the display is not limited thereto, and the display 134 may be provided to be separated from the center fascia 130 of the vehicle 1.

In this case, the display 134 may be implemented as a liquid crystal display (LCD), a light emitting diode (LED), a plasma display panel (PDP), an organic light emitting diode (OLED), a cathode ray tube (CRT), or the like. It is not limited to this.

In addition, the dashboard 150 may further include various instrument panels capable of displaying the traveling speed of the vehicle 1, the engine speed or the remaining fuel amount, and a glove box capable of storing various objects. have.

Meanwhile, the vehicle 1 may provide the driver with information related to driving by using a pre-stored map. For example, the vehicle 1 may identify the current location through a map and provide a route from the identified location to the destination. In addition, depending on the current position on the map, the vehicle 1 may automatically control the vehicle speed or automatically control the headlamp.

In order to provide the above-mentioned function in real time, the vehicle 1 needs to predict the traveling route. In particular, when there is a branch point or an intersection ahead of the traveling direction, the vehicle 1 must select one of a plurality of roads extending from the branch point or the intersection. At this time, if the vehicle 1 does not predict in advance which road to select, the vehicle 1 may be difficult to provide a function corresponding to the current location in real time.

Accordingly, the vehicle 1 may predict the traveling path of the vehicle 1 in various ways. For example, the vehicle 1 may perform the prediction by determining a driving lane. Since the driver can select a specific lane to proceed to any one road extending from the junction or the intersection, the vehicle 1 can determine the driving lane in advance and predict the driving route based on this.

Hereinafter, the vehicle 1 for determining the driving lane will be described in detail.

3 is a control block diagram of a vehicle according to an exemplary embodiment.

Referring to FIG. 3, a vehicle 1 according to an embodiment may include a GPS antenna 200 that receives a satellite signal including location information of the vehicle 1; A storage unit 400 that stores a map including lane number information of a road; Radar 300 for detecting an object in front of; A controller 500 that determines a driving lane based on a position of an object detected on the driving road; A display 34 indicative of the determined driving lane; And an ADAS module 600 controlled according to the determined driving lane. It may include.

The global positioning system (GPS) antenna 200 may receive a satellite signal including a navigation message propagated by the satellite. The navigation information includes the current position of the vehicle 1, the total number of satellites capable of receiving satellite signals, the number of satellites capable of providing satellite signals in a line of sight (LOS), the traveling speed of the vehicle 1, and the candidates. It may be used to identify a multipath of a local satellite signal.

The storage unit 400 may store information necessary for the operation of the vehicle 1 in advance and provide it when necessary. For example, the storage unit 400 may store in advance an algorithm or parameter used by the controller 500 to control the vehicle 1 to be described later, and provide the request when the controller 500 requests it.

In addition, the storage unit 400 may store in advance a map to be provided to the controller 500 to be described later. In detail, the storage unit 400 may store at least one of a general map and a precision map including the number of lanes of each road in advance. Here, the precision map has high accuracy for safe and precise control of the vehicle (1), and includes information about the altitude, slope, curvature, number of lanes, as well as the plane position of the road, and roads such as traffic regulation signs and traffic lights. It may mean a map that further includes information about the facility.

The storage unit 400 may include a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory), RAM (Random Access Memory: RAM), Static Random Access Memory (SRAM), Read-Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Programmable Read-Only Memory (PROM), Magnetic Memory, Magnetic It can be implemented through at least one type of storage medium of the disk, optical disk

The controller 500 may match the current location information of the vehicle 1, that is, the location coordinates, on the map previously stored in the storage unit 400 from the satellite signal received from the GPS antenna 200. In this way, the controller 500 may check the current driving road of the vehicle 1 from the map.

In addition, the controller 500 may check the number of lanes of the confirmed driving road. For example, the controller 500 may check the number of round trip and / or one-way lanes of the current driving road of the vehicle 1.

After checking the number of lanes of the driving road, the controller 500 may determine the driving lane of the current vehicle 1. Specifically, the controller 500 may use the position of the front object.

To this end, the radar 300 may detect an object in front of the vehicle 1 and provide the detection result to the controller 500. In detail, the radar 300 may detect an object by transmitting electromagnetic waves forward and receiving an echo signal reflected from the object.

The controller 500 may receive an echo signal from the radar 300 and check the position of the object using the echo signal. The controller 500 may determine the currently driving lane among the plurality of lanes on the driving road by using the location of the identified object.

In detail, the controller 500 may determine the driving lane using the lateral distance from the detected object. Since the position of the detected object can be confirmed by the (x, y) coordinate with respect to the front of the vehicle 1, the controller 500 uses the lateral distance from the object, that is, the x coordinate value of the detected object to drive the driving lane. Can be determined.

For example, the controller 500 may identify a region of interest to which a detected object belongs among a plurality of preset regions of interest and determine a driving lane based on the region of interest. In this case, information about the plurality of regions of interest that are set in advance may be stored in advance in the storage unit 400 described above, and may be provided to the controller 500 as necessary.

Hereinafter, a method of setting an ROI will be described with reference to FIGS. 4A and 4B.

4A is a graph illustrating a result of radar detecting an object on a driving lane for a predetermined time according to an embodiment on a x-y plane, and FIG. 4B illustrates a frequency distribution table of x-axis coordinates of the graph of FIG. 4A. Here, the origin of FIG. 4A means the position of the vehicle 1, and if the x-axis value is negative in FIGS. 4A and 4B, it may mean that the detected object is located on the left side of the vehicle 1.

In order to set the ROI, the vehicle 1 may accumulate the detection result of the radar 300 for a predetermined time while driving the driving road. At this time, the vehicle 1 may change lanes repeatedly. Referring to FIG. 4A, the accumulated coordinates of the front object may be plotted on the x-y coordinates.

The frequency distribution table for the x-axis coordinates among the coordinates of the accumulated front object is as shown in FIG. 4b. Referring to FIG. 4B, it can be seen that a large peak exists when the x-axis coordinates belong to the regions S _L1 and S _L2 . Through this, it can be confirmed that the x-coordinate of the front object detected exists in the S _L1 or S _L2 region. In addition, since the object is continuously detected in the S _L1 or S _L2 region, the detected object may be a guardrail.

In this case, the reason why the guardrail is detected in the plurality of areas is that the vehicle 1 changes the vehicle for a predetermined time. For example, if the detected x-coordinate of the guardrail belongs to the S _L1 region, the vehicle 1 has a high probability of traveling on the first lane closest to the guardrail. In addition, when the detected X coordinate of the guardrail belongs to the S _L2 region adjacent to the S _L1 region, the vehicle 1 is likely to be a second lane adjacent to the primary lane.

Therefore, by setting the region where the guardrail is detected as the region of interest, the controller 500 may determine the driving lane based on the region to which the detected object belongs in the lateral position.

Hereinafter, an embodiment of a method of determining a driving lane using an ROI will be described with reference to FIG. 5.

5 is a diagram for describing a method of determining a driving lane using a preset ROI, according to an exemplary embodiment. In FIG. 5, the 'X' mark may mean a part of an object detected by the radar 300, R may mean a detection area of the radar 300, and C may mean a driving vehicle.

Referring to FIG. 5, the controller 500 may virtually partition the front of the driving vehicle C according to a predetermined ROI. As a result, the front of the traveling vehicle C can be partitioned into predetermined regions of interest S _L2 , S _L1 , S ₀ , S _R1 , S _R2 in accordance with the lateral distance.

The radar 300 may detect a front object located in the sensing area R, and the controller 500 may identify a region of interest to which the x coordinate of the detected object belongs. In FIG. 5, since there is an object that is continuously detected in the region of interest S _L2 , the controller 500 assumes that the driving lane is a second lane adjacent to the first lane on the premise that a guard rail exists in S _L2 adjacent to the S _L1 . You can decide.

The controller 500 may vary the method of determining the driving lane according to the detected movement state of the object. Since the object detected in front of the vehicle 1 may include a preceding vehicle that is driving in addition to the guardrail in the stationary state, the controller 500 may classify them and determine the driving lane.

If the front object detected by the radar 300 is the guardrail, the controller 500 may determine the driving lane using the lateral distance from the guardrail according to the above-described method.

On the other hand, when the front object detected by the radar 300 is a preceding vehicle, the control unit 500 may determine the non-driving lane using the lateral distance from the guard rail under the assumption that the detected object is not a guardrail. have. In detail, when the ROI to which the detected object other than the guardrail belongs is closest to the vehicle 1, the controller 500 may determine that the first lane is a non-driving lane.

To this end, the controller 500 may check the movement state of the detected object based on the relative speed of the detected object. The relative speed of the detected object may be confirmed through an echo signal received from the radar 300.

In addition, if a plurality of objects detected by the radar 300, the control unit 500 may calculate the probability of the driving lane for each of the plurality of lanes based on the position of each detected object, and determine the driving lane based on this. have. In detail, the controller 500 may assign a matching point to a lane corresponding to each position of the detected object, and determine the lane having the highest matching point as the driving lane.

FIG. 6 is a diagram for describing a method of determining a driving lane using a preset ROI according to another exemplary embodiment. FIG. 6 illustrates an overlap of a preset ROI on a driving road. In FIG. 6, an 'X' mark may mean a part of an object detected by the radar 300, R may mean a sensing area of the radar 300, and C may mean a driving vehicle.

In addition, FIG. 6 is a three-way one-way road, the guardrails G ₁ and G ₂ are present on both sides of the third road, the preceding vehicle C _P1 on the left front of the traveling vehicle C, and the right front of the traveling vehicle C. It is assumed that the preceding vehicle C _P2 exists.

In FIG. 6, the front of the traveling vehicle C is partitioned into regions of interest S _L2 , S _L1 , S ₀ , S _R1 , and S _R2 predetermined according to the lateral distance, and the object in the left state by the radar 300, the left side. An object in a moving state of the object, an object in a moving state of the right side, and an object in a stationary state of the right side may be detected.

The controller 500 may confirm that the object on the left identified as the stationary state by the relative speed belongs to the ROI S _L2 . Since the region of interest S _L2 is adjacent to the left side of the region of interest S _L1 , the controller 500 may add a matching point 1 to the secondary lane adjacent to the right side of the primary lane.

In addition, the controller 500 may determine that the object on the left side identified as the moving state by the relative speed belongs to the ROI S _L1 . Since the ROI S _L1 is adjacent to the left side of the ROI S ₀ to which the traveling vehicle C belongs, the controller 500 may add the matching point 1 to the 2nd and 3rd lanes on the premise that the first lane is a non-driving lane.

In addition, the controller 500 may determine that the object on the right side identified as the moving state by the relative speed belongs to the region of interest S _R1 . Since the region of interest S _R1 is adjacent to the right side of the region of interest S ₀ to which the traveling vehicle C belongs, the controller 500 may add a matching point 1 to the first and second lanes on the premise that the third lane is a non-driving lane.

Finally, the control unit 500 may confirm that the object on the right side identified as the stationary state by the relative speed belongs to the region of interest S _R2 . Since the region of interest S _R2 is adjacent to the left side of the region of interest S _R1 , the controller 500 may add a matching point 1 to the secondary lane adjacent to the left side of the third lane.

As a result, it can be confirmed that the matching point of the first lane is 1, the matching point of the second lane is 4, and the matching point of the third lane is 1. The controller 500 may determine the second lane as the driving lane according to the matching point of each lane.

Since the matching point adding method illustrated in FIG. 6 is only an embodiment of the driving lane determination method, the matching point adding method is not limited thereto.

Referring again to FIG. 3, the display 34 may display the determined driving lane. The driver can operate the vehicle 1 more stably by visually confirming the current driving lane through the display 34.

Since the display 34 of FIG. 3 is the same as described with reference to FIG. 2, a detailed description thereof will be omitted.

The ADAS module 600 may be controlled by the controller 500 according to the determined driving lane. Here, the ADAS (Advanced Driver Assistance System) refers to a system that provides vehicle 1 status, driver status, surrounding environment information or actively controls the vehicle 1 in order to reduce the burden on the driver and improve convenience. The ADAS module 600 may refer to a module implementing ADAS.

For example, when the ADAS module 600 is implemented as a Smart Cruise Control (SCC) system module, when the control unit 500 determines to enter a curved road according to the determined driving lane, the driving speed is reduced. The vehicle distance control system module can be controlled. In addition, the controller 500 may check whether the setting path deviates from the set point with respect to the determined driving lane and control the distance control system module to perform driving corresponding thereto.

On the contrary, when the ADAS module 600 is implemented as a smart headlamp control module, the controller 500 checks whether an elevated roadway is entered according to the determined driving lane, and performs the headlamp control corresponding thereto. Control module can be controlled.

7 is a flowchart illustrating a vehicle control method according to an exemplary embodiment.

First, the vehicle 1 may detect an object present in front of the vehicle. 900 In detail, the radar 300 of the vehicle 1 may detect an object in front of the vehicle 1 in the detection area. To this end, the radar 300 may detect the front object by transmitting an electromagnetic wave to the sensing area and receiving the reflected echo signal.

Next, the vehicle 1 may identify a region of interest in which the detected object is located on the driving road. In operation 910, the vehicle 1 may detect the object using the echo signal received by the radar 300. You can check the location of.

In particular, the controller 300 of the vehicle 1 may check the lateral position of the detected object and identify a region to which the detected object belongs among a plurality of preset regions of interest according to the lateral distance from the vehicle 1. .

If there are a plurality of detected objects, the vehicle 1 may identify a region of interest to which each object belongs.

Finally, the vehicle 1 may determine the driving lane according to the identified region of interest (920). At this time, the vehicle 1 may determine the driving road of the vehicle and the lane number information of the driving road, which are identified through a pre-stored map. Can be used.

If a plurality of regions of interest are identified, the vehicle 1 may add a matching point to a lane determined according to each region of interest, and finally determine a lane to which the highest matching point is added as a driving lane.

The determined driving lane may be provided to the driver through the display 34 or used to control the ADAS module 600.

1: vehicle
34: display
200: GPS antenna
300: radar
400: storage
500: control unit
600: ADAS module

Claims (20)

A storage unit for storing a map including road number information of a road;
A radar for detecting an object in front of the vehicle; And
And a controller configured to determine a driving lane based on a position of the detected object on a driving road.
The control unit,
And a matching point is assigned to a lane corresponding to each position of the detected object, and determines a lane having the highest matching point as the driving lane. The method of claim 1,
The control unit,
And determine the driving lane using the lateral distance from the detected object. The method of claim 2,
The control unit,
And determining the driving lane according to a region of interest in which the detected object is located, among a plurality of regions of interest preset based on a lateral distance from the vehicle. The method of claim 3, wherein
The control unit,
And determining the driving lane using the plurality of ROIs set using the radar detection result on the driving road. The method of claim 4, wherein
The control unit,
And determining the driving lane using the plurality of ROIs set by classifying a radar detection result according to a lateral distance from the vehicle. The method of claim 1,
The control unit,
And checking the moving state of the detected object based on the detected relative speed of the object, and determining the driving lane according to the confirmed moving state. The method of claim 6,
The control unit,
And when the detected object is determined to be stationary, determining the driving lane based on the position of the detected object. The method of claim 6,
The control unit,
And determining the non-driving lane based on the position of the detected object when the detected object is determined to be moving. The method of claim 1,
The control unit,
If the detected object is a plurality, the vehicle for determining the probability of the driving lane for each of the plurality of lanes on the basis of the position of each of the detected object, and determines the lane with the highest probability of the driving lane as the driving lane . delete In a vehicle in which a map including a road number information of a road is stored,
Detecting an object in front of the radar; And
Determining a driving lane based on a position of the detected object on a driving road; Including,
Determining the driving lane,
Assigning a matching point to a lane corresponding to a position of each of the detected objects;
And determining the lane with the highest matching point as the driving lane. The method of claim 11,
Determining the driving lane,
And determining the driving lane using the lateral distance from the detected object. The method of claim 12,
Determining the driving lane,
And determining the driving lane according to a region of interest in which the detected object is located, from among a plurality of regions of interest preset based on a lateral distance from the vehicle. The method of claim 13,
Determining the driving lane,
And determining the driving lane using the plurality of ROIs set using the radar detection result on the driving road. The method of claim 14,
Determining the driving lane,
And determining the driving lane using the plurality of ROIs set by classifying the radar detection result according to the lateral distance from the vehicle. The method of claim 11,
Determining the driving lane,
And checking the moving state of the detected object based on the detected relative speed of the object, and determining the driving lane according to the checked moving state. The method of claim 16,
Determining the driving lane,
And determining the driving lane based on the position of the detected object when the detected object is determined to be in a stationary state. The method of claim 16,
Determining the driving lane,
And determining the non-driving lane based on the position of the detected object when the detected object is determined to be moving. The method of claim 11,
Determining the driving lane,
If the detected object is a plurality, the vehicle for determining the probability of the driving lane for each of the plurality of lanes on the basis of the position of each of the detected object, and determines the lane with the highest probability of the driving lane as the driving lane Control method. delete

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