KR102184149B1 - Apparatus and method for controlling lane keeping according to type of a lane - Google Patents

Abstract

The present invention proposes a lane maintenance control apparatus and method for detecting driver override in different ways according to the type of lane. The apparatus for controlling lane maintenance according to the present invention includes: a road parameter extracting unit for extracting road parameters including lane information from a forward image; A lane departure determination unit that determines a possibility of a lane departure of the vehicle based on the lane information and the vehicle behavior information; A torque value calculator configured to calculate a torque value for maintaining and controlling the vehicle lane when it is determined that there is a possibility of the vehicle leaving the lane; An override mode determination unit that determines whether to drive an override mode based on information on a lane type; And a lane maintenance control unit configured to maintain and control the vehicle lane based on the steering angle input by the driver when it is determined to drive the override mode, and if it is determined not to drive the override mode, the vehicle is lane maintenance control based on a torque value. do.

Description

[Apparatus and method for controlling lane keeping according to type of a lane}

The present invention relates to a Lane Keeping Assist System (LKAS) for controlling lane keeping of a vehicle. More specifically, it relates to an LKAS for controlling lane maintenance of a vehicle in consideration of a road, particularly a lane of a road.

Lane keeping control systems such as LKAS (Lane Keeping Assist System) use the front camera to detect left and right lanes to obtain lane information, and based on this, to prevent vehicle lane departure or to allow the vehicle to follow the center of the road. It is a system that enables the vehicle to prevent lane departure and maintain the lane by providing the calculated auxiliary steering torque to the steering control device by calculating the assist steering torque.

The performance of the lane keeping control function performed by such a lane keeping control system may vary greatly depending on how accurate lane information is obtained. This is because it is possible to accurately calculate the auxiliary steering torque for accurately controlling lane keeping only when accurate lane information is obtained.

Such a lane maintenance control system acquires lane information based on a front image captured by a front camera.At this time, depending on how far the lane information is acquired, the obtained lane information must be used for accurate lane maintenance control. The required information may or may not be included.

Korean Patent Publication No. 2011-0104682 describes a system for detecting driver override and controlling lane keeping based on road information. However, since this system detects driver override only on a curved road based on the curvature of the road, there is a problem in that lane departure cannot be effectively controlled on a straight road.

The present invention has been conceived to solve the above problems, and an object of the present invention is to propose a lane maintenance control apparatus and method for detecting driver override in different ways according to the type of lane.

However, the object of the present invention is not limited to the above-mentioned matters, and other objects not mentioned will be clearly understood by those skilled in the art from the following description.

The present invention has been devised to achieve the above object, and includes a road parameter extraction unit for extracting road parameters including lane information from a front image; A lane departure determination unit for determining a lane departure possibility of the vehicle based on the lane information and vehicle behavior information; A torque value calculator configured to calculate a torque value for controlling the vehicle to maintain a lane when it is determined that there is a possibility of the vehicle leaving a lane; An override mode determination unit that determines whether to drive an override mode based on information on a lane type; And when it is determined to drive the override mode, the vehicle is controlled to maintain the lane based on the steering angle input by the driver, and when it is determined not to drive the override mode, the vehicle is controlled to maintain the lane based on the torque value. It proposes a lane maintenance control apparatus according to the type of lane, characterized in that it comprises a lane maintenance control unit.

Preferably, the override mode determination unit compares a steering angle input by the driver with a reference angle according to information on the lane type, and determines whether the steering angle input by the driver is equal to or greater than the reference angle.

Preferably, the override mode determination unit uses a dotted line, a solid line, and a center lane as information on the type of the lane.

Preferably, the override mode determination unit uses a predetermined threshold value as the reference angle when the information on the type of the lane is the dotted line, and a first weight to the threshold value when the information on the type of the lane is the solid lane A value added by is used as the reference angle, and if the information on the type of the lane is the center lane, a value obtained by adding a second weight to the threshold value is used as the reference angle.

Preferably, the override mode determiner uses a value greater than 0 as the first weight, and uses a value greater than the first weight as the second weight.

In addition, the present invention includes the steps of extracting road parameters including lane information from a forward image; Determining a lane departure possibility of the vehicle based on the lane information and vehicle behavior information; Calculating a torque value for controlling lane maintenance of the vehicle when it is determined that there is a possibility of the vehicle leaving the lane; Determining whether to drive an override mode based on information on a lane type; And when it is determined to drive the override mode, the vehicle is controlled to maintain the lane based on the steering angle input by the driver, and when it is determined not to drive the override mode, the vehicle is controlled to maintain the lane based on the torque value. It proposes a lane maintenance control method according to the type of lane comprising the step of.

Preferably, the step of determining whether to drive the override mode comprises comparing a steering angle input by the driver with a reference angle according to information on the lane type, and the steering angle input by the driver is the reference angle Determine whether it is abnormal.

Preferably, the step of determining whether to drive the override mode uses a dotted line, a solid line, and a center lane as information on the type of the lane, and if the information on the type of the lane is the dotted line, a predetermined threshold A value is used as the reference angle, and if the information on the type of the lane is the solid lane, a value obtained by adding a first weight to the threshold is used as the reference angle, and if the information on the type of the lane is the center lane, the A value obtained by adding the second weight to the threshold value is used as the reference angle.

According to the present invention, the following effects can be obtained by detecting driver overrides in different ways according to the type of lane.

First, it is possible to further strengthen the lane departure accident prevention effect of the Lane Keeping Assist System (LKAS).

Second, it can induce drivers to comply with traffic laws.

1 is a block diagram schematically showing a lane keeping assist system according to an embodiment of the present invention.
2 and 3 are reference diagrams for explaining a method of determining driver override.
4 is a flowchart sequentially showing a method of operating a lane keeping assistance system according to an embodiment of the present invention.
5 is a block diagram schematically showing a lane keeping control apparatus according to an exemplary embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, in adding reference numerals to elements of each drawing, it should be noted that the same elements are to have the same numerals as possible even if they are indicated on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the subject matter of the present invention, a detailed description thereof will be omitted. In addition, a preferred embodiment of the present invention will be described below, but the technical idea of the present invention is not limited thereto or is not limited thereto, and may be modified and variously implemented by a person skilled in the art.

The present invention relates to the determination of the driver's steering will in a lane keeping assist system (LKAS) that prevents lane departure due to the driver's carelessness, and assists lane maintenance by varying the driver's steering override determination standard according to the type of lane. The system's lane departure accident prevention effect can be further strengthened and drivers can be guided to comply with traffic laws.

1 is a block diagram schematically showing a lane keeping assist system according to an embodiment of the present invention.

Referring to FIG. 1, the lane maintenance assistance system 100 includes a front camera sensor 110, a lane recognition and road parameter extraction unit 120, a lane type extraction unit 130, a vehicle sensor 140, and a lane maintenance assistance control unit ( 150), a driver override determination unit 160, and a steering device 170.

The front camera sensor 110 functions to acquire a driving front image.

The lane recognition and road parameter extraction unit 120 recognizes a lane based on the acquired image and extracts a lateral position on the own lane of the vehicle, a curvature of the lane, and a heading angle.

The lane type extraction unit 130 serves to classify the type of own lane.

The vehicle sensor 140 functions to measure the dynamic state of the vehicle.

The lane maintenance auxiliary control unit 150 functions to apply a steering auxiliary torque when there is a risk of lane departure.

The driver override determination unit 160 functions to determine a driver override state based on a driver override determination reference value.

The steering device 170 functions to generate an actual steering assist torque.

The front camera sensor 110 acquires an image of a driving front in real time. Thereafter, the lane recognition and road parameter extraction unit 120 recognizes the lane from the image ahead and extracts the road parameter, and the lane type extraction unit 130 classifies the type of the own lane based on the recognized lane. Thereafter, the lane maintenance auxiliary control unit 150 determines the risk of lane departure of the vehicle using the obtained lane information and the vehicle behavior information received from the vehicle sensor 140.

When there is a risk of lane departure and the lane maintenance control condition is satisfied, the lane maintenance auxiliary control unit 150 enters the lane maintenance control mode and applies a steering auxiliary torque. At this time, if the driver's steering torque value is greater than or equal to the driver override determination reference value according to the determination result of the driver override determination unit 160, the driver enters the driver override mode, and the applied steering assist torque value is reduced to zero.

The state of applying the steering auxiliary torque value for each mode is as follows.

(1) Lane keeping control mode: Steering auxiliary torque value applied

(2) Override mode: Steering auxiliary torque value is not applied or gradually decreases to 0

Next, a method of determining the driver override by the driver override determination unit 160 will be described. 2 and 3 are reference diagrams for explaining a method of determining driver override.

In the present invention, the driver override is determined based on the type of the lane classified by the lane type extraction unit 130.

FIG. 2A shows a case where a driver attempts to leave or change a lane in a dotted lane. In the dotted lane, DrvOvrdTq_Th is applied as a reference torque value for determining the override when determining whether the driver's steering override has occurred. So, when the value input by the driver is greater than DrvOvrdTq_Th, that is, when DrvTq ≥ DrvOvrdTq_Th, the driver override is detected.

2B shows a case where a driver attempts to leave or change a lane in a solid lane. In the solid lane, DrvOvrdTq_Th+α is applied as the reference torque value for determining the override when determining whether or not the driver's steering override. At this time, α>0. Therefore, by detecting the driver override when the value input by the driver is greater than or equal to DrvOvrdTq_Th+α, that is, when DrvTq ≥ DrvOvrdTq_Th+α, as shown in FIG. 3, when the driver deviates from the solid lane, a greater steering force than when the driver deviates from the dotted lane. It must be applied so that it can be switched to driver override mode.

2C shows a case where the driver leaves the lane in the center lane. In the center lane, DrvOvrdTq_Th+β is applied as the reference torque value for determining the override when determining whether the driver's steering override has occurred. At this time, β>α>0. Therefore, by detecting the driver override when the value input by the driver is greater than or equal to DrvOvrdTq_Th+β, that is, when DrvTq ≥ DrvOvrdTq_Th+β, as shown in FIG. 3, when the driver deviates from the center lane, a greater steering force than when the driver leaves the solid lane. It must be applied so that it can be switched to driver override mode.

4 is a flowchart sequentially showing a method of operating a lane keeping assistance system according to an embodiment of the present invention.

After the lane is recognized, the road parameter is extracted (S410) and the type of the lane is classified (S420).

If the lane is a dotted line (S430) and the driver steering torque value is greater than the DrvOvrdTq_Th value (S440), the driver switches to the driver override mode (S490).

If the lane is not a dotted line but a normal solid line (S450), when the driver's steering torque value is greater than DrvOvrdTq_Th+α (S460), it switches to the driver override mode (S490), and when the lane is a center line (S470) when it is greater than DrvOvrdTq_Th+b ( S480) Switch to the driver override mode (S490).

When switching to driver override mode, lane keeping assist control is not performed.

In the conventional lane keeping assistance system (LKAS), the type of own lane was not considered when determining the driver's steering intention. However, in solid lanes including the center line, a more aggressive lane maintenance strategy is needed as the risk of a major accident increases when lane departure.

In the present invention, the driver's willingness to steer is respected in dotted lanes where lane change is permitted, and lane departure accidents by strict application of override judgment criteria by reinforcing the lane keeping function of LKAS in solid and center lanes where lane change is prohibited. It can increase the effectiveness of prevention and induce drivers to comply with traffic laws.

Next, an apparatus and a method that can be configured based on the above-described embodiment will be described in order with reference to FIGS. 1 to 4.

5 is a block diagram schematically showing a lane keeping control apparatus according to an exemplary embodiment of the present invention.

5, the lane maintenance control device 1 includes a road parameter extraction unit 10, a lane departure determination unit 20, a torque value calculation unit 30, an override mode determination unit 40, and a lane maintenance control unit 50. ), a power supply unit 60 and a main control unit 70.

The power supply unit 60 performs a function of supplying power to each component constituting the lane keeping control device 1. Further, the main control unit 70 performs a function of controlling the entire operation of each component constituting the lane keeping control device 1. Considering that the lane keeping control device 1 may be provided in the ECU of the vehicle, the power supply unit 60 and the main control unit 70 may not be provided in this embodiment.

The road parameter extraction unit 10 performs a function of extracting road parameters including lane information from a front image. The road parameter extraction unit 10 is interlocked with a camera sensor to obtain a front image from the camera sensor in real time.

The lane departure determination unit 20 performs a function of determining the possibility of a lane departure of the vehicle based on the lane information obtained from the road parameter extraction unit 10 and the vehicle behavior information obtained from the vehicle sensor.

The torque value calculation unit 30 performs a function of calculating a torque value for controlling the vehicle lane maintenance when it is determined by the lane departure determination unit 20 that there is a possibility of a vehicle lane departure.

The override mode determination unit 40 performs a function of determining whether to drive the override mode based on information on the type of lane. In this embodiment, information on the type of lane is included in the lane information extracted by the road parameter extraction unit 10. However, it is also possible to include a lane type extracting unit that separately extracts information on the type of lane.

The override mode determination unit 40 compares the steering angle input by the driver and the reference angle according to the information on the type of lane, and determines whether the steering angle input by the driver is equal to or greater than the reference angle to drive the override mode. Can be determined. That is, the override mode determination unit 40 determines to drive the override mode when it is determined that the steering angle input by the driver is greater than or equal to the reference angle, and does not drive the override mode when it is determined that the steering angle input by the driver is less than the reference angle. To decide.

The override mode determiner 40 may use a dotted line, a solid line, and a center lane as information on the type of the lane. For example, if the information on the type of the lane is a dotted line, the override mode determination unit 40 uses a predetermined threshold as a reference angle, and if the information on the type of the lane is a solid lane, the value obtained by adding a first weight to the threshold is used as a reference. It is used as an angle, and if the information on the type of the lane is the center lane, a value obtained by adding the second weight to the threshold value may be used as the reference angle. In the above, the override mode determiner 40 may use a value greater than 0 as the first weight and use a value greater than the first weight as the second weight.

When it is determined by the override mode determination unit 40 to drive the override mode, the lane maintenance control unit 50 performs a function of controlling the vehicle lane maintenance based on the steering angle input by the driver. In addition, when it is determined not to drive the override mode by the override mode determination unit 40, the lane maintenance control unit 50 performs a function of controlling the vehicle lane maintenance based on the torque value calculated by the torque value calculation unit 30. Perform.

Next, a method of operating the lane keeping control device 1 will be described.

First, the lane maintenance control device 1 extracts road parameters including lane information from a front image.

Thereafter, the lane maintenance control device 1 determines the possibility of a lane departure of the vehicle based on the lane information and the vehicle behavior information.

If it is determined that there is a possibility of the vehicle leaving the lane, the lane keeping control device 1 calculates a torque value for controlling the vehicle lane keeping.

Thereafter, the lane keeping control device 1 determines whether to drive the override mode based on the information on the lane type. The method for determining the override mode driving is as described above.

If it is determined to drive the override mode, the lane keeping control device 1 controls the vehicle to keep the lane based on the steering angle input by the driver, and if it is determined not to drive the override mode, the lane keep control device 1 The vehicle is kept in lane based on the torque value.

Even if all the components constituting the embodiments of the present invention described above are described as being combined into one or operating in combination, the present invention is not necessarily limited to these embodiments. That is, within the scope of the object of the present invention, all the constituent elements may be selectively combined and operated in one or more. In addition, although all of the components can be implemented as one independent hardware, a program module that performs some or all functions combined in one or more hardware by selectively combining some or all of the components. It may be implemented as a computer program having In addition, such a computer program is stored in a computer readable media such as a USB memory, a CD disk, a flash memory, etc., and is read and executed by a computer, thereby implementing an embodiment of the present invention. The computer program recording medium may include a magnetic recording medium, an optical recording medium, and a carrier wave medium.

In addition, all terms, including technical or scientific terms, have the same meaning as commonly understood by those of ordinary skill in the art, unless otherwise defined in the detailed description. Terms generally used, such as terms defined in the dictionary, should be interpreted as being consistent with the meaning of the context of the related technology, and are not interpreted as ideal or excessively formal meanings unless explicitly defined in the present invention.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the technical field to which the present invention belongs can make various modifications, changes, and substitutions within the scope not departing from the essential characteristics of the present invention. will be. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings. . The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

Claims (10)

A first sensor module;
A second sensor module;
Memory; And
A processor connected to the first sensor module, the second sensor module, and the memory, the processor,
Acquiring lane information including a lane type based on the front image of the vehicle acquired through the first sensor module,
Acquiring the vehicle behavior information through the second sensor module,
Detecting a lane departure risk of the vehicle based on the lane information and the behavior information,
In response to the detection, identify a reference torque value corresponding to the lane type,
A lane keeping control device for determining whether to drive an override mode by comparing the identified reference torque value with a steering torque value of a driver of the vehicle.
The method of claim 1,
The processor, as at least part of the operation of determining whether to drive the override mode
When the type of the lane is the first type, the reference torque value is determined as the first torque value,
A lane keeping control device for driving a driver override mode when the driver's steering torque value is greater than or equal to the first torque value.
The method of claim 2,
The processor, as at least part of the operation of determining whether to drive the override mode
When the type of the lane is the second type, the reference torque value is determined as a second torque value greater than the first torque value,
A lane keeping control device for driving the driver override mode when the driver's steering torque value is equal to or greater than the second torque value.
The method of claim 3,
The processor, as at least part of the operation of determining whether to drive the override mode
When the type of the lane is a third type, the reference torque value is determined as a third torque value greater than the second torque value,
A lane keeping control device for driving the driver override mode when the driver's steering torque value is equal to or greater than the third torque value.
The method of claim 4,
The first type includes a dotted line,
The second kind includes a solid line,
The third kind is a lane keeping control device including a center line.
Obtaining, by a processor of the lane keeping control device, lane information including a lane type based on a front image of the vehicle acquired through a first sensor module of the lane keeping control device;
Obtaining, by the processor, behavior information of the vehicle through a second sensor module of the lane keeping control device;
Detecting, by the processor, a lane departure risk of the vehicle based on the lane information and the behavior information;
Identifying, by the processor, a reference torque value corresponding to the lane type in response to the detection; And
And determining whether to drive an override mode by comparing the identified reference torque value with a steering torque value of a driver of the vehicle.
The method of claim 6,
The step of determining whether to drive the override mode,
When the type of the lane is the first type, determining, by the processor, the reference torque value as the first torque value; And
And driving, by the processor, a driver override mode when the driver's steering torque value is greater than or equal to the first torque value.
The method of claim 7,
The step of determining whether to drive the override mode,
When the type of the lane is the second type, determining, by the processor, the reference torque value as a second torque value greater than the first torque value; And
And driving, by the processor, the driver override mode if the driver's steering torque value is equal to or greater than the second torque value.
The method of claim 8,
The step of determining whether to drive the override mode,
If the type of the lane is a third type, determining, by the processor, the reference torque value as a third torque value greater than the second torque value; And
If the driver's steering torque value is equal to or greater than the third torque value, the processor further comprises driving the driver override mode.
The method of claim 9,
The first type includes a dotted line,
The second kind includes a solid line,
The third type is a method of operating a lane keeping control device including a center line.

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