KR102317546B1 - Driving control apparatus and driving control method - Google Patents

Abstract

The present invention generates a first lane detection unit that detects the driving lane in which the host vehicle travels and the rotary lane of the rotary when a roundabout is detected, and a virtual entry lane connecting the end point of the inner driving lane and the inner rotary lane, An entry route generator for generating an entry route based on the virtual entry lane, an entry controller for controlling the host vehicle to move according to the entry route, and a driving rotary lane and an exit through which the own vehicle travels when a rotary exit is detected. A second lane detection unit for detecting an exit lane, a virtual exit lane connecting the starting points of the inner driving rotary lane and the inner exit lane, and an exit route generator generating an exit route based on the virtual exit lane; The present invention relates to a driving control device including an advance control unit for controlling a host vehicle to move along a path.

Description

DRIVING CONTROL APPARATUS AND DRIVING CONTROL METHOD

The present embodiments relate to driving control technology of a vehicle in a rotary.

The automobile industry is recently transforming into an era of eco-friendly, high-tech automobiles that are grafted with IT technologies. In addition to the development of automobile technology, accident prevention, accident avoidance, collision safety, convenience improvement, vehicle informatization and autonomy to increase driver safety and convenience. Intelligent vehicles to which driving technology is applied are being commercialized.

Such an intelligent vehicle is a vehicle that supports convenience functions through support technology for driver carelessness or inexperienced operation, voice recognition, etc., and not only reduces accidents caused by driver negligence, but also reduces time, fuel waste, and exhaust gas. There are features that can be expected such as:

An unmanned ground vehicle (UGV) is an aggregation of intelligent vehicle technology. When the driver gets on the vehicle and designates the desired destination, it creates an optimal route to the current location or destination without any special manipulations and performs driving. can

In addition, by recognizing traffic signals or signs on the road, maintaining an appropriate speed according to the traffic flow, and recognizing dangerous situations, it is possible to actively respond to accident prevention. You can drive to your desired destination by performing the appropriate steering to avoid it.

Recently, a lot of research has been done on autonomous driving of unmanned autonomous vehicles, and the autonomous driving system uses GPS location information and signals acquired from various sensors based on road map information to control the vehicle from the starting point to the ending point on the road. It can be moved while automatically controlling the driving.

However, at present, an unmanned autonomous vehicle capable of operating normally on a complex road such as a roundabout rather than a general road has not yet been developed.

Against this background, an object of the present embodiments is to provide a driving control technology applicable to a vehicle traveling on a complex road such as a roundabout.

In one aspect, in this embodiment, when a roundabout is detected, a first lane detecting unit detecting a driving lane in which the host vehicle travels and a rotary lane of the rotary, and a virtual connecting end point of the inner driving lane and the inner rotary lane An entry route generator that generates an entry lane and generates an entry route based on the virtual entry lane, an entry controller that controls the own vehicle to move according to the entry route, and a driving in which the own vehicle travels when an exit of the rotary is detected A second lane detecting unit for detecting the rotary lane and the exit lane of the exit, and an exit path for generating a virtual exit lane connecting the starting points of the inner driving rotary lane and the inner exit lane, and generating an exit route based on the virtual exit lane There is provided a driving control device including a generator and an exit control unit for controlling the host vehicle to move along an exit path.

In another aspect, the present embodiment provides a first lane detection step of detecting a driving lane that is a lane in which the host vehicle travels and a rotary lane that is a lane of the rotary when a roundabout is detected, and the end point of the inner driving lane and the inner rotary An entry route generation step of generating a virtual entry lane connecting the lanes and generating an entry route based on the virtual entry lane, an entry control step of controlling the own vehicle to move according to the entry route, and when the exit of the roundabout is detected A second lane detection step of detecting the driving rotary lane in which the own vehicle travels and the exit lane, which is the exit lane, creates a virtual exit lane connecting the starting point of the inner driving rotary lane and the inner exit lane, and based on the virtual exit lane Provided is a driving control method comprising an exit path generating step of generating an exit path, and an exit control step of controlling a host vehicle to move according to the exit path.

As described above, according to the present embodiments, it is possible to provide a driving control technology applicable to a vehicle traveling on a complex road such as a roundabout.

1 is a diagram showing the configuration of a driving control device according to a first embodiment.
2 is a diagram illustrating an example for explaining the operation of the first lane detection unit according to the first embodiment.
3 is a diagram illustrating an example for explaining the operations of an entry path generator and an entry control unit according to the first embodiment.
4 is a view for explaining the operation of the second lane detecting unit according to the first embodiment.
5 is a diagram illustrating an example for explaining the operations of an exit path generator and an exit controller according to the first embodiment.
6 is a diagram showing the configuration of a running control device according to the second embodiment.
7 is a diagram illustrating another example for explaining the operations of the object detection unit and the entry control unit according to the second embodiment.
8 is a diagram showing the configuration of a running control device according to the third embodiment.
9 is a diagram illustrating an example for explaining the operation of the driving control unit according to the third embodiment.
10 is a diagram illustrating a flow of a driving control method according to the first embodiment.

Hereinafter, some embodiments will be described in detail with reference to exemplary drawings. In adding reference numerals to components of each drawing, the same components may have the same reference numerals as much as possible even though they are indicated in different drawings. Also, in describing the present embodiment, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present technical idea, the detailed description may be omitted.

Also, in describing the components of the present embodiment, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, order, or number of the elements are not limited by the terms. When it is described that a component is “connected”, “coupled” or “connected” to another component, the component may be directly connected or connected to the other component, but other components may be interposed between each component. It will be understood that each component may be “interposed” or “connected”, “coupled” or “connected” through another component.

1 is a diagram showing the configuration of a driving control device according to a first embodiment.

Referring to FIG. 1 , the driving control device 100 according to the first embodiment detects a driving lane in which the host vehicle travels when a roundabout is detected and a first lane detection unit 110 that detects a rotary lane of the rotary and An entry route generating unit 120 that creates a virtual entry lane connecting the end point of the inner driving lane and the inner rotary lane, and generates an entry route based on the virtual entry lane, and an entry that controls the own vehicle to move according to the entry route When the control unit 130 and the exit of the rotary are detected, the second lane detecting unit 140 that detects the driving rotary lane in which the host vehicle travels and the exit lane that is the exit lane is connected to the starting point of the inner driving rotary lane and the inner exit lane and an exit path generator 150 that generates a virtual exit lane and generates an exit route based on the virtual exit lane, and an exit controller 160 that controls the host vehicle to move according to the exit route.

When the roundabout is detected, the first lane detecting unit 110 of the driving control apparatus 100 according to the first embodiment may detect a driving lane that is a lane in which the host vehicle travels and a rotary lane that is a lane of the rotary.

This will be described in detail with further reference to FIG. 2, which is a diagram illustrating an example for explaining the operation of the first lane detection unit according to the first embodiment.

Referring further to FIG. 2 , the first lane detecting unit 110 detects a driving lane 220 that is a lane in which the own vehicle travels based on image information output from the image sensing device included in the own vehicle 210 before entering the roundabout. , 225 ) and rotary lanes 231 , 233 , and 235 that are lanes of the roundabout may be detected.

For a specific example, the first lane detection unit 110 may detect a driving lane based on lane information (eg, color, lane width, and inter-lane distance, etc.) known in advance from image information according to the imaging area of the image sensing device. (220. 225) and rotary lanes 231, 233, 235 can be detected. Here, the first lane detection unit 110 sets a lane candidate group based on the lane information in the image information, and expands and analyzes the set lane candidate group to analyze the driving lanes 220. 225 and the rotary lanes 231 and 233, 235) can be accurately detected.

The entry route generating unit 120 of the driving control device 100 according to the first embodiment generates a virtual entry lane connecting the end point of the inner driving lane and the inner rotary lane, and creates an entry route based on the virtual entry lane. can create Also, the entry control unit 130 of the driving control device 100 according to the first embodiment may control the host vehicle to move according to the generated entry path.

In this regard, it will be described in detail with further reference to FIG. 3, which is a diagram illustrating an example for explaining the operations of the entry path generator and the entry control unit according to the first embodiment.

Referring further to FIG. 3 , the entry path generating unit 120 includes the end point 221 and the first lane detecting unit of the inner driving lane 220 located inside among the driving lanes detected by the first lane detecting unit 110 . A virtual entry lane connecting the inner rotary lane 233 located inside the detected rotary lane at 110 may be generated. The virtual entrance lane may be generated by applying an interpolation method, and a curve of the virtual entrance lane may be determined according to the maximum steering angle of the host vehicle 210 .

In this way, when the virtual entry lane is created, the entry route generator 120 moves the own vehicle 210 to the lane determined by the virtual entry lane 310 and the outer rotary lane 231 located outside the rotary lane. It is possible to create an entry path 320 for

Also, the entry control unit 130 may control the steering control device and the speed control device of the host vehicle 210 to move along the generated entry path 320 .

As described above, according to the respective operations of the first lane detection unit 110 , the entry path generation unit 120 , and the entry control unit 130 of the driving control device 100 according to the first embodiment, the own vehicle is a general It can autonomously move from lanes to roundabouts.

When the exit of the rotary is detected, the second lane detecting unit 140 of the driving control apparatus 100 according to the first embodiment may detect a driving rotary lane in which the host vehicle travels and an exit lane that is a lane of the exit.

This will be described in detail with further reference to FIG. 4, which is a diagram for explaining the operation of the second lane detecting unit according to the first embodiment.

Referring further to FIG. 4 , the second lane detecting unit 140 is driven in the lane in which the own vehicle 410 travels based on image information output from the image sensing device included in the own vehicle 410 running inside the rotary. Rotary lanes 421 and 423 and exit lanes 430 and 435 that are exit lanes may be detected.

For a specific example, the second lane detection unit 140 may perform a driving rotary based on lane information (eg, color, lane width, and inter-lane distance, etc.) known in advance from image information according to the imaging area of the image sensing device. It is possible to detect lanes 421 and 423 and exit lanes 430 and 435 that are exit lanes. The second lane detection unit 140 may accurately detect the exit lanes 430 and 435 by applying the lane detection model in the image information.

The second lane detection unit 140 may operate using the same apparatus and method as the first lane detection unit 110 . However, the first lane detection unit 110 detects a lane from image information captured before the own vehicle enters the roundabout, while the second lane detection unit 140 detects an image captured while the own vehicle is driving inside the roundabout. There is a difference in detecting the lane in the information. Accordingly, the first lane detection unit 110 and the second lane detection unit 140 may operate further based on the location information of the own vehicle and the location information of the rotary.

The exit route generating unit 150 of the driving control device 100 according to the first embodiment generates a virtual entry lane connecting the starting points of the inner driving rotary lane and the inner exit lane, and generates an exit route based on the virtual exit lane. can create Also, the advancing control unit 160 of the driving control apparatus 100 according to the first embodiment may control the host vehicle to move according to the generated advancing path.

This will be described in detail with further reference to FIG. 5, which is a diagram illustrating an example for explaining the operations of the exit path generator and the exit control unit according to the first embodiment.

Referring further to FIG. 5 , the exit path generating unit 150 detects the inner driving rotary lane 423 and the second lane detecting unit 140 located inside among the driving rotary lanes detected by the second lane detecting unit 140 . A virtual exit lane 510 connecting the starting point 431 of the inner exit lane 430 located inside among the exit lanes may be generated. The curve of the virtual advance lane 510 may be determined according to the maximum steering angle of the host vehicle 410 .

In this way, when the virtual exit lane is generated, the exit path generator 150 moves the own vehicle 410 to a lane determined as the outside exit lane 235 located outside the virtual entry lane 510 and the exit lane. It is possible to create an exit path 520 for

Also, the advance control unit 160 may control the steering control apparatus and the speed control apparatus of the host vehicle 410 to move along the generated advance path 520 .

As described above, according to the respective operations of the second lane detection unit 140 , the exit path generator 150 , and the exit control unit 160 of the driving control device according to the first embodiment, the own vehicle moves from the roundabout to the general lane. You can go to and drive.

The driving control apparatus 100 according to the first embodiment described above has an effect that the own vehicle can autonomously drive normally according to the movement path including the rotary section.

On the other hand, since there may be traveling objects (vehicles, motorcycles, and bicycles, etc.) traveling in the roundabout and crossing objects (motorcycles, bicycles, pedestrians, etc.) crossing the roundabout, the traveling object and the crossing object are detected and the own vehicle moves through the rotary. You need to decide to enter.

The driving control device according to the second embodiment capable of performing such an operation will be described in detail with reference to FIGS. 6 and 7 .

6 is a diagram illustrating the configuration of a driving control device according to the second embodiment, and FIG. 7 is a diagram illustrating another example for explaining the operations of the object detection unit and the entry control unit according to the second embodiment.

6 and 7 , the driving control device 101 according to the second embodiment is performed in the left rotary section preset in the driving control device 100 according to the first embodiment described with reference to FIGS. 1 to 5 . It may further include an object detection unit 170a for detecting the existence of a traveling object.

The object detection unit 170a of the driving control device 101 according to the second embodiment is installed in the own vehicle 710 to monitor the left monitoring area 720 in the left rotary section included in the left monitoring area 720 . The presence or absence of a traveling object is detected, and by monitoring the right monitoring area 725 , it is possible to detect the presence of a crossing object crossing in the right rotary section included in the right monitoring area 725 .

More specifically, the object detection unit 170a monitors the left monitoring area 720 and the right monitoring area 725 using a radar sensor, an ultrasonic sensor, a camera sensor, etc. can detect whether

Here, the angle formed by the left monitoring area 720 and the right monitoring area 725 needs to be changed in order to monitor the left rotary section and the right rotary section according to the location of the own vehicle adjacent to the rotary by driving on a general road. . Accordingly, the object detection unit 170a adjusts the directions of the left monitoring area 720 and the right monitoring area 725 based on the distance between the own vehicle and the rotary to adjust the left rotary section 720 and the right rotary section 725. can also be monitored. That is, if the distance between the own vehicle and the rotary is long, the angle between the left monitoring area 720 and the right monitoring area 725 of the object detection unit 170a is adjusted to be small, whereas if the distance between the own vehicle and the rotary is short, The angle formed by the left monitoring area 720 and the right monitoring area 725 of the object detection unit 170a can be largely adjusted. Here, the distance between the host vehicle and the rotary may be detected based on the driving lane detected by the first lane detecting unit 110 .

The entry control unit 131 of the traveling control device 101 according to the second embodiment detects that the traveling object does not exist in the object detection unit 170a and when it is detected that the crossing object does not exist, the entry path generation unit ( 120), it is possible to control the own vehicle to move according to the generated entry path.

In addition, the entry control unit 131 of the traveling control device 101 according to the second embodiment detects that the traveling object is present in the object detection unit 170a or when it is detected that the crossing object exists, the It is possible to control the own vehicle to enter. In this case, the host vehicle may stop near the stop lane on the general lane.

The object detection unit 170a of the driving control device 101 according to the second embodiment can detect both the left rotary section and the right rotary section according to each of the left monitoring area and the right monitoring area, as shown in FIG. 7 . However, if necessary, only the left rotary section or only the right rotary section can be detected. For example, in a roundabout (which may be a roundabout for moving from a highway to a general road) in which a crossing object crossing the roundabout is not expected to exist, the object detecting unit 170a may detect only the left rotary section. As another example, in a rotary in which an acceleration lane exists, the object detecting unit 170a may detect only a right rotary section.

Accordingly, when the object detecting unit 170a detects only the left rotary section and a traveling object is detected, the entry control unit 131 may control the own vehicle to not enter the rotary. On the other hand, when the object detecting unit 170a detects only the right rotary section and a crossing object is detected, the entry control unit 131 may control the own vehicle to not enter the rotary.

As described above, the driving control device 101 according to the second embodiment allows the own vehicle to enter the roundabout according to the situation in the roundabout, thereby blocking traffic congestion that may occur as the own vehicle enters the roundabout. there is

On the other hand, in the case of a rotary having a plurality of exits, if the moving exit to which the own vehicle wants to move is not an exit that comes preferentially according to driving within the roundabout, it is not necessary for the own vehicle to travel in the inner lane rather than the outer lane of the roundabout. have.

A driving control device according to a third embodiment capable of performing such an operation will be described in detail with reference to FIGS. 8 and 9 .

8 is a diagram illustrating a configuration of a driving control device according to the third embodiment, and FIG. 9 is a diagram illustrating an example for explaining the operation of the driving controller according to the third embodiment.

8 and 9 , the driving control device 102 according to the third embodiment is the driving control device 100 according to the first embodiment described with reference to FIGS. 1 to 5 , the number of lanes in the rotary, the rotary It may further include a rotary information detection unit 170b for detecting the number of exits and a driving control unit 180b for controlling the own vehicle in the rotary.

The rotary information detecting unit 170b of the driving control device 102 according to the third embodiment may be installed in the own vehicle 910 to detect the number of lanes of the rotary and the number of exits of the rotary.

Referring to FIG. 9 , the rotary information detecting unit 170b detects the number of lanes in the rotary as 2 and the number of exits in the rotary as 3 (the entrance is excluded here, but may be 4 including the entrance depending on the setting). can do.

More specifically, the rotary information detection unit 170b detects the number of lanes in the rotary and the number of exits in the rotary using a navigation device capable of detecting the number of lanes and exits of the rotary based on the location information and data information. can do. Alternatively, the rotary information detection unit 170b may use a communication device capable of receiving the number of lanes of the rotary and the number of exits of the rotary through V2I (Vehicle To Infra) communication or V2V (Vehicle To Vehicle) communication. And it is possible to detect the number of exits of the rotary.

According to FIG. 9 , the number of lanes is detected as two (920, 930) by the rotary information detection unit 170b, and the number of exits is detected as three (940, 950, 960), depending on the destination of the own vehicle. If the moving exit 950 to be moved is not the exit 940 that comes preferentially according to driving within the roundabout, the driving control unit 180b according to the third embodiment moves to the inner lane 930 of the roundabout (970) The host vehicle 910 may be controlled. Here, the moving exit to be moved according to the destination of the own vehicle may be determined based on known road information and the input destination of the own vehicle.

As described above, the driving control device 102 according to the third embodiment has the effect of preventing traffic congestion that may occur at the rotary exit by moving the own vehicle to the inner lane according to the moving exit to be moved.

On the other hand, there may be a roundabout in which no internal lane exists.

As described above, the driving control device according to the fourth embodiment that enables the host vehicle to autonomously drive in a roundabout in which no internal lane exists will be described in detail below.

The driving control apparatus according to the fourth exemplary embodiment detects an inner lane detecting unit detecting the presence of a rotary inner lane in the travel control apparatus 100 according to the first exemplary embodiment described with reference to FIGS. 1 to 5 , and a preceding vehicle. It may further include a vehicle sensing unit and a driving control unit for controlling the host vehicle to follow the preceding vehicle when it is detected that the inside lane does not exist.

The inner lane detection unit of the driving control apparatus according to the fourth embodiment determines whether a lane is included in the image information output by the image detection apparatus, and may operate using the same apparatus and method as the second lane detection unit. However, unlike the second lane detection unit that operates when the exit of the rotary is detected, the inner lane detection unit may operate regardless of the exit of the rotary.

The vehicle sensing unit of the driving control device according to the fourth embodiment may detect a preceding vehicle positioned in front of the host vehicle. For example, the vehicle detecting unit may detect the preceding vehicle using an object detecting device (a radar sensor, an ultrasonic sensor, etc.) or a communication device capable of performing V2V communication.

The driving control unit of the driving control device according to the fourth embodiment may control the own vehicle to follow the preceding vehicle detected by the vehicle sensing unit when it is detected that the internal lane does not exist by the internal lane detecting unit.

Here, when the preceding vehicle to be followed moves to the exit of the rotary, the driving controller may control the own vehicle to not follow. In more detail, the driving control unit may compare the moving direction of the following preceding vehicle with the rotary driving direction, and if there is a difference greater than or equal to a preset threshold, it may be determined that the preceding vehicle exits to the exit of the rotary. Alternatively, the driving controller may determine that the preceding vehicle moves to the exit of the roundabout based on a steering angle or a movement path from the preceding vehicle received through V2V communication.

As described above, the driving control device according to the fourth embodiment tracks the preceding vehicle in a roundabout in which there is no internal lane, thereby congesting traffic (for reference, the lane is not detected in the autonomous driving technology that drives based on the lane) It has an effect that does not cause a stop).

The driving control apparatus according to the embodiments described above may further include a rotary sensing unit for detecting a rotary.

More specifically, the rotary sensing unit is included in the own vehicle and detects the front from an image sensing device (eg, camera sensor), an object sensing device (radar sensor, ultrasonic sensor) or an information receiving device (eg, navigation). The existence of a lottery may be detected based on the generated information. The image sensing device may be used together with the first lane sensing unit.

Specifically, when a curved lane is detected, a side surface of another vehicle is detected, and the other vehicle is detected to move along the curved lane, the rotary sensor may detect that a roundabout exists. Alternatively, the rotary detection unit may detect that a rotary exists based on the recognized sign information. Alternatively, the rotary sensing unit may detect that a rotary is present when a curved curb is detected.

Hereinafter, a driving control method, which is an operation performed by the driving control device described with reference to FIGS. 1 to 9 , will be briefly described.

10 is a diagram illustrating a flow of a driving control method according to the first embodiment.

Referring to FIG. 10 , in the driving control method according to the first embodiment, when a roundabout is detected, a first lane detection step of detecting a driving lane that is a lane in which the host vehicle travels and a rotary lane that is a lane of the rotary (S1000) and generating a virtual entry lane connecting the end point of the inner driving lane and the inner rotary lane, and generating an entry route based on the virtual entry lane (S1010) and controlling the own vehicle to move according to the entry route When the entry control step (S1020) and the exit of the rotary are detected, the second lane detection step (S1030) of detecting the driving rotary lane in which the own vehicle travels and the exit lane that is the exit lane, and the starting point of the inner driving rotary lane and the inner exit lane An exit path generating step (S1040) of generating a virtual exit lane connecting can

In the first lane detecting step S1000 of the driving control method according to the first embodiment, when a rotary is detected, a driving lane that is a lane in which the host vehicle travels and a rotary lane that is a lane of the rotary are detected.

The first lane detection step (S1000) may detect a driving lane, which is a lane in which the own vehicle travels, and a rotary lane, which is a lane of the rotary, based on the image information output from the image sensing device included in the own vehicle before entering the roundabout. .

For a specific example, the first lane detection unit detects a driving lane and a rotary lane based on lane information (eg, color, lane width, and inter-lane distance, etc.) known in advance from image information according to the imaging area of the image sensing device. can detect Here, the first lane detection unit 110 may set a lane candidate group based on the lane information in the image information, expand and analyze the set lane candidate group, to accurately detect the driving lane and the rotary lane.

For a detailed operation of the first lane detection step S1000, reference may be made to FIG. 2 and a description thereof.

In the entry route generating step (S1010) of the driving control method according to the first embodiment, a virtual entry lane connecting the end point of the inner driving lane and the inner rotary lane is created, and an entry route can be generated based on the virtual entry lane. have. Also, in the entry control step S1020 of the driving control method according to the first embodiment, the host vehicle may be controlled to move according to the generated entry path.

In the entry path generation step (S1010), the end point of the inner driving lane located inside among the driving lanes detected in the first lane detection step (S1000) and the inner rotary lane located inside among the rotary lanes detected by the first lane detection unit It is possible to create a virtual entry lane that connects The virtual entrance lane may be generated by applying an interpolation method, and a curve of the virtual entrance lane may be determined according to the maximum steering angle of the host vehicle.

In this way, when the virtual entry lane is generated, the entry route generating step S1010 may generate an entry route for moving the own vehicle to a lane determined as the outer rotary lane located outside the virtual entry lane and the rotary lane. .

In addition, the entry control step ( S1020 ) may control the steering control device and the speed control device of the host vehicle to move according to the generated entry path.

As described above, according to each operation of the first lane detection step (S1000), the entry route creation step (S1010), and the entry control step (S1020) of the driving control method according to the first embodiment, the own vehicle moves in the general lane. Autonomous driving that moves by rotary is possible.

In the second lane detection step ( S1030 ) of the driving control method according to the first embodiment, when the exit of the rotary is detected, the driving rotary lane in which the host vehicle travels and the exit lane that is the exit lane may be detected.

In the second lane detection step (S1030), based on the image information output from the image sensing device included in the own vehicle driving inside the rotary, the driving rotary lane, which is the lane in which the own vehicle travels, and the exit lane, which is the exit lane, can be detected. have.

As a specific example, the second lane detection step (S1030) is performed on the basis of lane information (eg, color, lane width, and inter-lane distance, etc.) known in advance from image information according to the imaging area of the image sensing device. It is possible to detect an exit lane that is a lane and an exit lane. In this second lane detection step (S1030), the exit lane may be accurately detected by applying the lane detection model in the image information.

The second lane detecting step S1030 may be operated using the same apparatus and method as the first lane detecting step S1000 . However, the first lane detection step (S1000) detects a lane from the image information captured before the own vehicle enters the roundabout, whereas the second lane detection step (S1030) is an image captured while the own vehicle is driving inside the roundabout There is a difference in detecting the lane in the information. Accordingly, the first lane detecting step S1000 and the second lane detecting step S1030 may be operated based on the location information of the own vehicle and the location information of the rotary.

In the step of generating an exit route (S1040) of the driving control method according to the first embodiment, a virtual entry lane connecting the starting points of the inner driving rotary lane and the inner exit lane is created, and an exit route can be generated based on the virtual exit lane. have. Also, in the advance control step S1050 of the driving control method according to the first embodiment, the host vehicle may be controlled to move according to the generated advance path.

In the step of generating an exit route (S1040), the inner driving rotary lane located inside the driving rotary lane detected in the two-lane detection step (S1030) and the inner exit located inside the exit lane detected in the second lane detecting step (S1030) are performed. It is possible to create a virtual exit lane that connects the starting points of the lanes. The curve of the virtual advance lane may be determined according to the maximum steering angle of the host vehicle.

As such, when the virtual exit lane is generated, the exit route generating step S1040 generates an exit route for moving the own vehicle to a lane determined as an outside exit lane located outside the virtual entry lane and the exit lane. .

In addition, the advance control step S1050 may control the steering control apparatus and the speed control apparatus of the host vehicle to move according to the generated advance path.

As described above, according to each of the operation of the second lane detection step (S1030), the exit route generation step (S1040), and the exit control step (S1050) of the driving control method according to the first embodiment, the own vehicle moves from the rotary to the general You can drive by moving in the lane.

The driving control method according to the first embodiment described above has an effect that the host vehicle can autonomously drive normally according to a movement path including a rotary section.

In addition to this, the driving control method may perform all operations performed by the driving control device described with reference to FIGS. 1 to 9 .

The above description and the accompanying drawings are merely illustrative of the technical idea of this embodiment, and those of ordinary skill in the art to which the present invention pertains can combine configurations within a range that does not depart from the essential characteristics of the present invention. , various modifications and variations such as separation, substitution and alteration will be possible. Accordingly, the disclosed embodiments are for explanation rather than limiting the technical idea, and the scope of the technical idea is not limited by these embodiments. The protection scope of the present embodiments 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 (9)

a first lane detection unit detecting a driving lane in which the host vehicle travels and a rotary lane of the rotary when a roundabout is detected;
an entry route generator for generating a virtual entry lane connecting the end point of the inner driving lane and the inner rotary lane, and generating an entry route based on the virtual entry lane;
an entry control unit for controlling the host vehicle to move along the entry path;
a second lane detection unit detecting a driving rotary lane in which the host vehicle travels and an exit lane of the exit when the exit of the rotary is detected;
an exit path generator for generating a virtual exit lane connecting the starting points of the inner driving rotary lane and the inner exit lane, and generating an exit route based on the virtual exit lane; and
an advancing control unit controlling the host vehicle to move along the advancing path;
including,
Further comprising a rotary sensing unit for detecting the rotary,
The rotary sensing unit,
A curved lane is detected, a side surface of another vehicle is detected, and when it is detected that the other vehicle is moving along the curved lane, it is detected that the roundabout is present. The method of claim 1,
Further comprising; an object detection unit for detecting the presence of a traveling object traveling in a preset left rotary section before entering the roundabout;
The entry control unit,
When it is sensed that the traveling object is present, the driving control device according to claim 1, wherein the host vehicle is controlled so as not to enter the roundabout. The method of claim 1,
Prior to entering the rotary, further comprising an object detecting unit for detecting the presence of a crossed object crossing in a preset right rotary section,
The entry control unit,
When it is sensed that the crossed object exists, the driving control device according to claim 1 , wherein the host vehicle is controlled so as not to enter the roundabout. The method of claim 1,
Prior to entering the roundabout, an object detection unit for detecting the existence of a traveling object traveling in the preset left rotary section and the presence of a crossing object crossing in the preset right rotary section; further comprising,
The entry control unit,
It is detected that the traveling object does not exist, and when it is detected that the crossed object does not exist, the driving control device according to claim 1, characterized in that the vehicle is controlled to move along the approach path. The method of claim 1,
Further comprising: a rotary information sensing unit for detecting the number of lanes of the rotary, the number of exits of the rotary; and a driving control unit for controlling the host vehicle in the rotary,
The driving control unit,
When a plurality of the number of lanes is sensed, a plurality of the number of exits is detected, and the moving exit to be moved according to the destination of the own vehicle is not an exit that preferentially arrives according to driving within the roundabout, the inner lane of the rotary A driving control device, characterized in that for controlling the host vehicle to move to. The method of claim 1,
Further comprising: an inner lane detecting unit for detecting the presence of a rotary inner lane, a vehicle detecting unit for detecting a preceding vehicle, and a driving control unit for controlling the host vehicle in the rotary;
The driving control unit,
When it is detected that the internal lane of the rotary does not exist, the driving control apparatus according to claim 1, wherein the host vehicle is controlled to follow the preceding vehicle. 7. The method of claim 6,
The driving control unit,
When the preceding vehicle moves to the exit of the rotary, the driving control device according to claim 1, wherein the host vehicle is controlled to not follow the preceding vehicle. delete ◈Claim 9 was abandoned at the time of payment of the registration fee.◈ a first lane detection step of detecting a driving lane that is a lane in which the host vehicle travels and a rotary lane that is a lane of the roundabout when a roundabout is detected;
an entry route generating step of generating a virtual entry lane connecting the end point of the inner driving lane and the inner rotary lane, and generating an entry route based on the virtual entry lane;
an entry control step of controlling the host vehicle to move along the entry path;
a second lane detection step of detecting a driving rotary lane in which the host vehicle travels and an exit lane serving as an exit lane when the exit of the rotary is detected;
an exit route generating step of generating a virtual exit lane connecting the starting points of the inner driving rotary lane and the inner exit lane, and generating an exit route based on the virtual exit lane; and
an advancing control step of controlling the host vehicle to move along the advancing path; including,
Further comprising a rotary detection step of detecting the rotary,
The rotary detection step,
A curved lane is detected, a side surface of another vehicle is detected, and when it is detected that the other vehicle is moving along the curved lane, it is detected that the rotary is present.

Images