KR102446365B1 - Vehicle and controlling method thereof - Google Patents

Abstract

The disclosed invention relates to a vehicle and a control method therefor, the vehicle comprising: a vehicle sensor mounted on both sides of a tractor to sense the surroundings to obtain sensing data; and detecting the lane using the reflection intensity value of the lane and the linear equation of the lane from the detection data, calculating the angle between the lane and the traveling direction of the tractor, calculating the angle of refraction between the tractor and the trailer, and calculating the lane encroachment area of the trailer and a controller configured to display a warning for lane violation by estimating or control the driving of the vehicle.

Description

Vehicle and its control method {VEHICLE AND CONTROLLING METHOD THEREOF}

It relates to a vehicle and a method for controlling the same.

Vehicles are developing and installing various vehicle additional service devices in consideration of driver's convenience and safety.

The above-described vehicle is mainly for the purpose of accommodating a small number of people of 6 or less, such as a passenger car, but as another example, a form consisting of a tractor and a trailer capable of loading goods is also provided.

Since the large vehicle including the tractor and the trailer has a longer body than a passenger car and has a structure divided into several parts, a lane encroachment phenomenon of the trailer may occur while driving on a general road.

It is a system that calculates the angle of refraction between the tractor and the trailer through measurement data, rather than a method of directly measuring the angle of refraction of the trailer. In general, a technology for estimating the angle of refraction based on the distance value between GPS positions is applied with a GPS installed in the vehicle. . In the case of GPS, since it has an error of about 0 m to 20 m, performance in terms of accuracy may be deteriorated to estimate the angle of refraction using only GPS information.

Since a dangerous situation such as a jackknife phenomenon may occur due to refraction between the tractor and the trailer, a technique for accurately determining the angle of refraction between the tractor and the trailer in addition to the above-described method is required.

The disclosed embodiment is intended to provide a vehicle and a control method thereof for accurately determining the angle of refraction and lane encroachment that may occur between a tractor and a trailer.

As a technical means for achieving the above-described technical problem, a vehicle according to an aspect includes a vehicle sensor mounted on both sides of a tractor to sense the surroundings to obtain sensing data; and detecting a lane by using the reflection intensity value of the lane and the linear equation of the lane in the sensed data, calculating an angle between the lane and the traveling direction of the tractor, calculating an angle of refraction between the tractor and the trailer, and the trailer It may include; a control unit for estimating the lane-intrusion area of the lane-intrusion warning display or for controlling the driving of the vehicle.

In addition, the vehicle sensor may be a 3D lidar sensor.

In addition, the control unit extracts a lane point in an adjacent area using the intensity value of the lane pointer information reflected on the road surface in the sensed data, and calculates a straight line equation of the lane using the extracted lane point to detect the lane. can

Also, the controller may detect a refraction angle between the tractor and the trailer based on contour information of the side portions of the tractor and the trailer obtained from the sensing data.

In addition, the control unit extracts the angle between the lane and the trailer using the angle of refraction between the tractor and the trailer and the inclination of the lane and the tractor, and the tractor using the origin coordinate reference of the vehicle as the rotation point of the trailer It is possible to calculate the angle of the trailer rotated from the centerline of .

Also, the controller may calculate an equation of a straight line of the first lane on one side and an equation of a straight line on the second lane on the other side using the lanes on both sides obtained from the sensing data.

In addition, the control unit derives the other side lane by applying the road width to the one side lane using the one side lane obtained from the sensing data, and the equation of the first lane straight line of the one side and the other side The equation of the second lane straight line can be calculated.

In addition, the control unit calculates the trailer corner coordinates using the length and width of the trailer based on the origin coordinates of the vehicle, and sets the trailer corner coordinates based on one straight line of the tractor and the trailer rotated from the center line of the tractor. By deriving the coordinates rotated at the angle of the trailer, one straight line and the other straight line corresponding to both sides of the trailer, and the width direction straight line of the trailer connected to the one straight line and the other straight line may be derived.

In addition, the control unit calculates an intersection point of the second lane straight line and the other straight line, the second lane straight line and the one side straight line, and the second lane straight line and the width direction straight line, and among the intersection points, the trailer and the first By extracting two intersection points between two lanes, an intersection between the trailer and the second lane and an area where the trailer crosses the second lane may be determined.

Also, the second lane may be a lane in a direction in which the trailer crosses the lane among lanes on both sides of the driving road of the vehicle.

Also, when extracting the intersection point, the controller may extract two points in an adjacent order from the origin coordinates of the vehicle.

A vehicle control method according to one aspect obtains detection data by sensing the surroundings through vehicle sensors mounted on both sides of a tractor, and detects a lane using a reflection intensity value of a lane and a linear equation of a lane from the detection data, and , calculating the angle between the lane and the traveling direction of the tractor, calculating the angle of refraction between the tractor and the trailer, estimating the lane encroachment area of the trailer, displaying a warning for the lane encroachment or controlling the driving of the vehicle may include

In addition, the detecting of the lane may include extracting a lane point in an adjacent area using an intensity value of lane pointer information reflected on the road surface from the detection data, and calculating a straight line equation of the lane using the extracted lane point to calculate a lane can be detected.

In addition, calculating the angle of refraction between the tractor and the trailer may detect the angle of refraction between the tractor and the trailer based on contour information of the side portions of the tractor and the trailer obtained from the sensing data.

In addition, in calculating the angle of refraction between the tractor and the trailer, the angle between the lane and the trailer is extracted using the angle of refraction between the tractor and the trailer and the inclination of the lane and the tractor, and the origin coordinates of the vehicle are determined based on the trailer The method may further include calculating the angle of the trailer rotated from the center line of the tractor as the rotation point of .

In addition, estimating the lane encroachment area of the trailer may include calculating the equation of the first lane straight line on one side and the equation of the second lane straight line on the other side using the both-side lanes obtained from the detection data. have.

In addition, estimating the lane encroachment area of the trailer is to derive the other side lane by applying the road width to the one side lane using the one side lane obtained from the detection data, and the first lane straight line of the one side and the equation of the second lane straight line of the other side can be calculated.

In addition, estimating the lane encroachment area of the trailer includes calculating the trailer corner coordinates by using the length and width of the trailer based on the origin coordinates of the vehicle, and calculating the trailer corner coordinates based on one straight line of the tractor and the trailer. Deriving the coordinates rotated at the angle of the trailer rotated from the center line of the tractor to derive one straight line and the other straight line corresponding to both sides of the trailer and the width direction straight line of the trailer connected to the one straight line and the other straight line. may include

In addition, estimating the lane encroachment area of the trailer calculates the intersection of the second lane straight line and the other straight line, the second lane straight line and the one side straight line, and the second lane straight line and the width direction straight line, The method may further include extracting two intersection points between the trailer and the second lane among intersections, and determining an intersection between the trailer and the second lane and an area in which the trailer crosses the second lane.

Also, the second lane may be a lane in a direction in which the trailer crosses the lane among lanes on both sides of the driving road of the vehicle.

Also, when extracting the intersection point, two points may be extracted in an adjacent order from the vehicle origin coordinates.

According to the above-mentioned problem solving means, since the degree of refraction between the tractor and the trailer and the encroachment state of the surrounding lane are accurately identified, various dangerous situations that may occur due to the refraction between the tractor and the trailer are notified to the driver or the driving of the vehicle is automatically controlled Therefore, the effect of improving driving safety can be expected.

In addition, the disclosed invention is that determining whether the trailer is deflected during autonomous driving of the trailer can predict the risk of collision between an external obstacle and the trailer in autonomous driving control.

1 is a view showing an exterior of a vehicle;
2 is a view showing the interior of a vehicle.
3 is a control block diagram showing the configuration of a vehicle in detail.
4 is an exemplary diagram in which a lane is extracted using a lidar sensor.
5 to 8 are exemplary views for explaining a method of detecting a lane encroachment of a trailer.
9 and 10 are flowcharts for explaining a vehicle control method.

Like reference numerals refer to like elements throughout. This specification does not describe all elements of the embodiments, and general content in the technical field to which the present invention pertains or content that overlaps between the embodiments is omitted. The term 'part, module, member, block' used in the specification may be implemented in software or hardware, and according to embodiments, a plurality of 'part, module, member, block' may be implemented as a single component, It is also possible for one 'part, module, member, block' to include a plurality of components.

Throughout the specification, when a part is "connected" with another part, this includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

Also, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

Terms such as first, second, etc. are used to distinguish one component from another, and the component is not limited by the above-mentioned terms.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of description, and the identification code does not describe the order of each step, and each step may be performed differently from the specified order unless the specific order is clearly stated in the context. have.

Hereinafter, the working principle and embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a view showing an exterior of a vehicle;

Referring to FIG. 1 , the exterior of the vehicle 1 includes a body 10 forming the exterior of the vehicle 1 , a door 13 shielding the interior of the vehicle 1 from the outside, and the rear and A vehicle 1 including a west coast mirror 14 for providing a side view, a front wheel 17 located on the tractor 11 in front of the vehicle, and a rear wheel 18 located on a trailer 12 located at the rear of the vehicle ) may include wheels (17, 18) for moving.

The body 10 may include a tractor 11 and a trailer 12 connected to the tractor. The tractor 11 means a motive power vehicle that pulls a trailer 12, a construction machine, an agricultural machine, etc., and is composed of a power unit and a cockpit, and the wheels 17 are made of rubber tires and a caterpillar (caterpillar) It can be provided in this way. The trailer 12 means a vehicle that is connected to a motive power vehicle without power and carries a load or a person.

The door 13 is rotatably provided on the left and right sides of the main body 10 so that the driver can board the inside of the vehicle 1 when it is opened, and can shield the inside of the vehicle 1 from the outside when closed. can

A west coast mirror 14 is a mirror fixed to the outside of the passenger compartment so that the driver can see the rear and sides of the vehicle 1 without turning his head.

In addition to the above-described configuration, the vehicle 1 includes a power unit (not shown) for rotating the wheels 17 and 18, a steering device (not shown) for changing the moving direction of the vehicle 1, and a braking device for stopping the movement of the wheels. (not shown), a mud flap 15 and a staircase 16 may be included.

The power unit (not shown) provides rotational force to the front wheel 17 or the rear wheel 18 so that the main body moves forward or backward. Such a power device may include an engine for generating rotational force by burning fossil fuel or a motor for generating rotational force by receiving power from a capacitor (not shown).

The steering device includes a steering wheel (27 in FIG. 2) that receives a driving direction from a driver, a steering gear (not shown) that converts rotational motion of the steering wheel 27 into reciprocating motion, and a steering gear (not shown) It may include a steering link (not shown) for transmitting the reciprocating motion of the front wheel (17). Such a steering device may change the driving direction of the vehicle 1 by changing the direction of the rotation shaft of the wheel.

The braking device includes a brake pedal (not shown) that receives a braking operation from the driver, a brake drum (not shown) coupled to the wheels 17 and 18, and a brake shoe that brakes the rotation of the brake drum (not shown) using frictional force. (not shown) and the like. Such a braking device may brake the driving of the vehicle 1 by stopping the rotation of the wheels 17 and 18 .

The mudguard 15 is a configuration attached to the rear of the wheel 17 to prevent the soil from splashing, and may be made of rubber or plastic material.

The staircase 16 is a configuration provided in the main body 10 to help when getting on and off the seat including the driver's seat, and may be implemented in the form of a stepping board or stepping step.

Additionally, the vehicle 1 is equipped with a sensor 19 such as a rear-side detection device and a camera (eg, an Around View Monitor (AVM) camera) to detect pedestrians, two-wheeled vehicles, facilities, etc. on an intersection. can do. At this time, the mounting position of the sensor 19 is not limited to that shown in FIG. 1 , and if it is possible to detect an object located at an intersection, it will be installed at any position of the vehicle 1 .

2 is a view showing the interior of a vehicle.

The interior of the vehicle 1 includes a windscreen 21 that provides the driver with a view of the front of the vehicle 1 , and a dashboard 23 on which various devices for the driver to operate the vehicle 1 are installed. ), a driver's seat 25 for the driver of the vehicle 1 to sit on, a steering wheel 27 that receives a driving direction input from the driver, and a cluster display unit 29 for displaying operation information of the vehicle 1 , 31), may include a navigation 70 that provides audio and video functions as well as a road guidance function that provides route guidance information according to a driver's manipulation command.

The wind screen 21 is provided on the front upper side of the main body (10 in FIG. 1 ) so that a driver inside the vehicle 1 can obtain visual information in front of the vehicle 1 .

The dashboard 23 is provided to protrude toward the driver from the lower portion of the windscreen 21 , and allows the driver to operate various devices installed on the dashboard 23 while looking ahead.

The driver's seat 25 is provided at the rear of the dashboard 23 so that the driver can drive the vehicle 1 while keeping an eye on the front of the vehicle 1 and various devices of the dashboard 23 in a stable posture.

The cluster display units 29 and 31 are provided on the driver's seat side of the dashboard 23, and the driving speed gauge 29 indicating the driving speed of the vehicle 1 and the rpm indicating the rotation speed of the power unit (not shown) A gauge 31 may be included.

The navigation device 70 may include a display that displays information on a road on which the vehicle 1 travels or a route to a destination the driver wants to reach, and a speaker 33 that outputs a sound according to a driver's operation command. In recent years, an audio video navigation (AVN) device in which an audio device, a video device, and a navigation device are integrated is being installed in a vehicle.

The navigation device 70 may be installed in a center fascia. At this time, the center fascia refers to the control panel part between the driver's seat and the passenger seat of the dashboard 23, and is an area where the dashboard 23 and the shift lever meet vertically, where the navigation 70, air conditioner, You can install the heater controller, air outlet, cigar jack, ashtray, cup holder, etc. In addition, the center fascia can also play a role of separating the driver's seat and the passenger seat together with the center console.

3 is a control block diagram showing the configuration of a vehicle in detail.

Hereinafter, it will be described with reference to FIG. 4, which is an exemplary diagram of extracting a lane by using a lidar sensor, and FIGS. 5 to 8, which are exemplary diagrams for explaining a method of detecting a lane encroachment of a trailer.

Referring to FIG. 3 , the vehicle 100 may include a communication unit 110 , an input unit 120 , a storage unit 130 , a display 140 , a vehicle sensor 150 , and a control unit 160 .

In more detail, the communication unit 110 may include one or more components that enable communication with an external device, and may include, for example, at least one of a short-range communication module, a wired communication module, and a wireless communication module. .

The short-distance communication module transmits signals using a wireless communication network in a short distance such as a Bluetooth module, an infrared communication module, an RFID (Radio Frequency Identification) communication module, a WLAN (Wireless Local Access Network) communication module, an NFC communication module, and a Zigbee communication module. It may include various short-distance communication modules for transmitting and receiving.

The wired communication module includes a variety of wired communication modules such as a Controller Area Network (CAN) communication module, a Local Area Network (LAN) module, a Wide Area Network (WAN) module, or a Value Added Network (VAN) module. Various cable communication such as USB (Universal Serial Bus), HDMI (High Definition Multimedia Interface), DVI (Digital Visual Interface), RS-232 (recommended standard232), power line communication, or POTS (plain old telephone service) as well as communication module It can contain modules.

In addition to the Radio Data System-Traffic Message Channel (RDS-TMC), Digital Multimedia Broadcasting (DMB), Wifi module, and WiBro (Wireless broadband) module, the wireless communication module includes a global System for Mobile Communication), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), UMTS (universal mobile telecommunications system), TDMA (Time Division Multiple Access), LTE (Long Term Evolution) support various wireless communication methods It may include a wireless communication module.

The wireless communication module may include a wireless communication interface including an antenna for receiving a traffic information signal and a receiver (Receiver). In addition, the wireless communication module may further include a traffic information signal conversion module for demodulating the analog-type wireless signal received through the wireless communication interface into a digital control signal.

Meanwhile, the communication unit 110 may further include an internal communication module (not shown) for communication between electronic devices inside the vehicle 100 . As an internal communication protocol of the vehicle 100 , a controller area network (CAN), a local interconnection network (LIN), FlexRay, Ethernet, or the like may be used.

The input unit 120 includes hardware such as various buttons or switches, pedals, keyboards, mice, track-balls, various levers, handles, and sticks for user input. device may be included.

Also, the input unit 120 may include a graphical user interface (GUI) such as a touch pad, that is, a software device for user input. The touch pad may be implemented as a touch screen panel (TSP) to form a layer structure with the display 140 .

The storage unit 130 may be configured to store information related to the vehicle 100 , including a reference for detecting a degree of refraction between the tractor ( 11 in FIG. 1 ) and the trailer ( 12 in FIG. 1 ) and a lane violation.

The storage unit 130 is a non-volatile memory device or RAM such as a cache, read only memory (ROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), and flash memory. It may be implemented as at least one of a volatile memory device such as (Random Access Memory), a hard disk drive (HDD), or a storage medium such as a CD-ROM, but is not limited thereto. The storage unit 130 may be a memory implemented as a chip separate from the processor described above with respect to the controller 170 , or may be implemented as a single chip with the processor.

The display 140 may be configured to display various types of information related to the vehicle 100 , including displaying a warning about lane intrusion. In this case, it is possible to output the warning about lane violation not only in text form but also in voice form so that the user can check it.

The display 140 is a cathode ray tube (CRT), a digital light processing (DLP) panel, a plasma display panel (Plasma Display Penal), a liquid crystal display (LCD) panel, an electroluminescence ( Electro Luminescence (EL) panel, Electrophoretic Display (EPD) panel, Electrochromic Display (ECD) panel, Light Emitting Diode (LED) panel, or Organic Light Emitting Diode (OLED) panel ) may be provided as a panel, but is not limited thereto.

The vehicle sensor 150 may be mounted on both sides of the tractor ( 11 in FIG. 1 ) and may be configured to sense the surroundings to acquire sensed data. In this case, the vehicle sensor 150 may be a 3D LiDAR (LiDAR) sensor, but is not limited thereto, and it is natural that a sensor capable of detecting a lane by sensing the surroundings of the vehicle may be changed or added according to the needs of the operator. will do

The controller 160 detects a lane by using the reflection intensity value of the lane and the linear equation of the lane in the sensed data, calculates an angle between the lane and the traveling direction of the tractor 11, and calculates the angle of refraction between the tractor and the trailer Calculating and estimating a lane encroachment area of the trailer to display a warning for the lane encroachment or control the driving of the vehicle.

The controller 160 extracts a lane point in an adjacent area using the intensity value of lane pointer information reflected on the road surface from the sensed data, and calculates a straight line equation of the lane using the extracted lane point to detect the lane. .

Referring to FIG. 4 , the vehicle sensor 150 may be respectively mounted on both sides of the tractor 11 to acquire sensed data like S1 and S2 . The controller 160 extracts a lane point and a trailer pointer from the acquired detection data, and calculates a straight line equation of the lane using the extracted detection data to detect the lane intrusion of the trailer 12 .

Referring to FIG. 5 , the controller 160 may extract an angle value θ between the lane L2 and the traveling direction of the tractor 11 . In this case, the angle between the lane L2 and the traveling direction of the tractor 11 may be the same as the angle between the center of the lanes L1 and L2 and the traveling direction of the tractor 11 .

The controller 160 may detect a refraction angle between the tractor 11 and the trailer 12 based on contour information of the side portions of the tractor 11 and the trailer 12 obtained from the sensing data.

Referring to FIG. 6 , the controller 160 may detect a refraction angle b between the tractor 11 and the trailer 12 based on the contour information of the side portions of the tractor 11 and the trailer 12 . In this case, the refraction angle b = 180 - φ may be. The φ refers to the angle of the trailer rotated from the center line of the tractor 11 with the reference point of the vehicle's origin coordinate P1 as the rotation point of the trailer 12 .

The controller 160 extracts the angle between the lane and the trailer by using the angle of refraction between the tractor 11 and the trailer 12 and the inclination of the lane and the tractor 11, and sets the origin coordinates of the vehicle 100 as the reference point of the trailer (12). It is possible to calculate the angle of the trailer rotated from the center line of the tractor 11 using the rotation point of . In this case, the origin coordinates of the vehicle may mean the center coordinates of one surface of the trailer connected to the tractor.

Referring to FIG. 6 , the controller 160 may extract the angle a between the lane and the trailer using the angle of refraction b between the tractor 11 and the trailer 12 and the inclination θ between the lane and the tractor 11 . In this case, a = b - θ may be.

In addition, the control unit 160 may calculate the angle φ of the trailer rotated from the center line of the tractor 11 by taking the reference point of the origin coordinate P1 of the vehicle as the rotation point of the trailer 12 , in this case, φ = 180 - can mean b.

As an example, the control unit 160 uses the both-side lanes obtained from the sensing data to calculate the equation of the first lane (L1 in FIG. 6) straight line on one side and the second lane (L2 in FIG. 6) straight line on the other side. can be calculated.

As another example, the controller 160 derives the other side lane by applying the road width to the one side lane using the one side lane obtained from the detection data, and the equation of the first lane straight line on the one side and the second side on the other side The equation of the lane line can be calculated. As shown in FIG. 5 , the road width between L1 and L2 may be 3.5 m, and the other side lane may be derived by applying the road width 3.5 m to one side lane. At this time, the road width is not limited to 3.5 m, and it will be possible to change according to the width of the road on which the operator or the vehicle 100 travels.

In order to calculate the equation of the straight line described above, three or more lane points may be extracted from the sensed data.

Referring to FIG. 6 , the equations of the straight line A and the straight line B may be derived from the lanes of both sides.

In this case, the equation of the straight line A may be y = cx + d, and the equation of the straight line B may be y = c(x-road width/sin θ) + d.

The control unit 160 calculates the trailer corner coordinates using the length (I in FIG. 6 ) and the width (W in FIG. 6 ) of the trailer 12 based on the vehicle origin coordinates (P1 in FIG. 6 ), and the tractor 11 ) and the trailer corner coordinates based on one straight line of the trailer 12 by deriving the coordinates rotated from the center line of the tractor 11 at the angle of the trailer 12 rotated to one side straight line corresponding to both sides of the trailer 12 (FIG. 6) of the straight line D) and the other straight line (line C in FIG. 6) and the width direction straight line (line E in FIG. 6) of the trailer connected to the one straight line (line D in FIG. 6) and the other straight line (straight line C in FIG. 6) ) can be derived.

At this time, the standard of one straight line between the tractor and the trailer means a state in which the refraction of the trailer does not occur based on the tractor having the angle of refraction between the tractor and the trailer of 180 degrees.

Referring to FIG. 6 , the controller 160 may derive the straight line C, the straight line D, and the straight line E by deriving the coordinate values obtained by rotating the trailer corner coordinates based on the tractor-trailer 1 straight line by the φ angle.

The control unit 160 controls the second lane straight line (L2 in FIG. 6) and the other straight line (line C in FIG. 6), the second lane straight line and one side straight line (the straight line D in FIG. 6), the second lane straight line and the width direction straight line ( The intersection point of the straight line E in FIG. 6 is calculated, and two intersection points (P2 and P3 in FIG. 6 ) of the intersection between the trailer 12 and the second lane are extracted among the intersection points, and the intersection point between the trailer 12 and the second lane The area in which the trailer 12 crosses the second lane may be determined. The second lane may be a lane in a direction in which the trailer 12 crosses the lane among lanes on both sides of the driving road of the vehicle.

When extracting the intersection point, the controller 160 may extract two points in an adjacent order from the origin coordinates (P1 of FIG. 6 ) of the vehicle 100 .

The above-described control unit 160 operates a memory (not shown) that stores data for an algorithm for controlling the operation of components in the vehicle 100 or a program reproducing the algorithm, and the above-described operation using the data stored in the memory. It may be implemented as a processor (not shown) that performs In this case, the memory and the processor may be implemented as separate chips. Alternatively, the memory and the processor may be implemented as a single chip.

9 and 10 are flowcharts for explaining a vehicle control method.

Referring to FIG. 9 , the vehicle 100 may acquire sensing data by sensing the surroundings through vehicle sensors ( 19 of FIG. 1 ) mounted on both sides of the tractor ( 11 of FIG. 1 ) ( 210 ).

The vehicle 100 may sense obstacles on both sides of the trailer 12 or point information reflected on the road surface from a vehicle sensor (eg, a three-dimensional lidar sensor) 150 mounted on the side of the tractor 11 . .

A lane may be detected using point information divided into a road surface area and an obstacle from points detected by the vehicle sensor 150 .

Next, the vehicle 100 may detect the lane using the reflection intensity value of the lane and the linear equation of the lane in the sensed data ( 220 , 230 ).

The vehicle 100 extracts points having an intensity greater than or equal to a certain threshold from the points separated from the road surface for each layer, extracts the lane points on the side, and uses three or more points to derive the linear equation of the lane. can

That is, the vehicle 100 extracts a lane point in an adjacent area using the intensity value of the lane pointer information reflected on the road surface from the detection data, and calculates a straight line equation of the lane using the extracted lane point to detect the lane. can

Next, the vehicle 100 may calculate an angle between the lane and the traveling direction of the tractor 11 ( 240 ).

Next, the vehicle 100 may calculate a refraction angle between the tractor 11 and the trailer 12 ( 250 ).

The vehicle 100 may derive an angle between the tractor 11 and the trailer 12 using the lidar points where the vehicle sensor 15 is reflected by the tractor 11 and the trailer 12 among points determined as obstacles. can

That is, the vehicle 100 may detect the angle of refraction between the tractor 11 and the trailer 12 based on the contour information of the side portions of the tractor 11 and the trailer 12 obtained from the sensing data.

In addition, the vehicle 100 extracts the angle between the lane and the trailer using the angle of refraction between the tractor 11 and the trailer 12 and the inclination of the lane and the tractor 11, and the origin coordinates of the vehicle 100 (in FIG. 6 ). P1) It is possible to calculate the angle of the trailer 12 rotated from the center line of the tractor 11 by using the reference point as the rotation point of the trailer 12 . In this case, the origin coordinates of the vehicle may mean the center coordinates of one surface of the trailer connected to the tractor.

Next, the vehicle 100 may estimate a lane encroachment area of the trailer 12 ( 260 ).

Referring to FIG. 10 , the vehicle 100 may determine whether both lanes are detected from the detection data ( 261 ).

As a result of the check, if both lanes are detected, the vehicle 100 may calculate the equation of the first lane straight line on one side and the equation of the second lane straight line on the other side using the both side lanes obtained from the detection data ( 262).

Next, the vehicle 100 calculates the corner coordinates of the trailer 12 using the length and width of the trailer 12 based on the origin coordinates of the vehicle, and the coordinates of the trailer corners based on one straight line of the tractor 11 and the trailer 12 . It is possible to derive the coordinates rotated by the angle of the trailer 12 rotated from the center line of the tractor 11 (263).

Next, the vehicle 100 may derive a straight line in the width direction of the trailer connected to one straight line and the other straight line, and the one straight line and the other straight line corresponding to both sides of the trailer 12 by using the derived corner coordinates of the trailer (264). ).

The vehicle 100 may derive the equation of a straight line on the XY coordinates excluding the height information for the left side, the back side, and the right side (the straight line D, the straight line E, and the straight line C in FIG. 6 ) of the trailer 12 .

Next, the vehicle 100 may calculate the intersection point of the second lane straight line and the other straight line, the second lane straight line and one side straight line, and the second lane straight line and the width direction straight line ( 265 ).

Next, the vehicle 100 extracts two intersection points (P2 and P3 in FIG. 6 ) of the intersection between the trailer 12 and the second lane among the calculated intersection points, and the intersection between the trailer 12 and the second lane and the trailer 12 ) may determine an area in which the second lane has crossed ( 266 ).

Referring to FIG. 7 , P4 may be the intersection of the straight line B and the straight line C of FIG. 6 , and P5 may be the intersection of the straight line B and the straight line C or the straight line B and the straight line D of FIG. 6 .

The second lane may be a lane in a direction in which the trailer 12 crosses the lane among lanes on both sides of the driving road of the vehicle 100 .

When extracting the intersection point in step 266 , the vehicle 100 may extract two points in an adjacent order from the vehicle's origin coordinates.

On the other hand, as a result of checking in step 261, when only one side lane is detected, the vehicle 100 derives the other side lane by applying the road width to one side lane using the one side lane obtained from the detection data, and one side It is possible to calculate the equation of the first lane straight line and the equation of the second lane straight line on the other side ( 267 ). Thereafter, the vehicle 100 may perform step 263 .

Next, the vehicle 100 may display a warning for lane violation or control the driving of the vehicle.

Specifically, when the vehicle 100 is in the autonomous driving state, the vehicle 100 can be controlled by reflecting the lane encroachment state of the trailer 12 calculated through the above-described process in the trailer 12 autonomous driving lateral control. There are (270, 280). In this case, the vehicle 100 determines a lane encroachment area during the autonomous driving mode operation and controls the trailer 12 to be maintained within the lane.

In step 280 , the vehicle 100 may also output a warning about the lane violation of the trailer 12 in the form of voice or text.

If the vehicle 100 is not in the autonomous driving state, the vehicle 100 may output a warning about the lane invasion of the trailer 12 in the form of voice or text so that the user can recognize it ( 290 ).

The vehicle 100 may display the area of the trailer that has invaded the lane L2 as shown in FIG. 8 and at the same time display the area of how much the trailer has invaded the lane, so that the user can recognize the lane encroachment of the trailer. In this case, it would be natural to add a warning sound to inform the lane violation of the trailer, a highlight display on the screen, and the like so that the user can more quickly recognize the lane violation state.

In addition, when the vehicle 100 displays a warning about lane violation, it is also possible to display the inclination between the tractor 11 and the lane.

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may generate program modules to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

The computer-readable recording medium includes any type of recording medium in which instructions readable by the computer are stored. For example, there may be a read only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like.

The disclosed embodiments have been described with reference to the accompanying drawings as described above. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be practiced in other forms than the disclosed embodiments without changing the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

1, 100: vehicle
110: communication department
120: input unit
130: storage
140: display
19, 150: vehicle sensor
160: control unit

Claims (21)

a vehicle sensor mounted on both sides of the tractor to sense the surroundings to obtain detection data; and
A lane is detected using the reflection intensity value of the lane and the linear equation of the lane in the sensed data, the angle between the lane and the traveling direction of the tractor is calculated, the angle of refraction between the tractor and the trailer is calculated, and the A control unit for estimating a lane-intrusion area to display a warning for lane-intrusion or to control the driving of the vehicle;
The control unit is
The trailer corner coordinates are calculated using the length and width of the trailer based on the origin coordinates of the vehicle, and the trailer corner coordinates based on one straight line of the tractor and the trailer are rotated by the angle of the trailer rotated from the center line of the tractor. A vehicle for deriving coordinates and deriving one straight line and the other straight line corresponding to both sides of the trailer, and a width direction straight line of the trailer connected to the one straight line and the other straight line. According to claim 1,
The vehicle sensor is a 3D lidar sensor. According to claim 1,
The control unit is
A vehicle for detecting a lane by extracting a lane point in an adjacent area using an intensity value of lane pointer information reflected on a road surface from the detection data, and calculating a straight line equation of the lane using the extracted lane point. According to claim 1,
The control unit is
A vehicle that detects an angle of refraction between the tractor and the trailer based on contour information of a side portion of the tractor and the trailer obtained from the sensing data. 5. The method of claim 4,
The control unit is
The angle between the lane and the trailer is extracted using the angle of refraction between the tractor and the trailer and the inclination of the lane and the tractor, and rotated from the centerline of the tractor using the origin coordinates of the vehicle as the turning point of the trailer A vehicle that calculates the angle of the trailer. According to claim 1,
The control unit is
A vehicle that calculates an equation of a straight line of a first lane on one side and an equation of a straight line on a second lane on the other side by using the lanes on both sides obtained from the detection data. According to claim 1,
The control unit is
The other side lane is derived by applying the road width to the one side lane using the one side lane obtained from the sensing data, and the equation of the first lane straight line on the one side and the second lane straight line on the other side vehicle that yields . delete 7. The method of claim 6,
The control unit is
Calculate the intersection point of the second lane straight line and the other straight line, the second lane straight line and the one side straight line, and the second lane straight line and the width direction straight line, and among the intersection points, two intersection points between the trailer and the second lane A vehicle that extracts points to determine an intersection between the trailer and the second lane and an area where the trailer crosses the second lane. 10. The method of claim 9,
The second lane is a lane in a direction in which the trailer crosses the lane among lanes on both sides of the driving road of the vehicle. 10. The method of claim 9,
The control unit is
When extracting the intersection point, a vehicle for extracting two points in an adjacent order from the vehicle's origin coordinates. Through the vehicle sensors mounted on both sides of the tractor, the surroundings are sensed to acquire detection data,
Detecting the lane using the reflection intensity value of the lane and the linear equation of the lane from the detected data,
calculating the angle between the lane and the traveling direction of the tractor,
calculating the angle of refraction between the tractor and the trailer,
estimating a lane encroachment area of the trailer;
Including a warning display for the lane violation or controlling the driving of the vehicle,
To estimate the lane encroachment area of the trailer,
The trailer corner coordinates are calculated using the length and width of the trailer based on the origin coordinates of the vehicle, and the trailer corner coordinates based on one straight line of the tractor and the trailer are rotated by the angle of the trailer rotated from the center line of the tractor. The control method of a vehicle further comprising deriving a single straight line and the other straight line corresponding to both sides of the trailer by deriving coordinates and a width direction straight line of the trailer connected to the one straight line and the other straight line. 13. The method of claim 12,
Detecting the lane is
A method of controlling a vehicle to extract a lane point in an adjacent area by using an intensity value of lane pointer information reflected on a road surface from the detected data, and calculate a straight line equation of the lane using the extracted lane point to detect a lane. 13. The method of claim 12,
Calculating the angle of refraction between the tractor and the trailer is,
A control method of a vehicle for detecting a refraction angle between the tractor and the trailer based on the contour information of the side portions of the tractor and the trailer obtained from the detection data. 15. The method of claim 14,
Calculating the angle of refraction between the tractor and the trailer is,
The angle between the lane and the trailer is extracted using the angle of refraction between the tractor and the trailer and the inclination of the lane and the tractor, and rotated from the centerline of the tractor using the origin coordinates of the vehicle as the turning point of the trailer The control method of the vehicle further comprising calculating the angle of the trailer. 13. The method of claim 12,
To estimate the lane encroachment area of the trailer,
and calculating an equation of a straight line of the first lane on one side and an equation of a straight line on the second lane on the other side by using the lanes on both sides obtained from the sensing data. 13. The method of claim 12,
To estimate the lane encroachment area of the trailer,
The other side lane is derived by applying the road width to the one side lane using the one side lane obtained from the sensing data, and the equation of the first lane straight line on the one side and the second lane straight line on the other side A control method of a vehicle that calculates . delete 17. The method of claim 16,
To estimate the lane encroachment area of the trailer,
Calculate the intersection point of the second lane straight line and the other straight line, the second lane straight line and the one side straight line, and the second lane straight line and the width direction straight line, and among the intersection points, two intersection points between the trailer and the second lane The method of controlling a vehicle further comprising extracting a point to determine an intersection point between the trailer and the second lane and an area in which the trailer crosses the second lane. 20. The method of claim 19,
The second lane is a lane in a direction in which the trailer crosses the lane among lanes on both sides of the driving road of the vehicle. 20. The method of claim 19,
When extracting the intersection point, the vehicle control method for extracting two points in the order adjacent to the vehicle origin coordinates.

Images