KR102565928B1 - Automatic Driving control apparatus, vehicle having the same and method for controlling the same - Google Patents

Abstract

An autonomous driving control device of the present invention includes a communication unit for receiving image information of a road and detection information of an obstacle; Based on the received image information of the road, the lane is recognized, and based on the recognized lane and the received obstacle detection information, the distance to the obstacle traveling in the left and right lanes of the user's lane is checked, and based on the identified distance A control unit for adjusting the position of the tracking line for autonomous driving is included.

Description

Automatic driving control apparatus, vehicle having the same and control method thereof {Automatic Driving control apparatus, vehicle having the same and method for controlling the same}

The present invention relates to an autonomous driving control device for improving the stability of autonomous driving, a vehicle having the same, and a control method thereof.

A vehicle is a machine that travels on a road by driving wheels and is a device that moves on a road, and various devices for protecting occupants, assisting driving, and improving riding comfort are mounted in the vehicle.

Recently, research on an autonomous driving control device for automatically driving to a destination by recognizing the road environment, determining the driving situation, and controlling the driving of the vehicle according to a planned driving route has been actively conducted.

These self-driving control devices recognize changes in obstacles and lanes to create routes for avoiding driving in real time. It is important.

That is, when the autonomous driving control device predicts the behavior of surrounding vehicles when controlling vehicle driving and does not reflect the driving behavior, stable driving of the vehicle becomes impossible and the risk of collision with an obstacle increases.

One aspect provides an autonomous driving control device for adjusting the position of a following line for autonomous driving based on the speed of a surrounding vehicle, a vehicle having the same, and a control method thereof.

Another aspect provides an autonomous driving control device for adjusting the position of a following line for autonomous driving based on the speed of a surrounding vehicle and the width of another lane, a vehicle having the same, and a control method thereof.

An autonomous driving control device according to an aspect includes a communication unit configured to receive image information of a road and detection information of an obstacle; Based on the received image information of the road, the lane is recognized, and based on the recognized lane and the received obstacle detection information, the distance to the obstacle traveling in the left and right lanes of the user's lane is checked, and based on the identified distance A control unit for adjusting the position of the tracking line for autonomous driving is included.

An autonomous driving control device according to an aspect includes an image acquisition unit acquiring an image of a road; A distance detection unit for detecting a distance to an obstacle on the road is further included.

The control unit of the autonomous driving control apparatus according to an aspect diagnoses a failure of the image acquisition unit and the distance detection unit when an autonomous driving mode is input, and controls output of failure information when a failure of at least one of the image acquisition unit and the distance detection unit is diagnosed. includes doing

The control unit of the autonomous driving control device according to an aspect of the present invention, if the own lane is the last lane on the right side of the road, checks the width of the temporary lane based on image information of the road, and determines the position of the following line based on the checked width of the temporary lane. including adjusting

The control unit of the autonomous driving control apparatus according to one aspect adjusts the position of the following line when the checked distance increases in correspondence with the passage of time, and returns the position of the following line to a reference position when the checked distance decreases in correspondence with the passage of time. include that

A vehicle according to another aspect includes a speed detection unit for detecting a speed of its own vehicle; an image acquisition unit acquiring an image of the road; a distance detection unit that detects a distance to another vehicle traveling on the road; Recognizes lanes in the image of the road, checks other vehicles driving in the lanes on the left and right of the own lane based on the recognized lanes, checks the speed of other vehicles based on the distance to the identified other vehicles, and and an autonomous driving control device that adjusts a position of a tracking line for autonomous driving based on the speed of another vehicle and the speed of the own vehicle.

A vehicle according to another aspect further includes a steering device that communicates with the autonomous driving control device and controls a driving direction of the own vehicle based on a position of a tracking line.

A vehicle according to another aspect includes an input unit for receiving an input of an autonomous driving mode; The autonomous driving control device further includes a display unit that outputs operation information, and the autonomous driving control device diagnoses a failure of the image acquisition unit and the distance detection unit when an autonomous driving mode is entered, and if a failure of at least one of the image acquisition unit and the distance detection unit is diagnosed, the display unit It includes controlling so that failure information is output to

An apparatus for autonomous driving control of a vehicle according to another aspect may, if the own lane is the last lane on the right side of the road, determine the width of the temporary lane based on image information of the road, and determine the moving distance of the following line based on the checked width of the temporary lane. including adjusting

An autonomous driving control apparatus for a vehicle according to another aspect checks the speed of another vehicle in front of the own vehicle among other vehicles in a temporary lane, and if the speed of the other vehicle in front is faster than the speed of the own vehicle, moves the following line to the right. including adjusting

An autonomous driving control apparatus for a vehicle according to another aspect checks the speed of another vehicle behind the own vehicle among other vehicles in a temporary lane, and if the speed of the other vehicle behind the own vehicle is slower than the speed of the own vehicle, moves the following line to the right. including adjusting

An apparatus for autonomous driving control of a vehicle according to another aspect moves the position of a following line to the right by a first movement distance when the width of a temporary lane is between a first standard width and a second standard width, and the width of the temporary lane is set to a second standard width. If it is equal to or greater than the reference width, the position of the following line is moved to the right by a second movement distance, the second reference width is wider than the first reference width, and the second movement distance is longer than the first movement distance.

An autonomous driving control apparatus for a vehicle according to another aspect checks the speed of another vehicle in front of the vehicle among other vehicles in the left lane and the right lane of the own lane, It includes adjusting the position of the following line in the direction of either side of the lane if the speed of the other vehicle is higher than that of the own vehicle.

An autonomous driving control apparatus for a vehicle according to another aspect checks the speed of another vehicle behind the own vehicle among other vehicles in the left and right lanes of the own lane, and determines the speed of the rear of any one of the left and right lanes It includes adjusting the position of the following line in the direction of either side of the lane if the speed of the other vehicle is lower than that of the own vehicle.

An apparatus for autonomous driving control of a vehicle according to another aspect may check a width of a lane in a direction in which a following line is to be moved, obtain a movement distance of the following line based on the checked width of the lane, and obtain a position of the following line based on the obtained movement distance. including adjusting

A vehicle according to another aspect includes an image acquisition unit that acquires an image of a road; an obstacle that recognizes the location of a lane and an obstacle in the image of the road and travels in other lanes on the left and right of its own lane based on the identified locations of the lane and obstacles; and an autonomous driving control device that checks a distance to the obstacle and adjusts a position of a following line for autonomous driving based on the determined distance to the obstacle.

An apparatus for autonomous driving control of a vehicle according to another aspect may determine widths of another lane on the left and another lane on the right in an image of a road, and based on the width of the other lane in the direction in which the following line is to be moved, the moving distance of the following line. and adjusting the position of the following line based on the obtained moving distance.

According to another aspect, a vehicle control method includes obtaining an image of a road when an autonomous driving mode is entered, detecting a distance to another vehicle traveling on the road, detecting a speed of a vehicle body, and based on information of the obtained image. to recognize the lane and own lane, generate a following line based on the recognized lane and own lane information, and determine the left and right lanes of the own lane based on the recognized lane information and the detected distance to other vehicles The speed of another vehicle driving is checked, the position of the following line is adjusted based on the checked speed of the other vehicle and the speed of the vehicle body, and autonomous driving is controlled while following the adjusted following line.

According to another aspect, a vehicle control method diagnoses a failure of an image acquisition unit and a distance detection unit when an autonomous driving mode is entered, and outputs failure information to a display unit when a failure of at least one of the image acquisition unit and the distance detection unit is diagnosed. more includes doing

Adjusting the position of the follow-up line of the vehicle control method according to another aspect includes, when the own lane is the last lane on the right side of the road, the width of the temporary lane is checked based on image information of the road, and the width of the checked temporary lane is adjusted. obtaining a movement distance of the following line based on the distance, and adjusting a position of the following line based on the obtained movement distance.

Adjusting the position of the following line of the vehicle control method according to another aspect includes checking the speed of the other vehicle in front of the user vehicle and the speed of the other vehicle behind the user vehicle among other vehicles in the temporary lane, respectively, and and moving the following line to the right when the speed of another vehicle is higher than the speed of the body and the speed of another vehicle behind is lower than the speed of the body.

Adjusting the position of the following line of the vehicle control method according to another aspect includes checking the speed of another vehicle in front of the user's vehicle and the speed of the vehicle behind the user's vehicle among other vehicles in the left lane of the user's lane, and and moving the following line to the left when the speed of the other vehicle is higher than the speed of the body and the speed of the other vehicle behind is lower than the speed of the body.

Adjusting the position of the following line of the vehicle control method according to another aspect includes checking the speed of another vehicle in front of the user's vehicle and the speed of the vehicle behind the user's vehicle among other vehicles in the right lane of the user's lane, and and moving the following line to the right when the speed of another vehicle is higher than the speed of the body and the speed of the other vehicle behind is lower than the speed of the body.

According to another aspect, the vehicle control method further includes maintaining the position of the following line when a distance to at least one other vehicle among other vehicles driving in a left lane and a right lane decreases.

In an autonomous driving mode, the present invention adjusts the position of a following line to the first other lane side based on the speed of the vehicle in the first other lane and the width of the first other lane, thereby reducing the distance to other vehicles traveling in the second other lane. It can be widened to prevent a collision with another vehicle in the second lane. Accordingly, the stability of the vehicle can be improved and the driver's tension can be reduced.

In particular, the present invention adjusts the position of the following line to the right based on the speed of other vehicles in the temporary lane and the width of the temporary lane during autonomous driving of a large commercial vehicle, which generally drives on the last lane on the right side of the road. It is possible to prevent large-scale accidents due to contact between a commercial vehicle and another vehicle in the left lane.

As described above, the present invention can improve the quality and marketability of an autonomous driving control device and a vehicle having an autonomous driving function, furthermore, it is possible to increase user satisfaction and secure product competitiveness.

1 is an exemplary external view of a vehicle according to an embodiment.
2 is an exemplary interior view of a vehicle according to an exemplary embodiment.
3 is a control configuration diagram of a vehicle according to an exemplary embodiment.
4 is a control flowchart of a vehicle according to an exemplary embodiment.
5 to 8 are views illustrating position adjustment of a following line of an autonomous driving control device provided in a vehicle according to an exemplary embodiment.
9 is a control configuration diagram of a vehicle according to another embodiment.
10 is an exemplary view of a vehicle according to another embodiment.
11 is a control configuration diagram of a vehicle according to another embodiment.
12 is a control flowchart of a vehicle according to another embodiment.
13 is a view illustrating position adjustment of a following line of an autonomous driving control device provided in a vehicle according to another embodiment.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is an exemplary external view of a vehicle according to an embodiment, and FIG. 2 is an exemplary internal view of a vehicle according to an exemplary embodiment.

A vehicle is a machine that drives by driving wheels for the purpose of transporting people or goods, and moves on the road.

These vehicles can be divided into passenger cars, buses, trucks, special work vehicles, etc. according to their use, and can be divided into compact cars, compact cars, mid-sized cars, semi-medium cars, and large-sized cars according to their size and displacement.

In one embodiment, a car is described as an example.

The vehicle 1 includes a body having interior and exterior parts, and a chassis on which mechanical devices required for driving are installed except for the body.

As shown in FIG. 1, the exterior 110 of the vehicle body includes a front panel 111, a bonnet 112, a roof panel 113, a rear panel 114, a trunk 115, front and rear doors 116, front and rear A window glass 117 is provided on the left and right doors 116 to be openable and closed.

In addition, the exterior of the vehicle body includes a front panel, a bonnet, a roof panel, a rear panel, a trunk, and a pillar 118 provided at the boundary between the window glasses of the front, rear, left and right doors, and a side mirror that provides a driver with a view of the rear of the vehicle 1 ( 119) is further included.

The vehicle 1 further includes an image acquisition unit 120 that acquires an image of the road and distance detectors 130 (131, 132) that detect distances to other vehicles in the front, rear, left, and right directions.

The image detector 120 is a camera and may include a CCD or CMOS image sensor.

The image detector 120 may be provided on the front window glass, but may be provided on the window glass inside the vehicle, may be provided on the room mirror inside the vehicle, or may be provided on the roof panel 113 to be exposed to the outside. there is.

The distance detector 130 may include a radar sensor or a light detection and ranging (Lidar) sensor.

The distance detector 130 may include a first distance detector 131 provided on the front panel 111 of the vehicle and a second distance detector 132 provided on the rear panel 114 of the vehicle.

The first distance detector 131 may also be provided on the roof panel 113 .

One such first distance detector 131 may be provided at the center of the front panel 111 or the roof panel 113 .

Also, the number of first distance detectors 131 may be two, one provided on both left and right sides of the front panel 111 or the roof panel 113, or one provided on the left and right and the center, and a total of three.

The second distance detectors 132 may be provided on both left and right sides of the rear panel 114 .

The second distance detector 132 may include at least one of an ultrasonic sensor, an image sensor, a laser sensor, and a lidar sensor that can replace a human's field of view.

As shown in FIG. 2, the interior 140 of the vehicle body includes a seat 141 on which the occupant sits, a dashboard 142, and a tachometer, speedometer, coolant temperature gauge, fuel gauge, direction change indicator, etc. , high beam indicator, warning lamp, seat belt warning lamp, odometer, odometer, automatic shift selection lever indicator, door open warning lamp, engine oil warning lamp, fuel shortage warning lamp are arranged on the instrument panel (ie cluster 143) and vehicle direction It includes a steering wheel 144 for manipulation, a center fascia 145 in which an air conditioner outlet and a control panel are disposed, and an audio device is disposed.

The steering wheel 144 is a device for adjusting the driving direction of the vehicle 1, and includes a rim gripped by a driver and a spoke connected to the steering device of the vehicle 1 and connecting the rim to the hub of a rotating shaft for steering. can include

In addition, a manipulation device (not shown) for controlling various devices in the vehicle 1, such as an audio device, may be provided on the spoke.

A head unit 146 for controlling an audio device, an air conditioner, and a heater, and a multi-terminal 147 may be installed in the center fascia 145.

Here, the multi-terminal 147 may be disposed adjacent to the head unit 146, include a USB port and an AUX terminal, and may further include an SD slot.

The vehicle 1 may further include an input unit 148 for receiving operation commands of various functions.

The input unit 148 may be provided on the head unit 146 and the center fascia 145, and includes at least one physical button such as an on/off button for operating various functions and a button for changing the setting values of various functions. do.

The input unit 148 may include a touch panel integrally provided with the display unit of the vehicle terminal 150 . The input unit 148 receives positional information of buttons displayed on the display unit of the terminal 150 .

The input unit 148 may further include a jog dial (not shown) or a touch pad for inputting a cursor movement command and a selection command displayed on the display unit of the vehicle terminal 150 .

Here, the jog dial or touch pad may be provided in a center fascia or the like.

The vehicle 1 may further include a display unit 149 provided in the head unit and displaying information about functions being performed in the vehicle and information input by a user.

In addition, the vehicle 1 may display information on the function being performed and information input by the user on the display of the terminal 150 .

Such a terminal 150 may be installed on a dashboard in a stationary manner.

The terminal 150 performs an audio function, a video function, a navigation function, a DMB function, and a radio function, and in an autonomous driving mode, it is possible to display images in the front, rear, left, and right directions, and it is also possible to display map information and road guidance information. .

The vehicle further includes a driving device for applying driving force and braking force to front and rear wheels, such as a power generating device, a power transmission device, a traveling device, a steering device, a braking device, a suspension device, a transmission device, and a fuel device.

In addition, various safety devices may be provided in the vehicle for the safety of the driver and passengers.

There are several types of vehicle stability devices, such as an airbag control device for the safety of passengers such as the driver in case of a vehicle collision, and an electronic stability control (ESC) device that controls the vehicle posture during vehicle acceleration or cornering. There are safeguards in

Such a vehicle 1 includes an electronic control unit (ECU) that controls driving of a driving device, various safety devices, and various detection devices.

In addition, the vehicle 1 may further include electronic devices such as a hands-free device, a GPS receiver, an audio device, a Bluetooth device, and a high-pass device installed for driver's convenience.

The vehicle 1 may further include a starting button for inputting an operation command to a starting motor (not shown).

When the start button is turned on, the vehicle 1 operates a starter motor (not shown) and drives an engine (not shown) as a power generating device through the operation of the starter motor.

The vehicle 1 further includes a battery (not shown) that is electrically connected to a terminal, an audio device, an interior lamp, a starting motor, and other electronic devices to supply driving power.

The battery is charged using its own generator or engine power while driving.

3 is a control configuration diagram of a vehicle according to an embodiment, and vehicle 1 includes an image acquisition unit 120, a distance detection unit 130, an input unit 148, a display unit 149, a speed detection unit 160, and autonomous driving. It includes a control device 170, an electronic control unit 180 and a driving device 185.

The image acquisition unit 120 acquires an image of the road and transmits information of the obtained image to the autonomous driving control device 170 .

The distance detector 130 detects other vehicles traveling on the left and right sides of the front and rear of the vehicle, and transmits the detected detection information to the autonomous driving control device 170 .

This distance detector 130 includes a lidar sensor.

LiDAR (Light Detection And Ranging) sensor is a non-contact distance detection sensor using the principle of laser radar.

The LiDAR sensor may include a transmitter that transmits a laser beam and a receiver that receives the laser beam that is reflected and returned to the surface of an object existing within the range of the sensor.

Here, the laser may be a single laser pulse.

The distance detector 130 may include an ultrasonic sensor or a radar sensor.

The ultrasonic sensor generates ultrasonic waves for a certain period of time and then detects a signal that is reflected from an object and returns.

The ultrasonic sensor may be used to determine the presence or absence of an obstacle such as a pedestrian within a short range.

A radar sensor is a device that detects the position of an object by using a reflected wave generated by radiation of radio waves when transmission and reception are performed in the same place.

Such a radar sensor uses the Doppler effect, changes the frequency of a transmitted wave over time, or outputs a pulse wave as a transmitted wave in order to prevent the transmission and received radio waves from overlapping and making it difficult to distinguish them.

For reference, since the lidar sensor has higher detection accuracy in a lateral direction than a radio detecting and ranging (RaDAR) sensor, the accuracy of the process of determining whether a passage exists in front can be increased.

The input unit 148 receives an input of either a manual driving mode in which the driver directly drives the vehicle or an autonomous driving mode in which the vehicle is automatically driven, and transmits the input signal to the autonomous driving control device 170 .

The input unit 148 can receive destination information in the autonomous driving mode, select highway driving or national road driving, and can also receive driving speed input.

The display unit 149 displays the driving mode of the vehicle and displays failure information and the like.

In addition, the vehicle can input destination information through the vehicle terminal 150, and it is also possible to display an image of a road, road guidance information, or map information through the vehicle terminal.

The speed detector 160 detects the speed of the own vehicle and transmits the detected speed information to the autonomous driving control device 170 .

Here, the speed of the host vehicle may be the speed of the vehicle body.

The speed detector 160 may be a wheel speed sensor provided on front, rear, left and right wheels or an acceleration sensor for detecting vehicle acceleration.

The vehicle may further include an angular velocity detector for detecting a steering angle of the vehicle.

Although this embodiment has been described as an example in which the image acquisition unit 120, the distance detection unit 130, the input unit 148, the display unit 149, and the speed detection unit 160 are provided in the vehicle, the image acquisition unit 120, At least one of the distance detection unit 130 , the input unit 148 , the display unit 149 , and the speed detection unit 160 may be provided in the autonomous driving control device 170 .

In addition, the image acquisition unit 120, the distance detection unit 130, the input unit 148, the display unit 149, and the speed detection unit 160 may transmit and receive information with the autonomous driving control device 170 through communication.

The autonomous driving control device 170 controls driving of the vehicle based on road and obstacle information (ie, other vehicles) in the autonomous driving mode.

The autonomous driving control device 170 includes an image acquisition unit 120, a distance detection unit 130, an input unit 148, a speed detection unit 160, a communication unit 171 that communicates with the display unit 149, and autonomous driving. It includes a control unit 172 that controls and a storage unit 173 that stores reference information for autonomous driving.

When the autonomous driving mode is entered, the control unit 172 diagnoses failures of the image acquisition unit 120, the distance detection unit 130, and the speed detection unit 160, and the image acquisition unit 120, the distance detection unit 130, and the speed detection unit. If at least one failure of step 160 is diagnosed, the output of failure information and information about impossibility of performing the autonomous driving mode is controlled.

The control unit 172 determines that the image acquisition unit 120, the distance detection unit 130, and the speed detection unit 160 are normal when diagnosing a failure, and the image acquisition unit 120, the distance detection unit 130, the input unit 148, and the speed Based on the information transmitted from the detection unit 160, the position of the following line is adjusted, and autonomous driving of the vehicle is controlled based on the adjusted position of the following line.

The tracking line is a line that causes the center of the body of the vehicle to follow a certain location on the road.

Here, a location on the road is a reference location of a following line, and may be a center location of two adjacent lanes.

The controller 172 may control the vehicle to drive at a preset driving speed during autonomous driving or to drive at a driving speed input by a user.

The controller 172 creates a route from the current location to the destination input by the user, and controls driving with the created route.

This controller 172 may be a CPU or MCU, and may be a processor.

More specifically, when image information of the road is received, the controller 172 recognizes a lane of the road by performing image processing, and recognizes a lane on which the own vehicle is traveling based on the location information of the recognized lane.

When the detection information is received, the control unit 172 checks the distance to other vehicles traveling in the left and right directions of the own lane based on the received detection information, and the other vehicle corresponding to the checked distance to the other vehicle. Check the speed of the vehicle, determine whether it is necessary to adjust the position of the following line based on the speed of the other vehicle and the speed of the own vehicle, and adjust the position of the following line if it is determined that the position adjustment of the following line is necessary. Maintain the position of the follow line.

Here, checking the speed of another vehicle based on the distance to the other vehicle means checking the speed of the other vehicle corresponding to a change in the distance to the other vehicle over time.

The control unit 172 checks the speed of other vehicles in front and rear of the left and right lanes of the own lane, respectively, the speed of the other vehicle in front of the left lane is faster than the speed of the own vehicle, and the speed of the other vehicle behind the left lane. If it is slower than the speed of the vehicle, it is determined that the position adjustment of the following line is necessary and the position of the following line is adjusted in the left direction.

At this time, the controller may move the following line by a preset movement distance or a movement distance based on the width of the left lane.

The control unit 172 checks the speeds of other vehicles in front and rear of the left and right lanes of the own lane, respectively, the speed of the other vehicle in front of the right lane is faster than the speed of the own vehicle, and the speed of the other vehicle behind the right lane. If it is slower than the speed of the vehicle, it is determined that the position adjustment of the following line is necessary and the position of the following line is adjusted to the right.

In this case, the controller 172 may move the following line by a preset movement distance or a movement distance based on the width of the right lane.

The control unit 172 may obtain the width of the left lane or the right lane based on image information of the road.

In addition, the control unit 172 checks the change in distance from other vehicles in the front and rear of the left and right lanes of the own lane, and if the change in distance to at least three other vehicles out of a total of four other vehicles in the front and rear of the left and right lanes decreases, the control unit 172 follows the vehicle. It is also possible to determine that the position adjustment of the line is unnecessary and maintain the position of the following line as a reference position.

The control unit 172 checks the change in the distance from other vehicles in the left and right lanes of the own lane, and determines that the position adjustment of the following line is unnecessary when both the changes in the distance between the other vehicle in the left lane and the other vehicle in the right lane decrease, and follows. It is also possible to keep the position of the line as a reference position.

The storage unit 173 may also store a moving distance corresponding to the width of the road.

In addition, the storage unit 173 may store a certain moving distance of the tracking line.

The storage unit 173 may include location information of the first and second distance detectors provided in the vehicle.

The electronic control unit (ECU) 180 controls the operation of the driving device 185 based on driving information transmitted from the autonomous driving control unit 170 .

The driving device 185 is a device for driving the vehicle based on a control signal of the electronic control unit 180, and may include a traveling device, a braking device, and a steering device.

Here, the steering device adjusts the position of the following line during autonomous driving by adjusting the driving direction based on the position of the following line for autonomous driving.

4 is a control flowchart of a vehicle according to an exemplary embodiment, and will be described with reference to FIGS. 5 to 8 .

When the autonomous driving mode is input (201) through the input unit 148, the autonomous driving control device of the vehicle diagnoses (202) failures of the image acquisition unit 120, the distance detection unit 130, and the speed detection unit 160, and If at least one of the acquisition unit 120, the distance detection unit 130, and the speed detection unit 160 has a failure 203, failure information and autonomous driving mode unavailability information are output through a display unit or a sound output unit (not shown) ( 204).

The autonomous driving control apparatus of the vehicle operates the image acquisition unit 120, the distance detection unit 130, and the speed detection unit 160 when it is determined that the image acquisition unit 120, the distance detection unit 130, and the speed detection unit 160 are normal. instruct

The image acquisition unit 120 acquires an image of the road (205) and transmits information of the acquired image to the autonomous driving control device.

At this time, the image acquisition unit 120 may obtain an image of the road in front of the user's vehicle.

The autonomous driving control device of the vehicle recognizes the lane of the road based on image information, recognizes the own lane based on the information of the recognized lane (206), and checks the width of the recognized own lane based on the image information, , a following line (L) is generated based on the width (d) of the identified vehicle lane (207).

As shown in FIG. 5 , the autonomous driving control apparatus creates a following line L so that the center of the vehicle follows the center point of the width of the own lane. In this case, the central point of the width of the own lane may be a reference position of the following line.

For autonomous driving, a following line is generated so that the center of the vehicle body follows the center of the own lane, and the driving device is controlled so that the vehicle autonomously travels (208) while following the generated following line.

At this time, the autonomous driving control apparatus determines whether to adjust the position of the following line based on the speed of other nearby vehicles and the speed of the own vehicle during autonomous driving, and adjusts the position of the following line based on the determination result.

Here, adjusting the position of the following line includes adjusting the direction and distance of the following line.

More specifically, the vehicle detects other vehicles in front and rear of the vehicle using the distance detector and transmits the detected detection information to the autonomous driving control device.

Here, the detection information may include information corresponding to a distance to another vehicle.

That is, the autonomous driving control device determines whether there is another vehicle nearby based on the detection information of the distance detector during autonomous driving, and if there is another vehicle, obtains the location of the other vehicle based on the detection information (209).

Here, the location of the other vehicle may include direction and distance information of the other vehicle.

That is, the autonomous driving control device recognizes other vehicles driving in the left and right lanes of its own lane based on the position of the other vehicle, and the left and right lanes corresponding to the distances of the other vehicles driving in the left and right lanes. Check the speed of each other vehicle.

At this time, the vehicle detects (210) the speed of the vehicle body (ie, the speed of the own vehicle) and transmits it to the autonomous driving control device.

The autonomous driving control device compares the speed of each other vehicle and the speed of the host vehicle to determine whether the position adjustment of the following line is necessary (211), and if it is determined that the position adjustment of the following line is unnecessary, the position of the following line is maintained (212) and if it is determined that the position of the following line needs to be adjusted, the position of the following line is adjusted (213) and autonomous driving of the vehicle is controlled based on the adjusted position of the following line.

When the autonomous driving control device follows the adjusted estimated line, it is determined whether the following line should be returned based on the speed of the other vehicle and the speed of the host vehicle during autonomous driving, and returns the position of the following line to the reference position when it is determined that the following line should be returned.

When adjusting the position of the tracking line, the autonomous driving control device transmits a control signal of the steering device to the electronic control unit.

At this time, the steering device changes the driving direction of the vehicle based on the received control signal.

In addition, the electronic control unit may drive the steering device by the steering angle corresponding to the position information of the tracking line or drive the steering device until reaching the position of the tracking line to be adjusted based on the detection information of the steering angle detection unit.

Further, the electronic control unit returns the steering device to the original position when the position adjustment of the tracking line for autonomous driving is completed.

In addition, the autonomous driving control device generates a route from a current location obtained through a global positioning system (GPS) receiver to a destination input by a user during autonomous driving, and controls an electronic control unit of the driving device to drive along the created route.

In addition, the autonomous driving control device may control the electronic control unit of the driving device to travel at a preset driving speed during autonomous driving or control the electronic control unit to travel at a driving speed input by a user.

Referring to FIGS. 6 to 8 , a configuration for determining whether to adjust the position of the following line by comparing the checked speed of each other vehicle with the speed of the host vehicle will be described in detail.

As shown in FIG. 6 , when the autonomous driving control apparatus recognizes the lane of the road and the own lane and determines that there are other vehicles 2a, 2b, 2c, and 2d driving in the left and right lanes of the own lane, respectively. The distances to the plurality of other vehicles are respectively checked, the speeds of the plurality of other vehicles are respectively checked based on the distances to the plurality of other vehicles, and the speeds of the plurality of other vehicles and the speed of the host vehicle are respectively compared.

The autonomous driving control apparatus is configured to determine if the speed of another vehicle 2a in front of the left lane is higher than the speed of the own vehicle 1 and the speed of the other vehicle 2b in the rear of the left lane is lower than the speed of the own vehicle 1. Adjust the position of the tracking line by a certain distance to the left from the reference position (L->L').

Here, the speed of the other vehicle 2a in front of the left lane is faster than the speed of the own vehicle 1, and the speed of the other vehicle 2b behind the left lane is slower than the speed of the own vehicle 1. This means that the possibility of collision between the two other vehicles 2a and 2b driving in the left lane of the lane and the host vehicle is low.

This means that even if the own vehicle autonomously drives along the following line L′ adjusted by a predetermined moving distance in the left direction of the own lane, the possibility of collision with another vehicle driving in the left lane is low.

As a result, even if other vehicles 2c and 2d traveling in the right lane approach the host vehicle 1, the possibility of collision between the other vehicles 2c and 2d and the host vehicle 1 can be reduced.

In addition, the moving distance of the following line may be determined based on the width of the left lane.

For example, the moving distance may be adjusted longer when the width of the left lane is wider than when it is narrow.

After the position of the following line is adjusted, the autonomous driving control device automatically determines that the speed of another vehicle 2a in front of the left lane becomes slower than the speed of the own vehicle 1, or the speed of another vehicle 2b at the rear of the left lane automatically When the speed of the vehicle 1 becomes faster, the position of the tracking line is returned to the reference position (L'->L).

As shown in FIG. 7 , the autonomous driving control apparatus determines that the speed of another vehicle 2c in front of the right lane is higher than the speed of the own vehicle 1, and the speed of another vehicle 2d at the rear of the right lane is autonomous. If the speed of the vehicle 1 is slower, the position of the tracking line is adjusted (L->L') by a predetermined moving distance from the reference position to the right.

Here, the speed of the other vehicle 2c in front of the right lane is faster than the speed of the own vehicle 1, and the speed of the other vehicle 2d behind the right lane is slower than the speed of the own vehicle 1. This means that the possibility of collision between the two other vehicles 2c and 2d driving in the right lane of the lane and the own vehicle is low.

This means that the possibility of collision with other vehicles 2c and 2d driving in the right lane is low even if the own vehicle autonomously drives along the following line L′ adjusted by a certain moving distance to the right of the own lane.

As a result, even if other vehicles 2a and 2b traveling in the left lane approach the host vehicle 1, the possibility of collision between the other vehicles 2a and 2b and the host vehicle 1 can be reduced.

In addition, the moving distance of the following line may be determined based on the width of the right lane.

For example, the moving distance may be adjusted to be longer when the width of the right lane is wider than when it is narrow.

After the position of the following line is adjusted, the autonomous driving control device automatically determines that the speed of another vehicle 2c in front of the right lane becomes slower than the speed of the own vehicle 1 or the speed of another vehicle 2d at the rear of the right lane automatically When the speed of the vehicle 1 becomes faster, the position of the tracking line is returned to the reference position (L'->L).

The self-driving control device is such that the speed of another vehicle 2a in front of the left lane is higher than the speed of the own vehicle 1, and the speed of the other vehicle 2b at the rear of the left lane is slower than the speed of the own vehicle 1 If the speed of the other vehicle 2c in front of the right lane is higher than the speed of the own vehicle 1 and the speed of the other vehicle 2d behind the right lane is slower than the speed of the own vehicle 1, the position of the following line is determined. It is also possible to adjust by a predetermined moving distance in a preset direction from the reference position.

Here, the preset direction may be a direction selected by the user.

That is, the user may select whether to secure a space in the right lane based on the own lane or a space in the left lane based on the own lane.

The autonomous driving control apparatus maintains the position of the following line as a reference position when the speed of the other vehicles 2a and 2c in front of the left and right lanes is lower than the speed of the host vehicle 1.

When the speeds of the other vehicles 2b and 2d at the rear of the left and right lanes are faster than the speed of the host vehicle 1, the autonomous driving control device maintains the position of the following line as a reference position.

Thereby, the possibility of collision between a vehicle running in the left and right lanes and the host vehicle is reduced.

The autonomous driving control system determines the position of the following line when the speed of another vehicle in front of either side of the left or right lane is slower than the speed of the own vehicle, and the speed of the other vehicle behind the other side of the lane is faster than the speed of the own vehicle. to the reference position.

For example, if the speed of another vehicle 2a in the front left is slower than the speed of the own vehicle and the speed of the other vehicle 2d in the right rear is faster than the speed of the own vehicle, the autonomous driving device sets the position of the following line as the reference position. keep

This means that the possibility of collision increases as the distance between the other vehicle and the own vehicle in the left and right lanes becomes closer.

The autonomous driving control apparatus determines that the speeds of other vehicles 2a and 2c in front of the left lane and the right lane are all slower than the speed of the own vehicle 1, and any one of the other vehicles behind the left lane and the right lane If the speed of the other vehicle is faster than the speed of the own vehicle, the position of the following line is maintained as the standard position.

As shown in FIG. 8, the autonomous driving control device checks distances (d1, d2, d3, d4) to other vehicles 2a, 2b, 2c, and 2d in front and rear of the left and right lanes of the own lane, Based on the change in the confirmed distance over time, the distance change amount of a total of four other vehicles in the front and rear of the left and right lanes is checked, and the position of the following line is maintained at the reference position when the distance change amount with at least three other vehicles decreases. possible.

The autonomous driving control system follows when both the change in the distance between the other vehicles 2a and 2b in the front and rear of the left lane and the host vehicle and the change in the distance between the other vehicles 2c and 2d in the front and rear in the right lane decrease. It is also possible to keep the position of the line as a reference position.

9 is a control configuration diagram of a vehicle according to another embodiment.

A vehicle according to another embodiment includes an image acquisition unit 120, an input unit 148, a display unit 149, an autonomous driving control unit 170a, an electronic control unit 180, and a driving unit 185.

The input unit 148, the display unit 149, the electronic control unit 180, and the driving device 185 of another embodiment are the same as those of one embodiment, and thus descriptions thereof are omitted.

Unlike the first embodiment, the autonomous driving control device 170a provided in a vehicle according to another embodiment recognizes a lane, own lane, and other vehicles based on image information acquired by the image acquisition unit.

That is, the vehicle may include a plurality of image acquisition units 120 .

The image acquisition unit 120 may include a front camera that acquires an image of the front of the vehicle, a left and right camera that acquires images of left and right sides of the vehicle, and a rear camera that acquires an image of the rear of the vehicle.

The plurality of image acquisition units acquire images of roads in the front, rear, left, and right directions of the user vehicle.

The autonomous driving control device 170a controls the driving of the vehicle based on road and obstacle information (ie, other vehicles) in the autonomous driving mode.

The autonomous driving control device 170a includes an image acquisition unit 120, an input unit 148, a communication unit 174 that communicates with the display unit 149, a control unit 175 that controls autonomous driving, and a standard for autonomous driving. A storage unit 176 for storing information is included.

The control unit 175 diagnoses a failure of the image acquisition unit 120 when the autonomous driving mode is input, and controls output of failure information and information about impossibility of performing the autonomous driving mode when the failure of the image acquisition unit 120 is diagnosed.

When it is determined that the image acquisition unit 120 is normal, the control unit 175 adjusts the position of the following line based on the image information transmitted from the image acquisition unit 120 and controls autonomous driving of the vehicle based on the adjusted position of the following line. do.

The tracking line is a line that causes the center of the body of the vehicle to follow a certain location on the road.

Here, a location on the road is a reference location of a following line, and may be a center location of two adjacent lanes.

When the image information is received, the controller 175 performs image processing to recognize a lane on the road, recognizes the lane on which the user vehicle is traveling based on the location information of the recognized lane, and detects other vehicles on the front, rear, left, and right sides of the user vehicle. Recognize.

The control unit 175 checks the distance of other vehicles traveling in the left and right lanes of the own lane based on the image information, and determines whether or not the position of the following line needs to be adjusted based on the checked distance to other vehicles. is determined, and if it is determined that the position adjustment of the following line is necessary, the position of the following line is adjusted, and if it is determined that it is unnecessary, the position of the following line is maintained.

The control unit 175 adjusts the position of the following line in the left direction when the amount of change in the distance of other vehicles in the front and rear of the left lane is maintained or increased.

At this time, the controller 175 may move the following line by a preset movement distance or a movement distance based on the width of the left lane.

The control unit 175 adjusts the position of the following line in the right direction when the amount of change in the distance of other vehicles in the front and rear of the right lane is maintained or increased.

At this time, the controller 175 may move the following line by a preset movement distance or a movement distance based on the width of the right lane.

The control unit 175 may obtain the width of the left lane or the right lane based on image information of the road.

The control unit 175 may check the amount of change in the distance of other vehicles in front and rear of the left and right lanes of the own lane, and maintain the position of the following line at the reference position when the amount of change in distance to at least three other vehicles decreases.

The control unit 175 can also maintain the position of the following line at the reference position when both the distance change between the host vehicle and other vehicles in the front and rear of the left lane and the distance change between the host vehicle and other vehicles in the front and rear of the right lane decrease. do.

The storage unit 176 may also store a moving distance corresponding to the width of the road.

In addition, the storage unit 176 may store a certain moving distance of the tracking line.

10 is an exemplary view of a vehicle according to another embodiment.

A vehicle according to another embodiment is a machine that drives by driving wheels for the purpose of transporting cargo, and a large truck that mainly travels on the last lane on the right side of the road will be described as an example.

The vehicle 3 includes a body having an interior and exterior 310, a chassis on which mechanical devices required for driving are installed, and a loading box 320 for loading cargo.

As shown in FIG. 10, the exterior of the vehicle body further includes a hood 311, left and right front doors 312, window glass 313, and a west coast mirror 314 providing the driver with a view of the rear of the vehicle 3. include

The vehicle 3 further includes an image acquisition unit 120 that acquires an image of the road and distance detectors 130 (131, 132) that detect distances to other vehicles in the front, rear, left, and right directions.

The image detector 120 is a camera and may include a CCD or CMOS image sensor.

The image detector 120 may be provided on the front window glass, but may be provided on the window glass inside the vehicle, may be provided on the room mirror inside the vehicle, or may be provided on the exterior roof panel to be exposed to the outside. .

The distance detector 130 may include a radar sensor or a light detection and ranging (Lidar) sensor.

The distance detector 130 may include a first distance detector 131 provided on the hood of the vehicle and a second distance detector 132 provided on the rear of the loading box.

The first distance detector 131 may also be provided on the roof panel.

One such first distance detection unit 131 may be provided at the center of a hood or roof panel.

In addition, the number of first distance detectors 131 may be a total of two provided on both left and right sides of the hood or roof panel, or a total of three first distance detectors 131 provided on the left and right sides and the center of the hood or roof panel.

The second distance detection units 132 may be provided one by one on both left and right sides of the rear of the loading box.

The second distance detector 132 may include at least one of an ultrasonic sensor, an image sensor, a laser sensor, and a lidar sensor that can replace a human's field of view.

11 is a control configuration diagram of a vehicle according to another embodiment.

The vehicle 3 according to another embodiment includes an image acquisition unit 120, a distance detection unit 130, an input unit 148, a display unit 149, a speed detection unit 160, an autonomous driving control device 170b, and an electronic control unit. unit 180 and drive device 185.

The image acquisition unit 120, the distance detection unit 130, the input unit 148, the display unit 149, the speed detection unit 160, the electronic control unit 180, and the driving device 185 according to another embodiment may include an image according to an embodiment. Acquisition unit 120, distance detection unit 130, input unit 148, display unit 149, speed detection unit 160, electronic control unit 180, and drive unit 185 are the same, so descriptions are omitted.

The autonomous driving control apparatus 170b according to another embodiment performs a fault diagnosis and adjusts the position of the following line based on the speed of another vehicle in another lane when driving in a lane other than the last lane on the right among the lanes of the road. . Since this is the same as an embodiment, description thereof is omitted.

The autonomous driving control device 170b is a device for controlling autonomous driving of a large vehicle, and adjusts the position of the following line based on the speed of other vehicles traveling on the temporary road and the width of the temporary road when driving to the last lane on the right side of the road. The driving of the vehicle is controlled based on the adjusted following line.

Here, the temporary lane includes a shoulder, a temporary road, and an emergency road.

The autonomous driving control device 170b includes a communication unit 177 that communicates with the image acquisition unit 120, the distance detection unit 130, the input unit 148, the speed detection unit 160, and the display unit 149, and autonomous driving. It includes a control unit 178 for controlling and a storage unit 179 for storing reference information for autonomous driving.

When the autonomous driving mode is entered, the control unit 178 of the autonomous driving control device 170b recognizes the lane and the own lane based on the information of the image transmitted from the image acquisition unit, and determines whether the recognized own lane is the last lane on the right side of the road. and if it is determined that the own lane is the last lane on the right side of the road, it is determined whether there is another vehicle traveling in the temporary lane based on the detection information of the distance detector.

Here, the detection information includes other vehicle presence information and other vehicle distance information.

When it is determined that another vehicle exists in the temporary lane, the control unit 178 checks the distance of the other vehicle, checks the speed of the other vehicle based on the confirmed distance of the other vehicle, and determines the difference between the checked speed of the other vehicle and the host vehicle. By comparing the speed, it is determined whether it is necessary to adjust the position of the tracking line.

Here, checking the speed of another vehicle based on the distance to the other vehicle means checking the speed of the other vehicle corresponding to a change in the distance to the other vehicle over time.

If the width of the temporary lane is between the first standard width and the second standard width, the control unit 178 adjusts the position of the following line to the right by the first moving distance, and if the width of the temporary lane is greater than or equal to the second standard width, the position of the following line is adjusted. is adjusted by the second movement distance to the right.

The control unit 178 maintains the position of the following line as the reference position when the width of the checked temporary road is less than the first reference width.

Here, the second standard width is wider than the first standard width, and the second movement distance is longer than the first movement distance.

The storage unit 179 may store information on the first standard width and the second standard width of the temporary lane, and store first and second moving distances corresponding to the width of the temporary lane.

In addition, the storage unit 179 may store a certain moving distance of the tracking line.

The storage unit 179 may include location information of second distance detectors provided on the left and right sides of the rear of the vehicle.

12 is a control flowchart of a vehicle according to another exemplary embodiment, and will be described with reference to FIG. 13 .

When the autonomous driving mode is input through the input unit 148, the autonomous driving control device of the vehicle diagnoses failures of the image acquisition unit 120, the distance detection unit 130, and the speed detection unit 160, and the image acquisition unit 120, If at least one of the distance detection unit 130 and the speed detection unit 160 is out of order, failure information and autonomous driving mode unavailability information are output through a display unit or a sound output unit (not shown).

The autonomous driving control apparatus of the vehicle operates the image acquisition unit 120, the distance detection unit 130, and the speed detection unit 160 when it is determined that the image acquisition unit 120, the distance detection unit 130, and the speed detection unit 160 are normal. instruct

The image acquisition unit 120 acquires an image of the road (221) and transmits information of the obtained image to the autonomous driving control device.

At this time, the image acquisition unit 120 may obtain an image of the road in front of the user's vehicle.

The vehicle's autonomous driving control device 170b recognizes a lane on the road based on image information, recognizes a own lane based on the recognized lane information (222), and recognizes the width of the own lane based on the image information. is checked, and a following line is generated (223) based on the checked width of the own lane.

The autonomous driving control device 170b generates a tracking line that allows the center of the vehicle body to follow the center of the own lane for autonomous driving, and controls the driving device to allow the vehicle to autonomously drive 224 while following the generated tracking line. do.

The autonomous driving control apparatus 170b determines whether the own lane is the last lane on the right side of the road (225), and if it is determined that the own lane is the last lane on the right side of the road, the other vehicle traveling in the temporary lane based on the detection information of the distance detection unit check if it exists

Here, the detection information includes other vehicle presence information and other vehicle distance information.

When it is determined that another vehicle exists in the temporary lane, the autonomous driving control apparatus 170b checks the distance of the other vehicle (226), detects the speed of the own vehicle (227), The speed of another vehicle is checked based on the change in the distance of the vehicle, and whether the position of the following line needs to be adjusted is determined by comparing the checked speed of the other vehicle with the speed of the host vehicle (228).

If it is determined that the position adjustment of the following line is unnecessary (229), the autonomous driving control device 170b maintains the position of the following line (230), and if it is determined that the position adjustment of the following line is necessary, it adjusts the position of the following line (231), Based on the position of the following line, autonomous driving of the vehicle is controlled.

Here, adjusting the position of the following line includes adjusting the direction and distance of the following line.

In addition, when the autonomous driving control device 170b of the vehicle determines that the own lane is not the last lane on the right, it adjusts the position of the following line based on the speed of another vehicle in the own lane (232). Since this is the same as an embodiment, description thereof is omitted.

Referring to FIG. 13, a configuration for determining whether the position of the following line needs to be adjusted and adjusting the position of the estimation line when the position of the following line needs to be adjusted will be described in more detail.

The autonomous driving control device 170b identifies other vehicles 4a and 4b located in front and rear of the own vehicle 3 among other vehicles in the temporary lane, and determines the speed of the other vehicles 4a and 4b in front and rear. are checked, respectively, and the speed of a plurality of other vehicles and the speed of the own vehicle are respectively compared.

The autonomous driving control device 170b determines that the speed of another vehicle 4a in front of the temporary lane is higher than the speed of the host vehicle 3, and the speed of the other vehicle 4b at the rear of the right lane is higher than that of the host vehicle 3. If it is slower than the speed, adjust the position of the tracking line from the standard position to the right (L->L').

The autonomous driving control device 170b checks the width (w) of the temporary road based on the image information, and if the checked width is between the first standard width and the second standard width, the position of the following line is adjusted by the first moving distance. and, if the width of the temporary lane is greater than or equal to the second standard width, the position of the following line is adjusted to the right by the second movement distance.

If the width of the checked temporary road is less than the first reference width, the autonomous driving control apparatus 170b maintains the position of the following line as the reference position.

That is, the autonomous driving control device 170b maintains the position of the following line as the reference position when the width of the identified temporary road is less than the first standard width regardless of the speed of another vehicle in the temporary lane.

Here, the second standard width is wider than the first standard width, and the second movement distance is longer than the first movement distance.

For example, the first standard width may be 0.9 m, the second standard width may be 2.5 m, the first movement distance may be 0.05 times the width of the temporary lane, and the second movement distance may be 0.1 times the width of the temporary lane.

Here, the speed of another vehicle 4a in front of the temporary lane is higher than the speed of the host vehicle 3, and the speed of the other vehicle 4b at the rear of the right lane is slower than the speed of the host vehicle 3 means that the provisional This means that the possibility of collision between the two other vehicles 4a and 4b traveling on the lane and the host vehicle 3 is low.

This means that the possibility of collision with other vehicles 4a and 4b driving in the temporary lane is low even if the own vehicle autonomously drives along the following line L′ adjusted by the moving distance to the right of the own lane.

As a result, by securing the width of the left lane of the own lane, even if another vehicle 4c traveling in the left lane approaches the own vehicle 3, the possibility of collision between the other vehicle 4c and the own vehicle 3 can be reduced. there is.

After the position of the following line is adjusted, the autonomous driving control device 170b determines that the speed of another vehicle 4a in front of the temporary lane becomes slower than the speed of the host vehicle 3, or the speed of another vehicle 4b at the rear of the temporary lane When the speed is faster than the speed of the host vehicle 3, the position of the tracking line is returned to the reference position (L'->L).

In addition, the autonomous driving control device checks the distance to the other vehicles 4a and 4b in front and rear of the temporary lane of the own lane, and adjusts or maintains the position of the following line based on the change of the checked distance over time. possible.

When adjusting the position of the tracking line, the autonomous driving control device transmits a control signal of the steering device to the electronic control unit.

At this time, the steering device changes the driving direction of the vehicle based on the received control signal.

In addition, the electronic control unit may drive the steering device by the steering angle corresponding to the position information of the tracking line or drive the steering device until reaching the position of the tracking line to be adjusted based on the detection information of the steering angle detection unit.

Further, the electronic control unit returns the steering device to the original position when the position adjustment of the tracking line for autonomous driving is completed.

In addition, the autonomous driving control device generates a route from a current location obtained through a global positioning system (GPS) receiver to a destination input by a user during autonomous driving, and controls an electronic control unit of the driving device to drive along the created route.

In addition, the autonomous driving control device may control the electronic control unit of the driving device to travel at a preset driving speed during autonomous driving or control the electronic control unit to travel at a driving speed input by a user.

In this way, when a vehicle autonomously drives in the last lane on the right side of the road, a collision with another vehicle driving on the left side can be prevented by adjusting the position of the following line of the own vehicle to the right side based on the speed of another vehicle in the temporary lane.

At this time, the driving stability of the own vehicle can be improved, and at the same time, the driving stability of the vehicle running in the left lane can be improved.

1: own vehicle 2a, 2b, 2c, 2d: other vehicle
3: own vehicle 4a, 4b, 4c: other vehicle
120: image acquisition unit 130: distance detection unit
170, 170a, 170b: autonomous driving control device

Claims (24)

a communication unit that communicates with the image acquisition unit and the distance detection unit, and receives road image information obtained from the image acquisition unit and obstacle detection information detected from the distance detection unit;
When the autonomous driving mode is input, a failure of the image acquisition unit and the distance detection unit is diagnosed, and if it is determined that at least one of the image acquisition unit and the distance detection unit has a failure, output of failure information and information about impossibility of performing the autonomous driving mode is controlled. , When the image acquisition unit and the distance detection unit determine that they are normal, the lane is recognized based on the received image information of the road, and the left and right lanes of the own lane are determined based on the recognized lane and the received obstacle detection information. and a control unit that checks a distance to an obstacle traveling and adjusts a position of a following line for autonomous driving based on the checked distance to the obstacle;
When adjusting the position of the following line for autonomous driving, the control unit checks the width of the temporary lane based on image information of the road if the own lane is the last lane on the right side of the road, and determines that the width of the temporary lane is If it is between the first reference width and the second reference width, the position of the following line is moved to the right by a first movement distance, and if the width of the temporary lane is greater than or equal to the second reference width, the position of the following line is moved to the right by a second movement. move the distance,
The second standard width is wider than the first standard width,
The first moving distance is a distance corresponding to a first ratio of the width of the temporary lane,
The second moving distance is a distance corresponding to a second ratio of the width of the temporary lane;
The first ratio is a ratio smaller than the second ratio, autonomous driving control device. delete delete delete The method of claim 1, wherein the control unit,
and adjusting the position of the following line when the checked distance increases in correspondence with the passage of time, and returning the position of the following line to a reference position when the checked distance decreases in correspondence with the passage of time. a speed detection unit for detecting the speed of the own vehicle;
an image acquisition unit acquiring an image of the road;
a distance detector detecting a distance to another vehicle traveling on the road;
an input unit that receives an input of an autonomous driving mode;
a display unit that outputs operation information; and
When the autonomous driving mode is input, a failure of the image acquisition unit and the distance detection unit is diagnosed, and when it is determined that at least one of the image acquisition unit and the distance detection unit has a failure, failure information and information about impossibility of performing the autonomous driving mode are output. The display unit is controlled as much as possible, and when the image acquisition unit and the distance detection unit determine that they are normal, a lane is recognized from the image of the road, and other vehicles traveling in the lanes on the left and right of the own lane are identified based on the recognized lane. and checking the speed of the other vehicle based on the checked distance to the other vehicle, and adjusting the position of the following line for autonomous driving based on the checked speed of the other vehicle and the speed of the own vehicle. including a control device;
When adjusting the position of the following line for autonomous driving, the autonomous driving control apparatus checks the width of the temporary lane based on image information of the road if the own lane is the last lane on the right side of the road, and the temporary lane If the width of is between the first reference width and the second reference width, the position of the following line is moved to the right by a first moving distance, and if the width of the temporary lane is greater than or equal to the second reference width, the position of the following line is moved to the right. Move by the second moving distance,
The second standard width is wider than the first standard width,
The first moving distance is a distance corresponding to a first ratio of the width of the temporary lane,
The second moving distance is a distance corresponding to a second ratio of the width of the temporary lane;
The first ratio is a ratio smaller than the second ratio. According to claim 6,
The vehicle further includes a steering device that communicates with the autonomous driving control device and controls a driving direction of the own vehicle based on the position of the following line. delete delete The method of claim 6, wherein the autonomous driving control device,
Checking the speed of another vehicle in front of the user vehicle among other vehicles in the temporary lane, and adjusting the following line to the right when the speed of the other vehicle in front is faster than the speed of the user vehicle. The method of claim 6, wherein the autonomous driving control device,
Checking the speed of another vehicle behind the user vehicle among other vehicles in the temporary lane, and adjusting the following line to the right when the speed of the other vehicle behind the user vehicle is slower than the speed of the user vehicle. delete The method of claim 6, wherein the autonomous driving control device,
The speed of another vehicle in front of the other vehicle in the left and right lanes of the own lane is checked, and the speed of the other vehicle in front of either of the left and right lanes is greater than the speed of the own vehicle. and adjusting the position of the following line in the direction of the either side of the lane at the earliest. The method of claim 6, wherein the autonomous driving control device,
Among other vehicles in the left and right lanes of the own lane, the speed of another vehicle behind the own vehicle is checked, and the speed of the other vehicle behind either of the left lane and right lane is higher than the speed of the own vehicle. and adjusting the position of the following line in the direction of the lane on either side if it is slow. The method of claim 13 or 14, wherein the autonomous driving control device,
and checking a width of a lane in a direction in which the following line is to be moved, obtaining a movement distance of the following line based on the checked width of the lane, and adjusting a position of the following line based on the obtained movement distance. . an image acquisition unit acquiring an image of the road;
a distance detector detecting a distance to another vehicle traveling on the road;
When the autonomous driving mode is input, a failure of the image acquisition unit and the distance detection unit is diagnosed, and if it is determined that at least one of the image acquisition unit and the distance detection unit has a failure, output of failure information and information about impossibility of performing the autonomous driving mode is controlled. , When the image acquisition unit and the distance detection unit determine that they are normal, the positions of lanes and obstacles are recognized in the image of the road, and based on the positions of the recognized lanes and obstacles, obstacles and obstacles traveling in other lanes on the left and right of the own lane An autonomous driving control device that checks a distance of and adjusts a position of a following line for autonomous driving based on the determined distance to the obstacle;
When adjusting the position of the following line for autonomous driving, the autonomous driving control apparatus checks the width of the temporary lane based on image information of the road if the own lane is the last lane on the right side of the road, and the temporary lane If the width of is between the first reference width and the second reference width, the position of the following line is moved to the right by a first moving distance, and if the width of the temporary lane is greater than or equal to the second reference width, the position of the following line is moved to the right. Move by the second moving distance,
The second standard width is wider than the first standard width,
The first moving distance is a distance corresponding to a first ratio of the width of the temporary lane,
The second moving distance is a distance corresponding to a second ratio of the width of the temporary lane;
The first ratio is a ratio smaller than the second ratio. The method of claim 16, wherein the autonomous driving control device,
In the image of the road, widths of another lane on the left and another lane on the right are checked, and a movement distance of the following line is obtained based on the width of another lane in the direction in which the following line is to be moved, and based on the obtained movement distance and adjusting the position of the following line by doing so. When the autonomous driving mode is entered, a failure of the image acquisition unit and the distance detection unit is diagnosed,
If it is determined that at least one of the image acquisition unit and the distance detection unit has a failure, control output of failure information and information about impossibility of performing an autonomous driving mode;
When the image acquisition unit and the distance detection unit are determined to be normal, an image of the road is obtained using the image acquisition unit,
Detecting a distance to another vehicle traveling on the road using a distance detector,
Detect the speed of the vehicle body,
Recognizing lanes and own lanes based on the information of the obtained image;
generating a following line based on the information of the recognized lane and own lane;
Based on the information of the recognized lane and the detected distance to another vehicle, the speed of another vehicle traveling in a left lane and a right lane of the own lane is checked,
Adjusting the position of the following line based on the confirmed speed of another vehicle and the speed of the vehicle body;
Controlling autonomous driving while following the adjusted following line;
If the own lane is the last lane on the right side of the road during the control of the autonomous driving, the width of the temporary lane is checked based on image information of the road;
When the width of the temporary lane is between a first reference width and a second reference width, the position of the following line is moved to the right by a first movement distance;
and moving the position of the following line to the right by a second movement distance when the width of the temporary lane is greater than or equal to the second reference width,
The second standard width is wider than the first standard width,
The first moving distance is a distance corresponding to a first ratio of the width of the temporary lane,
The second moving distance is a distance corresponding to a second ratio of the width of the temporary lane;
The first ratio is a ratio smaller than the second ratio. delete delete 19. The method of claim 18, wherein adjusting the position of the following line comprises:
Among other vehicles in the temporary lane, the speed of another vehicle in front of the user vehicle and the speed of another vehicle behind the user vehicle are respectively checked;
and moving the following line to the right when the speed of the other vehicle in front is higher than the speed of the vehicle body and the speed of the other vehicle behind is lower than the speed of the vehicle body. 19. The method of claim 18, wherein adjusting the position of the following line comprises:
Among other vehicles in the left lane of the own lane, the speed of the other vehicle in front of the own vehicle and the speed of the vehicle behind the own vehicle are checked,
and moving the following line to the left when the speed of the other vehicle in front is faster than the speed of the vehicle body and the speed of the other vehicle behind is lower than the speed of the vehicle body. 19. The method of claim 18, wherein adjusting the position of the following line comprises:
Among other vehicles in the right lane of the own lane, the speed of the other vehicle in front of the own vehicle and the speed of the vehicle behind the own vehicle are checked,
and moving the following line to the right when the speed of the other vehicle in front is faster than the speed of the vehicle body and the speed of the other vehicle behind is lower than the speed of the vehicle body. According to claim 18,
and maintaining the position of the following line when a distance to at least one other vehicle among other vehicles driving in the left lane and the right lane decreases.

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