KR102598960B1 - Apparatus and method for controlling drive of vehicle - Google Patents

Abstract

A driving control device for a vehicle according to an embodiment of the present invention includes one or more input devices configured to receive input from the driver of the vehicle and a control circuit electrically connected to the one or more input devices, and the control circuit includes one or more input devices. When a first input for changing the driver's lane is received through the driver, lane change is activated, and when a second input for changing the driver's lane is received through one or more input devices within a first time period after the first input is received, , lateral movement for lane change may be initiated, and if the second input is not received within the first time period after the first input is received, the lane change may be canceled.

Description

Apparatus and method for controlling driving of a vehicle {APPARATUS AND METHOD FOR CONTROLLING DRIVE OF VEHICLE}

The present invention relates to an apparatus and method for providing a lane change function for a vehicle.

With the development of the automobile industry, autonomous driving systems and driving assistance systems that enable partially autonomous driving (hereinafter, for convenience of explanation, both autonomous driving and driving assistance are referred to as autonomous driving) are being developed. Autonomous driving systems can provide various functions such as maintaining set speed, maintaining distance between vehicles, maintaining lane, and changing lanes. The autonomous driving system includes sensors for detecting the external environment of the vehicle, sensors for detecting information about the vehicle, GPS, precision maps, driver status detection system, steering actuator, acceleration and deceleration actuator, communication circuit, and control circuit (e.g. ECU) Autonomous driving can be performed using various devices such as (electronic control unit)). The autonomous driving system may, for example, perform lane changes based on driver input.

When performing a lane change, a control strategy that can ensure the safety of the driver of the vehicle performing the lane change and the drivers of surrounding vehicles may be required. For example, while performing a lane change, a time limit may be set for detailed operations for changing the lane. The safety of the driver of the vehicle and the drivers of surrounding vehicles can be secured by the time limit.

The present invention is intended to provide an apparatus and method for performing a vehicle control strategy that can ensure the safety of the vehicle and surrounding vehicles while performing a lane change.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

A driving control device for a vehicle according to an embodiment of the present invention includes one or more input devices configured to receive input from the driver of the vehicle and a control circuit electrically connected to the one or more input devices, and the control circuit includes one or more input devices. When a first input for changing the driver's lane is received through the driver, lane change is activated, and when a second input for changing the driver's lane is received through one or more input devices within a first time period after the first input is received, , lateral movement for lane change may be initiated, and if the second input is not received within the first time period after the first input is received, the lane change may be canceled.

According to one embodiment, the control circuit may cancel the lane change if the second input is received within a second time period shorter than the first time period after the first input is received.

According to one embodiment, the control circuit may calculate the remaining lateral distance for lane change based on the progress rate of lane change.

According to one embodiment, the control circuit may initialize the progress of the lane change when the first input is received.

According to one embodiment, the control circuit may control the vehicle so that the initialized lane change progress is maintained after the first input is received until the second input is received.

According to one embodiment, the control circuit may calculate the progress rate of lane change based on the elapsed time after the start of lateral movement and the lane change target time.

According to one embodiment, the control circuit may adjust the speed of the lane change based on the elapsed time after activation of the lane change and whether or not a lane in the target lane direction of the lane change is approached.

According to one embodiment, the control circuit may adjust the lane change target time based on the elapsed time after activation of the lane change and whether or not a lane in the target lane direction of the lane change is approached.

According to one embodiment, the control circuit may adjust the speed of lane change based on the estimated lane approach time for the lane in the target lane direction of lane change.

According to one embodiment, the control circuit may adjust the lane change target time based on the estimated lane approach time for the lane in the target lane direction of lane change.

According to one embodiment, the control circuit calculates a lane approach prediction time for a lane based on the elapsed time after activation of the lane change, the lane change target time, the distance between the lane and the vehicle in the target lane direction of the lane change, and the lane width. can do.

According to one embodiment, the control circuit may cancel the lane change if the elapsed time after activation of the lane change is greater than a third time period and before the vehicle approaches the lane in the target lane direction of the lane change.

According to one embodiment, the control circuit may provide a warning to the driver if the elapsed time after activation of the lane change is greater than a third time period and after the vehicle approaches the lane in the target lane direction of the lane change.

A method of controlling driving of a vehicle according to an embodiment of the present invention includes activating a lane change when a first input for changing the lane of the driver of the vehicle is received, and the steps of activating the lane change of the driver within a first time period after the first input is received. When a second input for changing the lane is received, starting a lateral movement for changing the lane, and canceling the lane change if the second input is not received within a first time period after the first input is received. It can be included.

According to one embodiment, the method may further include canceling the lane change if the second input is received within a second time period shorter than the first time period after the first input is received.

According to one embodiment, the method may further include adjusting the speed of the lane change based on the time elapsed after activation of the lane change and whether or not a lane in the target lane direction of the lane change is approached.

According to one embodiment, the method may further include adjusting the lane change target time based on the elapsed time after activation of the lane change and whether or not a lane in the target lane direction of the lane change is approached.

According to one embodiment, the method may further include adjusting the speed of lane change based on the estimated lane approach time to the lane in the target lane direction of lane change.

According to one embodiment, the method may further include adjusting the target lane change time based on the estimated lane approach time for the lane in the target lane direction of lane change.

According to one embodiment, the method may further include canceling the lane change if the elapsed time after activation of the lane change is greater than a third time period and before the vehicle approaches the lane in the target lane direction of the lane change.

A vehicle driving control device according to an embodiment of the present invention can improve driver safety by providing a lane change strategy that considers a specified time limit.

In addition, it is possible to flexibly respond to various situations when changing lanes by appropriately adjusting the speed of lane change according to the time limit or providing a warning to the driver.

In addition, various effects that can be directly or indirectly identified through this document may be provided.

1 is a block diagram showing the configuration of a vehicle driving control device according to an embodiment of the present invention.
Figure 2 is a block diagram showing components included in a vehicle according to an embodiment of the present invention.
3 is a diagram for explaining an exemplary operation of a vehicle driving control device according to an embodiment of the present invention.
FIG. 4 is a diagram for explaining an exemplary operation of a vehicle driving control device according to an embodiment of the present invention.
Figure 5 is a flowchart for explaining a method of controlling driving of a vehicle according to an embodiment of the present invention.
Figure 6 is a flowchart for explaining a method of controlling driving of a vehicle according to an embodiment of the present invention.
Figure 7 shows a computing system according to one embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through illustrative drawings. When adding reference numerals to components in each drawing, it should be noted that identical components are given the same reference numerals as much as possible even if they are shown in different drawings. Additionally, when describing embodiments of the present invention, if detailed descriptions of related known configurations or functions are judged to impede understanding of the embodiments of the present invention, the detailed descriptions will be omitted.

In describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, sequence, or order of the component is not limited by the term. Additionally, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted in an ideal or excessively formal sense unless explicitly defined in the present application. No.

1 is a block diagram showing the configuration of a vehicle travel control device of a vehicle travel control device according to an embodiment of the present invention.

Referring to FIG. 1 , a vehicle driving control device 100 according to an embodiment may include a sensor 110, an input device 120, an output device 130, and a control circuit 140. The driving control device 100 of FIG. 1 may be part of an autonomous driving system and may be mounted on a vehicle.

The sensor 110 may be configured to detect information about the exterior of the vehicle and information about the vehicle on which the driving control device 100 is mounted. The sensor 110 may detect a preceding vehicle, a rear vehicle, a lane, and other external objects, and may also detect the vehicle's speed, steering angle, wheel speed, and yaw rate.

The input device 120 may be configured to receive input from the driver of the vehicle. The input device 120 may be configured to receive, for example, a lane change command from the driver. Input device 120 may include two or more input devices. The two or more input devices may be the same type of input device or may be different types of input devices.

The output device 130 may be configured to output information that can be sensed by the driver within the vehicle. The output device 130 may include, for example, a speaker, a display, and/or a vibration motor.

Although not shown in FIG. 1, the travel control device 100 may further include a steering device, an acceleration device, and a deceleration device.

The control circuit 140 may be electrically connected to the sensor 110, the input device 120, and the output device 130. The control circuit 140 can control the sensor 110, the input device 120, and the output device 130, and can perform various data processing and calculations. The control circuit 140 may be, for example, an electronic control unit (ECU), a micro controller unit (MCU), or a lower-level controller mounted on a vehicle.

According to one embodiment, the control circuit 140 may perform lane maintenance control. For example, the control circuit 140 may perform lane maintenance control using a driving assistance system or an autonomous driving system on a road exclusively for automobiles.

According to one embodiment, the control circuit 140 may receive a first input for changing the driver's lane through the input device 120. For example, the control circuit 140 may receive input to a turn signal lever, steering wheel, switch, or button as a driver's intentional action to change lanes.

According to one embodiment, the control circuit 140 may activate lane change when the first input is received. When lane change is activated, the control circuit 140 may continue lane maintenance control without lateral movement for a designated time period. The control circuit 140 may flash the turn signal when a lane change is activated. The control circuit 140 continues lane maintenance control without lateral movement while flashing the turn signal lamp, so that the driving control device 100 can notify surrounding vehicles of the intention to change lanes, and the safety of lane change can be ensured. .

According to one embodiment, the control circuit 140 may receive a second input through the input device 120 after the first input is received. For example, the control circuit 140 may receive input to a turn signal lever, steering wheel, switch, or button as a driver's intentional action to change lanes. The second input may be received through the same device as the first input, or may be received through a different device. By receiving the first and second inputs, the driving control device 100 can accurately recognize the driver's intention to change lanes.

According to one embodiment, when the second input for changing the driver's lane is received through the input device 120 within the first time period after the first input is received, the control circuit 140 operates in the lateral direction for changing the lane. Movement can begin. If a second input is received within a specified time (eg, 5 seconds or 10 seconds, etc.) after lane change is activated, the control circuit 140 may initiate lateral movement in the target lane direction.

According to one embodiment, the control circuit 140 may cancel the lane change if the second input is not received within the first time period after the first input is received. If the start of lateral movement is excessively delayed after lane change is activated, safety may be difficult to ensure. Accordingly, the control circuit 140 may not perform lane change if the second input is not received within a specified time after lane change is activated.

According to one embodiment, the control circuit 140 may cancel the lane change if the second input is received within a second time period shorter than the first time period after the first input is received. The control circuit 140 may notify surrounding vehicles of the intention to change lanes and continue lane maintenance control without lateral movement for more than a specified time (eg, 1 second or 3 seconds) to ensure the stability of lane change. Accordingly, if the second input is received within the second time period after the first input is received, it may be difficult to ensure stability, so the control circuit 140 may cancel the lane change. According to one embodiment, the control circuit 140 may initiate lateral movement after the second time period if the second input is received within a second time period shorter than the first time period after the first input is received. there is.

After lateral movement for a lane change is initiated, the control circuit 140 may provide an appropriate control strategy by considering the lane change status. To determine the status of the lane change, the control circuit 140 may use various values, such as the progress of the lane change, lateral remaining distance, elapsed time, lane change target time, lane approach prediction time, and/or the distance between the vehicle and the lane. can be acquired or produced. Control circuit 140 may provide an appropriate control strategy based on the obtained or calculated values. By using the various values described above, it is possible to flexibly respond even if conditions such as the first time period and the second time period change.

According to one embodiment, the control circuit 140 may calculate the remaining lateral distance for lane change based on the progress rate of lane change. For example, the control circuit 140 may calculate the progress rate of lane change based on the elapsed time after the start of lateral movement and the lane change target time. The control circuit 140 may calculate the lateral remaining distance based on a fifth-order function for the progress rate of lane change. A specific method for calculating the lane change progress rate and lateral remaining distance will be described in detail with reference to FIG. 4.

According to one embodiment, when the first input is received, the control circuit 140 may initialize the progress rate of lane change. For example, the control circuit 140 may set the lane change progress rate to 0. According to one embodiment, the control circuit 140 may control the vehicle so that the initialized lane change progress is maintained after the first input is received until the second input is received. For example, the control circuit 140 may continue lane maintenance control without lateral movement until the second input is received.

According to one embodiment, the control circuit 140 may adjust the speed of lane change based on the time elapsed after activation of lane change and whether or not a lane in the target lane direction of lane change is approached. According to one embodiment, the control circuit 140 may cancel the lane change when the elapsed time after activation of the lane change is greater than the third time period and before the vehicle approaches the lane in the target lane direction of the lane change. For example, the control circuit 140 may cancel a lane change if the elapsed time after activation of the lane change is greater than a specified value (e.g., 5 or 10 seconds) and the lane is not approached. For another example, if the elapsed time after activation of the lane change is greater than a specified value and the lane is not approached, the control circuit 140 may adjust the speed of the lane change in consideration of the current situation, and may maintain the speed of the lane change. It may be possible.

According to one embodiment, the control circuit 140 may adjust the lane change target time based on the elapsed time after activation of the lane change and whether or not a lane in the target lane direction of the lane change is approached. The control circuit 140 can adjust the speed of lane change by adjusting the lane change target time. If the target lane change time becomes shorter, the speed of lane change may increase, and if the target lane change time becomes longer, the speed of lane change may decrease.

According to one embodiment, the control circuit 140 may adjust the speed of lane change based on the estimated lane approach time for the lane in the target lane direction of lane change. For example, the control circuit 140 may reduce the speed of lane change when the lane approach prediction time is shorter than a specified time (eg, 3 seconds). As another example, the control circuit 140 may increase the speed of lane change when the lane approach prediction time is longer than a specified time (eg, 5 seconds or 10 seconds). According to one embodiment, the control circuit 140 predicts lane approach to a lane based on the elapsed time after activation of the lane change, the lane change target time, the distance between the lane and the vehicle in the target lane direction of the lane change, and the lane width. Time can be calculated. A specific method for calculating the lane approach prediction time will be described in detail with reference to FIG. 4.

According to one embodiment, the control circuit 140 may adjust the target lane change time based on the estimated lane approach time for the lane in the target lane direction for lane change. The control circuit 140 can adjust the speed of lane change by adjusting the lane change target time.

By changing the lane change target time, the driver can be provided with a flexible response according to the progress while performing the lane change.

According to one embodiment, the control circuit 140 may provide a warning to the driver when the elapsed time after activation of the lane change is greater than a third time period and after the vehicle approaches the lane in the target lane direction of the lane change. When at least one wheel of the vehicle approaches the lane, continuing to change lanes actually helps ensure safety, so the control circuit 140 maintains the lane change while warning the driver using the output device 130. can be provided.

Figure 2 is a block diagram showing components included in a vehicle according to an embodiment of the present invention.

Referring to FIG. 2, the vehicle includes a lane change assistance device 210, an external vehicle information sensor 220, an internal vehicle information sensor 230, a driver input device 240, an HMI 250, and a path tracking device 260. may include.

The lane change assistance device 210 may be mounted on a vehicle. The lane change assistance device 210 can determine whether lane change control can be performed in response to the driver's input, and can perform steering control and acceleration/deceleration control for lane change control. The lane change assistance device 210 may include a lane change status determination unit 211 and a target path creation unit 212. The lane change status determination unit 211 may determine the status related to lane change by combining the driver's input and whether lane change is possible. The target path generator 212 may generate a path suitable for driving the vehicle according to the lane change state.

The vehicle external information sensor 220 may include sensors for detecting lanes and objects, such as cameras, radars, and lidar, and sensors for determining the properties of the driving road, such as navigation.

The vehicle internal information sensor 230 may detect the driving state of the vehicle and may include an acceleration sensor and a yaw rate sensor.

The driver input device 240 may include means for detecting the driver's intentional actions with respect to the steering system, such as switches and steering torque sensors.

The HMI 250 can display a screen so that the driver can recognize the lane change status inside the vehicle.

The path tracking device 260 may perform control to follow the target path through control of an actuator such as a motor driven power steering system (MDPS) or an electronic stability control (ESC).

3 is a diagram for explaining an exemplary operation of a vehicle driving control device according to an embodiment of the present invention.

Referring to FIG. 3, the vehicle 310 may change lanes from the driving lane toward the target lane. The vehicle 310 may flash the turn signal when the first input is received. The vehicle 310 may perform lane maintenance control for at least a first time period after the first input is received. If the second input is received within the first time interval, the vehicle 310 may cancel the lane change, or may continue lane maintenance control for the first time interval and then initiate lane access control. If the second input is received after the first time period, vehicle 310 may immediately initiate lane access control.

The vehicle 310 may perform lane access control toward the lane between the driving lane and the target lane. Vehicle 310 may move laterally toward the lane. The vehicle 310 may complete lane access control within the second time period. While performing lane access control, the vehicle 310 may adjust the speed of lane change or the target lane change time depending on the lane change situation.

When lane access control is completed, the vehicle 310 can perform lane entry control. While performing lane entry control, the wheels of vehicle 310 may pass through the lane. The vehicle 310 may move laterally toward the target lane. Lane entry control may continue from when the wheels of the vehicle 310 begin to pass through the lane until all wheels of the vehicle 310 pass through the lane. While performing lane entry control, the vehicle 310 may provide a warning to the driver according to a lane change situation.

When lane entry control is completed, the vehicle 310 can perform lane maintenance control. The vehicle 310 may move laterally toward the center of the target lane. When the vehicle 310 moves to the center of the target lane, the vehicle 310 may turn off its turn signal lamp.

FIG. 4 is a diagram for explaining an exemplary operation of a vehicle driving control device according to an embodiment of the present invention.

Referring to FIG. 4, the vehicle can create a lane change area route according to the lane change status. The lane change area route may be a route following the current route from the lane change global route. The lane change global path can be expressed based on the lane change progress rate and the target lateral movement distance. The relationship between the lane change progress rate and the target lateral movement distance can be obtained in the form of a fifth-order function and can be specified by six boundary conditions. The six boundary conditions are: initial lateral position = 0, initial heading angle = 0, initial curvature = 0, final lateral position = lane width, final heading angle = 0, and final curvature = 0. An exemplary relationship between the target lateral movement distance and the lane change progress rate (LC_rate) is as follows.

[Equation 1]

Target lateral movement distance = 6 * lane width * LC_rate^5 - 15 * lane width * LC_rate^4 + 10 * lane width * LC_rate^3

Depending on the status of the lane change, the lane change progress may be initialized, maintained, or increased. The lane change progress can be calculated by dividing the time elapsed after the start of lane access control (LC_ElapsedTime) by the lane change target time (Dt_LC). The lane change target time is the time to perform lane access control and lane entry control, and may mean the time to perform lateral movement during lane change. By changing the lane change target time, the speed of lane change can be adjusted. Adjustment of the lane change target time will be described in detail with reference to FIG. 6.

Figure 5 is a flowchart for explaining a method of controlling driving of a vehicle according to an embodiment of the present invention.

Hereinafter, it is assumed that a vehicle including the driving control device 100 of FIG. 1 performs the process of FIG. 5. Additionally, in the description of FIG. 5 , operations described as being performed by the vehicle may be understood as being controlled by the control circuit 140 of the travel control device 100.

Referring to FIG. 5 , in step 510, the vehicle may receive a first input for changing lanes from the driver of the vehicle. Until the first input is received, the vehicle may perform lane maintenance control.

Once the first input is received, at step 520, the vehicle may activate the lane change. The vehicle may continue lane maintenance control and flash the turn signal for a specified period of time after lane change is activated.

In step 530, the vehicle may determine whether a second input is received within a first time period after the first input is received. The vehicle may receive a second input corresponding to the driver's intention to change lanes.

If the second input is received within the first time period, in step 540, the vehicle may initiate lateral movement to change lanes. The vehicle can move to the target car.

If the second input is not received within the first time interval, in step 550, the vehicle may cancel the lane change.

Figure 6 is a flowchart for explaining a method of controlling driving of a vehicle according to an embodiment of the present invention.

Hereinafter, it is assumed that a vehicle including the driving control device 100 of FIG. 1 performs the process of FIG. 6. Additionally, in the description of FIG. 6 , operations described as being performed by the vehicle may be understood as being controlled by the control circuit 140 of the travel control device 100.

Referring to FIG. 6, at step 610, the vehicle may activate lane change control.

At step 620, the vehicle may initiate lane maintenance control. When lane change control is activated, the vehicle may initiate lane maintenance control and initialize LCP_ElapsedTime, which is the elapsed time after activation of lane change, to 0.

In step 630, the vehicle may perform lane maintenance control. During lane maintenance control, LCP_ElapsedTime may increase.

At step 640, the vehicle may perform lane access control. When lane access control (or lateral movement) is initiated, the vehicle may initialize LC_ElapsedTime, which is the elapsed time after the start of lateral movement, to 0. During lane access control, LCP_ElapsedTime and LC_ElapsedTime may increase. LC_rate, the progress rate of lane change, can be calculated as LC_ElapsedTime / Dt_LC. Dt_LC may be the lane change target time.

The vehicle may cancel the lane change if LCP_ElapsedTime is greater than a specified time (e.g. 5 or 10 seconds). In this case, in step 650, the vehicle may perform lane access cancellation control.

The vehicle may increase Dt_LC by ΔT if the lane approach prediction time is less than a specified time (e.g., 3 seconds). The vehicle may decrease Dt_LC by ΔT if the lane approach prediction time is greater than a specified time (e.g. 5 or 10 seconds). Lane approach prediction time can be calculated as LCP_ElapsedTime + Dt_LC * (Line2Tyre / W_lane). Here, Line2Tyre is the distance between the lane and the tire closest to the lane, and W_lane may be the lane width. By changing Dt_LC, the vehicle can perform lane approach control while satisfying time conditions.

Except for the cases described above, the vehicle is determined to have satisfied the lane access requirements and can maintain the current Dt_LC.

The vehicle can perform lane changes while gradually increasing LC_rate to 1 while performing lane approach control and lane entry control.

In step 660, the vehicle may perform lane entry control. When lane access control is completed, the vehicle may perform lane entry control and initialize LCM_ElapsedTime, which is the time elapsed after lane entry control was initiated, to 0. During lane access control, LCP_ElapsedTime, LC_ElapsedTime and LCM_ElapsedTime may increase. LC_rate, the progress rate of lane change, can be calculated as LC_ElapsedTime / Dt_LC.

The vehicle may perform lane entry control with a warning at step 670 if LCM_ElapsedTime is greater than a specified time (e.g., 5 seconds).

If LCM_ElapsedTime is less than a specified time (e.g., 5 seconds), the vehicle determines that the lane entry requirements are satisfied and can maintain lane entry control.

At step 680, the vehicle may complete lane change control.

Figure 7 shows a computing system according to one embodiment of the present invention.

Referring to FIG. 7, the method according to an embodiment of the present invention described above can also be implemented through a computing system. Computing system 1000 includes at least one processor 1100, memory 1300, user interface input device 1400, user interface output device 1500, storage 1600, and It may include a network interface 1700.

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and/or storage 1600. Memory 1300 and storage 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include read only memory (ROM) and random access memory (RAM).

Accordingly, the steps of the method or algorithm described in connection with the embodiments disclosed herein may be directly implemented in hardware, software modules, or a combination of the two executed by the processor 1100. Software modules reside in a storage medium (i.e., memory 1300 and/or storage 1600), such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, or CD-ROM. You may. An exemplary storage medium is coupled to processor 1100, which can read information from and write information to the storage medium. Alternatively, the storage medium may be integrated with processor 1100. The processor and storage medium may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications and variations will be possible to those skilled in the art without departing from the essential characteristics of the present invention.

Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but rather to explain it, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

Claims (20)

In a vehicle driving control device,
one or more input devices configured to receive input from a driver of the vehicle; and
Comprising a control circuit electrically connected to the one or more input devices,
The control circuit is,
When a first input for changing the driver's lane is received through the one or more input devices, activating the lane change,
If a second input for changing the lane from the driver is received through the one or more input devices within a first time interval after the first input is received, starting lateral movement for changing the lane,
If the second input is not received within the first time period after the first input is received, cancel the lane change,
Characterized in that, if the second input is received within a second time period shorter than the first time period after the first input is received, the lane change is canceled. delete According to claim 1,
The control circuit is,
The device is characterized in that it calculates the lateral remaining distance for the lane change based on the progress rate of the lane change. According to claim 3,
The control circuit is,
The device is characterized in that, when the first input is received, the progress rate of the lane change is initialized. According to claim 4,
The control circuit is,
Characterized in that, controlling the vehicle to maintain the initialized progress rate of the lane change after the first input is received until the second input is received. According to claim 3,
The control circuit is,
The device is characterized in that the progress rate of the lane change is calculated based on the elapsed time after the start of the lateral movement and the lane change target time. According to claim 1,
The control circuit is,
The device is characterized in that it adjusts the speed of the lane change based on the elapsed time after activation of the lane change and whether or not a lane in the target lane direction of the lane change is approached. According to claim 1,
The control circuit is,
The device is characterized in that it adjusts the lane change target time based on the elapsed time after activation of the lane change and whether or not a lane in the target lane direction of the lane change is approached. According to claim 1,
The control circuit is,
The device is characterized in that it adjusts the speed of the lane change based on the estimated lane approach time for the lane in the target lane direction of the lane change. According to claim 1,
The control circuit is,
The device is characterized in that it adjusts the lane change target time based on the estimated lane approach time for the lane in the target lane direction of the lane change. According to claim 1,
The control circuit is,
Calculating a predicted lane approach time for the lane based on the elapsed time after activation of the lane change, the lane change target time, the distance between the lane in the target lane direction of the lane change and the vehicle, and the lane width. , Device. According to claim 1,
The control circuit is,
Characterized in that, if the elapsed time after activation of the lane change is greater than a third time period and before the vehicle approaches the lane in the target lane direction of the lane change, the lane change is canceled. According to claim 1,
The control circuit is,
Characterized in that, providing a warning to the driver when the elapsed time after activation of the lane change is greater than a third time period and the vehicle approaches the lane in the target lane direction of the lane change. In a method of controlling the driving of a vehicle,
activating the lane change when a first input for changing the lane from the driver of the vehicle is received;
If a second input for changing the lane from the driver is received within a first time period after receiving the first input, starting a lateral movement for changing the lane;
If the second input is not received within the first time period after the first input is received, canceling the lane change; and
If the second input is received within a second time period shorter than the first time period after the first input is received, canceling the lane change. delete According to claim 14,
The method further comprising adjusting the speed of the lane change based on the time elapsed after activation of the lane change and whether or not a lane in the target lane direction of the lane change is approached. According to claim 14,
The method further comprising adjusting the lane change target time based on the elapsed time after activation of the lane change and whether or not a lane in the target lane direction of the lane change is approached. According to claim 14,
The method further comprising adjusting the speed of the lane change based on a predicted lane approach time for the lane in the target lane direction of the lane change. According to claim 14,
The method further comprising adjusting the target lane change time based on the estimated lane approach time for the lane in the target lane direction of the lane change. According to claim 14,
The method further comprising canceling the lane change when the elapsed time after activation of the lane change is greater than a third time period and before the vehicle approaches the lane in the target lane direction of the lane change.

Images