KR20100005362A

KR20100005362A - Aytomomous travelling controll system

Info

Publication number: KR20100005362A
Application number: KR1020080065360A
Authority: KR
Inventors: 김재희
Original assignee: 현대자동차주식회사
Priority date: 2008-07-07
Filing date: 2008-07-07
Publication date: 2010-01-15
Also published as: KR101356203B1

Abstract

The autonomous driving control system of the present invention includes a steering sensor unit for monitoring a steering angle of a vehicle, an image photographing unit for photographing a road in front of the vehicle, and predicting a virtual lane toward a lane to be changed from the photographed road image. And a controller configured to change the lane by driving along the center line of the virtual lane.

The invention as described above does not use the radius of curvature obtained from the image capturing unit in the lane change algorithm of the autonomous driving control system, thereby making it possible to stably change lanes even in a curved line.

Description

Autonomous Driving Control System {AYTOMOMOUS TRAVELLING CONTROLL SYSTEM}

The present invention relates to an autonomous driving control system, and more particularly, to an autonomous driving control system for controlling to change lanes stably even in a curved line.

In general, vehicles are equipped with various systems for driver and occupant protection, driving assistance and improved ride comfort.

Among these systems, autonomous driving control system is a technology that recognizes lanes and performs auto steering using cameras. The shape and the radius of curvature of the road are measured, and the driving trajectory of the vehicle is estimated by using the vehicle position and the road information thus obtained, and the lane is changed along the estimated driving trajectory.

However, since the radius of curvature of the road depends on the image information obtained from the camera, when the autonomous vehicle changes lanes, especially in a curved lane, the radius of curvature continuously changes according to the driving direction, and the relative radius of the vehicle There is a problem in that the curvature radius cannot be used as the base data for feedback when controlling a lane change of an autonomous vehicle.

In order to solve the problems as described above, an object of the present invention is to provide an autonomous driving control system that can change the lane more accurately and stably when driving mainly on the curve.

In order to achieve the above object, the self-driving control system of the present invention is directed to a steering sensor unit for monitoring the steering angle of the vehicle, an image photographing unit for photographing the road ahead of the vehicle, and the lane to be changed from the photographed road image And a controller configured to predict the virtual lane and control the vehicle to change the lane by traveling along the centerline of the predicted virtual lane.

The controller may drive the vehicle such that a distance between the center line of the virtual lane and the vehicle is maintained at a predetermined distance.

The lane change may be activated when there is a manipulation of a driver's turn signal.

The present invention does not use the radius of curvature obtained from the image capturing unit in the lane change algorithm of the autonomous driving control system, thereby making it possible to stably change lanes even in a curve.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various forms, and only the embodiments are intended to complete the disclosure of the present invention, and to those skilled in the art to fully understand the scope of the invention. It is provided to inform you. Like reference numerals in the drawings refer to like elements.

1 is a block diagram showing an autonomous driving control system according to the present invention, Figure 2 is a view showing an image obtained from the autonomous driving control system according to the present invention, Figure 3 is an autonomous driving control system according to the present invention 4 is a view showing a process of changing, Figure 4 is a view showing the movement of the vehicle according to the lane change algorithm of the autonomous driving control system according to the present invention, Figures 5 and 6 are steps of the autonomous driving control system according to the present invention FIG. 7 is a diagram illustrating an equation of a lane change algorithm according to the present invention. FIG. 7 is a diagram illustrating scenarios of various road environments for verification of an autonomous driving control system according to the present invention. FIG. 9 is a view showing a verification result according to the left and right lane changes of FIG. 9 is for verifying the autonomous driving control system according to the present invention. And a graph showing a simulation result according to the scenario of the road environment, Fig. 10 is a graph showing the result of a lane-changing algorithm of the autonomous cruise control system according to the present invention is applied to the actual vehicle.

Referring to FIG. 1, the autonomous driving control system according to the present invention is directed toward a lane to be changed from an image photographing unit 100, the steering sensor unit 200, and a road image photographed from the image photographing unit 100. And a controller 300 for predicting the virtual lane and controlling the vehicle to change the lane by driving along the predicted center line of the virtual lane.

The image capturing unit 100 plays a role of photographing the front image of the road, and the image capturing unit 100 may be installed on a front dashboard or a room mirror of the vehicle. As shown in FIG. 2, when the front of the road is photographed, information of the road, for example, the width of the lane, the distance to both lanes, the shape of the lane, and the like may be collected from the captured road image 110. The location of the vehicle can be determined from the lane by the location of the vehicle. Here, the image capturing unit 100 may use an image capturing unit provided in a lane recognition system mounted on a vehicle.

The steering sensor unit 200 serves to measure a signal due to the steering angle of the steering wheel, thereby monitoring the driving direction of the vehicle through the value measured from the steering sensor unit 200, and the vehicle changes lanes. In this case, the driving direction of the vehicle may be controlled by the value measured from the steering sensor unit 200.

The controller 300 predicts the virtual lane toward the lane to be changed from the front road image captured by the image capturing unit 100 and controls to change the lane along the predicted virtual lane.

That is, as shown in FIG. 3, the lane line is changed by measuring the reference center line 400 of the current driving lane according to the lateral position of the vehicle, and changing the measured reference center line 400 to the center line of the target lane to be changed. Detects the center line 600 of the virtual lane for the.

Accordingly, the vehicle may change the driving lane of the vehicle by maintaining a distance between the center line 600 of the virtual lane and the vehicle. Here, the lane change of the vehicle is preferably operated when there is an operation of the driver's direction indicator, for this purpose, the vehicle may be further equipped with a sensor unit (not shown) that can detect the operation of the direction indicator.

As described above, since the vehicle becomes a lateral position of the vehicle with respect to the virtual lane, it is possible to prevent the problem of overlapping between the road curvature radius and the vehicle trajectory.

As described above, an autonomous vehicle using a virtual lane may integrate and use a lane following algorithm and a lane change algorithm. When the lane changes from the right lane to the left lane or from the right lane to the left lane, as shown in FIG. 4, the vehicle may be moved in each step, and the movement of each step vehicle may be as shown in FIG. 5. It can be moved by the lane change algorithm.

dy _vt represents the transverse displacement of the vehicle relative to the center line of the virtual lane, dy ₀ represents the transverse position of the vehicle in the current lane obtained from the sensor, W _t represents the width of the current lane, TS is the left, It is a value that shows the driver's operation status of the turn signal for using the same conditional expression when changing to right.

In this case, as shown in FIG. 6, when the signal is not applied by the driver's operation, the signal value is 0, and when the signal of the left or right indicator light is applied, the TS is 1 and -1, and in case of emergency The signal value can be set to three. Therefore, when the driver's operation signal is applied, the moving direction of the vehicle can be controlled by the expression in which the operation signal is applied.

The above-described invention does not use the radius of curvature measured from the image capturing unit when changing lanes, particularly when driving mainly on a curve, thereby eliminating a fundamental problem in implementing a lane change algorithm.

As described above, the verification of the lane change algorithm of the autonomous driving control system according to the present invention may be performed as follows.

First, as shown in FIG. 7, various road environments are prepared. Here, FIG. 7A shows a straight road, FIG. 7B shows a left turn road, and FIG. 7C shows a priority road.

Then, the simulation is performed using the lane change algorithm according to the present invention. That is, when the simulation is performed according to the road environment using the equation shown in FIG. 5, the result of each step may be obtained as shown in FIG. 8. Here, FIG. 8A illustrates a lane change process to the left side, and FIG. 8B illustrates a lane change process to the right side.

A simulation result table of lane change according to each road environment is shown in FIG. 9. Here, FIG. 9A is a simulation result graph when changing lanes on a straight road, FIG. 9B is a simulation result graph when changing lanes on a left turn road, and FIG. 9C is a simulation result graph when changing lanes on a priority road.

After the verification as described above, the lane change algorithm may be applied to the actual vehicle, and the result applied to the actual vehicle may be obtained as shown in FIG. 10.

As described above, the verification of the autonomous driving control system according to the present invention may provide a more logical, stable, and reproducible verification environment by eliminating errors that may occur in the camera-based image capturing unit.

Although described above with reference to the drawings and embodiments, those skilled in the art that the present invention can be variously modified and changed within the scope without departing from the spirit of the invention described in the claims below I can understand.

1 is a block diagram showing an autonomous driving control system according to the present invention.

2 is a view showing an image obtained from the autonomous driving control system according to the present invention.

3 is a diagram illustrating a process of changing lanes by the autonomous driving control system according to the present invention;

4 is a view showing the movement of the vehicle according to the lane change algorithm of the autonomous driving control system according to the present invention.

5 and 6 are diagrams showing a lane change algorithm according to the steps of the autonomous driving control system according to the present invention.

7 is a diagram illustrating scenarios of various road environments for verification of an autonomous driving control system according to the present invention.

8 is a view showing a verification result according to the left and right lane changes in the curved road of the autonomous driving control system according to the present invention.

9 is a graph showing simulation results according to scenarios of various road environments for verification of an autonomous driving control system according to the present invention.

10 is a graph showing a result of the lane change algorithm of the autonomous driving control system according to the present invention applied to a real vehicle.

100: image capturing unit 200: steering sensor unit

300: control unit 600: virtual lane center point

Claims

A steering sensor unit for monitoring a steering angle of the vehicle;

An image photographing unit photographing a road in front of the vehicle;

A controller configured to predict the virtual lane toward the lane to be changed from the photographed road image and to change the lane by driving along the center line of the predicted virtual lane;

Autonomous driving control system comprising a.

The method according to claim 1,

The control unit is a self-driving control system for driving the vehicle so that the distance between the center line of the virtual lane and the vehicle is maintained at a certain distance.

The method according to claim 1,

And said lane change is activated when there is an operation of a driver's turn signal.