KR20110104681A - Lane keeping control method and lane keeping control system - Google Patents

Abstract

The present invention relates to a lane keeping control method and system thereof. More specifically, adaptively setting the forward peripheral distance according to at least one of the vehicle condition and the road condition, and obtaining lane information according to the adaptive forward peripheral distance to perform more accurate lane maintenance control based on this. A lane keeping control method and system therefor.

Description

Lane Keeping Control Method and System {LANE KEEPING CONTROL METHOD AND LANE KEEPING CONTROL SYSTEM}

The present invention relates to a lane keeping control method and system thereof. More specifically, adaptively setting the forward peripheral distance according to at least one of the vehicle condition and the road condition, and obtaining lane information according to the adaptive forward peripheral distance to perform more accurate lane maintenance control based on this. A lane keeping control method and system therefor.

Lane keeping control systems, such as Lane Keeping Assist System (LKAS), use the front camera to detect lanes on the left and right sides to obtain lane information and prevent lane departure from the vehicle or track the center of the road. It is a system that enables lane departure prevention and lane keeping of the vehicle by providing the assist steering torque calculated by calculating the assist steering torque.

The performance of the lane keeping control function performed by the lane keeping control system may vary greatly depending on how accurate lane information is obtained. Because the correct lane information must be obtained, it is possible to accurately calculate the auxiliary steering torque for accurately controlling lane maintenance.

The lane keeping control system obtains lane information based on a forward image photographed by a front camera. In this case, the lane information is accurately controlled according to the distance to which the lane information is obtained. It may or may not contain information that is essential for the purpose.

Therefore, the lane keeping control system must acquire lane information up to a distance (referred to as "forward driving distance") so that necessary information can be included in order to accurately perform lane keeping control. However, the forward-looking distance to include the necessary information may vary depending on the vehicle condition such as vehicle speed, the road condition such as road curvature, road width, and the like.

However, the conventional lane keeping control system does not acquire the lane information for the lane keeping control in consideration of such a forward peripheral distance. This accurately provides the lane keeping function in a specific vehicle state or a certain road state. It can cause problems.

In this background, it is an object of the present invention to set a forward attention distance so that lane information for accurately performing lane keeping control can be obtained.

In addition, another object of the present invention is to enable a more accurate lane maintenance control by acquiring lane information by adaptively setting the forward peripheral distance according to one or more of the vehicle state and the road condition.

In order to achieve the above object, in one aspect, the present invention, the front peripheral distance setting unit for setting the front peripheral distance based on one or more information of the vehicle state and the road state; A lane information obtaining unit which obtains lane information according to the set forward looking distance; An auxiliary steering torque calculator configured to calculate auxiliary steering torque for lane keeping control based on the obtained lane information; And a lane keeping control unit generating lane calculation control by generating the calculated auxiliary steering torque in a steering control device.

In another aspect, the present invention provides a lane keeping control method provided by a lane keeping control system, the front surrounding distance setting step of setting a front peripheral distance based on at least one of a vehicle state and a road state; A lane information obtaining step of obtaining lane information according to the set forward looking distance; An auxiliary steering torque calculation step of calculating an auxiliary steering torque for lane keeping control based on the obtained lane information; And a lane keeping control step of generating lane calculated control by generating the calculated auxiliary steering torque in a steering control device.

As described above, according to the present invention, there is an effect of setting a forward peripheral distance so that lane information for accurately performing lane keeping control can be obtained.

In addition, according to the present invention, there is an effect to enable more accurate lane maintenance control by acquiring lane information by adaptively setting the forward peripheral distance according to one or more of the vehicle state and the road condition.

1 is a block diagram of a lane keeping control system according to an embodiment of the present invention.
2 is a diagram for explaining a lane keeping control function provided by a lane keeping control system according to an exemplary embodiment of the present invention.
3 is a diagram showing that the distance in front of the vehicle changes depending on the vehicle speed, road curvature and road width.
4 is a diagram illustrating a correspondence graph between a vehicle speed and a forward peripheral distance, a corresponding graph between a road curvature and a forward peripheral distance, and a corresponding graph between a road width and a forward peripheral distance.
5 is a flowchart illustrating a lane keeping control method according to an exemplary embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are used to refer to the same components as much as possible even if displayed on different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In addition, in describing the component of this invention, terms, such as 1st, 2nd, A, B, (a), (b), can be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. If a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to that other component, but there may be another configuration between each component. It is to be understood that the elements may be "connected", "coupled" or "connected".

1 is a block diagram of a lane keeping control system 100 according to an embodiment of the present invention.

Referring to FIG. 1, the lane keeping control system 100 according to an exemplary embodiment of the present invention may include a front peripheral distance setting unit 110 for setting a forward peripheral distance based on at least one of a vehicle state and a road state. For lane keeping control based on the lane information obtaining unit 120 and lane information obtained by the lane information obtaining unit 120, the lane information obtaining unit 120 obtains the lane information according to the forward vision distance set by the forward looking distance setting unit 110. A steering control device (eg, an MDPS (Motor Driven Power Steering) device) controls the auxiliary steering torque calculation unit 130 and the auxiliary steering torque calculated by the auxiliary steering torque calculation unit 130 to calculate the assist steering torque. Etc.) to generate a lane keeping control unit 140 to perform lane keeping control.

The vehicle state includes the vehicle speed, and the road state may include one or more of the road curvature and the road width.

The lane keeping control system 100 shown in FIG. 1 detects left and right lanes using a front camera to obtain lane information, and prevents lane departure of the vehicle or tracks the center of the road based on the lane camera. It is a system that enables lane departure prevention and lane maintenance of a vehicle by providing the assist steering torque calculated by calculating the assist steering torque. This lane keeping control system 100 is also referred to as "Lane Keeping Assist System (LKAS)".

According to the lane keeping control function provided by the lane keeping control system 100, a situation in which lane departure prevention and lane keeping is enabled is exemplarily illustrated in FIG. 2. Referring to FIG. 2, when the vehicle 200 attempts to leave the lane while driving along the lane, the lane keeping control system 100 detects the possibility before the lane departure occurs and detects the possibility before the lane departure occurs. By generating the auxiliary steering torque for the steering control device, the steering control device to perform the steering control 210 for lane maintenance to prevent lane departure in advance to enable lane maintenance.

The performance of the lane keeping control function performed by the lane keeping control system 100 may vary greatly depending on how accurate lane information is obtained. Because the correct lane information should be obtained, it is possible to calculate the auxiliary steering torque for accurately controlling lane maintenance.

However, the lane keeping control system 100 obtains lane information on the basis of the front image photographed by the front camera. In this case, depending on how far the lane information is obtained in the forward direction, Information necessary for accurate lane keeping control may or may not be included.

Therefore, the lane keeping control system 100 must acquire lane information up to a distance (which is referred to as a "forward driving distance") so that necessary information can be included in order to accurately perform lane keeping control.

However, the forward-looking distance to include the necessary information may vary depending on the vehicle condition such as vehicle speed, the road condition such as road curvature, road width, and the like.

For example, referring to FIG. 3, while the vehicle is driving on a curved road, lane information must be acquired from the current position to the first bent point, so that information necessary for lane keeping control may be included in the obtained lane information. Can be. Therefore, it is necessary to obtain lane information up to L3 forward vision distance, which enables better lane keeping control by better understanding of the road environment than L1 forward vision distance and L2 forward vision distance.

In the following description, the forward peripheral distance is adaptively set in consideration of the vehicle speed as the vehicle state, the road curvature and the road width as the vehicle state.

As a method of setting the front peripheral distance, the front peripheral distance setting unit 110 may include a first front peripheral distance corresponding to a vehicle speed and a second front corresponding to a radius of road curve. The sum of the third forward peripheral distance corresponding to the gaze distance and the lane width may be set as the forward peripheral distance. In other words, the forward circumference distance can be set based on the expression `` front anterior distance = first forward peripheral distance + second forward peripheral distance + third forward peripheral distance ''.

The information on the vehicle state and the road state (for example, vehicle speed, road curvature, road width, etc.) that the above-mentioned front peripheral distance setting unit 110 needs to know in order to set the forward peripheral distance may include a vehicle speed sensor, It can obtain from information acquisition apparatuses, such as a front camera and a camera vision sensor.

In addition, the above-mentioned front peripheral distance setting unit 110, the first forward peripheral distance corresponding to each of the information from the information on the vehicle speed, road curvature and road width obtained from the information acquisition device for setting the forward peripheral distance, The first forward distance and the third forward distance are determined. For this purpose, the first correspondence information between the vehicle speed and the first forward attention distance, the second correspondence information between the road curvature and the second forward peripheral distance, the road width and By referring to the third correspondence information between the third forward peripheral distance, the first forward peripheral distance, the second forward peripheral distance and the third forward peripheral distance corresponding to the corresponding vehicle speed, the corresponding road curvature and the corresponding road width, respectively I can figure it out.

The first correspondence information, the second correspondence information, and the third correspondence information mentioned above may be in the form of correspondence data, correspondence table, correspondence graph, or the like, and may be stored in advance in the lane keeping control system 100.

The first corresponding information between the vehicle speed and the first forward peripheral distance described above, the second corresponding information between the road curvature and the second forward peripheral distance, and the third corresponding information between the road width and the third forward peripheral distance are shown in FIG. Each of a), (b) and (c) is exemplarily shown in the form of a graph.

Referring to FIG. 4A, the first forward peripheral distance may correspond to the vehicle speed in a certain vehicle speed range (eg, 30 to 120 km / h). Referring to FIG. 4B, the second forward peripheral distance may correspond to the road curvature in a predetermined road curvature range (eg, 125 to 1000 m). Referring to FIG. 4C, the third forward peripheral distance may correspond to the road width in a predetermined road width range (2.7 to 4 m).

5 is a flowchart illustrating a lane keeping control method provided by the lane keeping controlling system 100 according to an exemplary embodiment of the present invention.

Referring to FIG. 5, the lane keeping control method provided by the lane keeping control system 100 according to an exemplary embodiment of the present disclosure may include a front heading setting a front heading distance based on one or more information of a vehicle condition and a road condition. Calculate auxiliary steering torque for calculating lane steering control based on the distance setting step (S500), lane information obtaining step (S502) for obtaining lane information according to the set forward peripheral distance (S502), and obtained lane information. A step S504 and a lane maintenance control step S506 for generating lane assistance control by generating the calculated auxiliary steering torque in the steering control device and the like.

In the above-described forward peripheral distance setting step (S500), one or more pieces of information about a vehicle state including a vehicle speed and information about a road state including one or more of a road curvature and a road width are obtained. The vehicle speed can be obtained from a vehicle speed sensor or another device (e.g., an electronic controller, etc.) stored to use the vehicle speed, and the information on the road condition including one or more of a road curvature and a road width is provided. It can be obtained from a front camera, a camera vision sensor, or another device (eg, an electronic control device) that is stored to use information about road conditions.

In the above-described forward peripheral distance setting step S500, as an example, the first forward peripheral distance corresponding to the vehicle speed, the second forward peripheral distance corresponding to the road curvature, and the third forward peripheral distance corresponding to the road width may be added together. Can be set to the forward distance. In other words, the forward circumference distance can be set based on the expression `` front anterior distance = first forward peripheral distance + second forward peripheral distance + third forward peripheral distance ''.

As described above, according to the present invention, it is possible to set a forward peripheral distance so that lane information for accurately performing lane keeping control can be obtained.

In addition, according to the present invention, it is possible to perform a more accurate lane maintenance control by acquiring lane information by adaptively setting the forward peripheral distance according to one or more of the vehicle state and the road condition.

In the above description, all elements constituting the embodiments of the present invention are described as being combined or operating in combination, but the present invention is not necessarily limited to the embodiments. In other words, within the scope of the present invention, all of the components may be selectively operated in combination with one or more. In addition, although all of the components may be implemented in one independent hardware, each or all of the components may be selectively combined to perform some or all functions combined in one or a plurality of hardware. It may be implemented as a computer program having a. Codes and code segments constituting the computer program may be easily inferred by those skilled in the art. Such a computer program may be stored in a computer readable storage medium and read and executed by a computer, thereby implementing embodiments of the present invention. The storage medium of the computer program may include a magnetic recording medium, an optical recording medium, a carrier wave medium, and the like.

In addition, the terms "comprise", "comprise" or "having" described above mean that the corresponding component may be included, unless otherwise stated, and thus excludes other components. It should be construed that it may further include other components instead. All terms, including technical and scientific terms, have the same meanings as commonly understood by one of ordinary skill in the art unless otherwise defined. Terms commonly used, such as terms defined in a dictionary, should be interpreted to coincide with the contextual meaning of the related art, and shall not be construed in an ideal or excessively formal sense unless explicitly defined in the present invention.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

100: lane keeping control system
110: forward peripheral distance setting unit
120: lane information acquisition unit
130: auxiliary steering torque calculation unit
140: lane keeping control unit

Claims (6)

A forward peripheral distance setting unit configured to set a forward peripheral distance based on at least one of a vehicle state and a road state;
A lane information obtaining unit which obtains lane information according to the set forward looking distance;
An auxiliary steering torque calculator configured to calculate auxiliary steering torque for lane keeping control based on the obtained lane information; And
A lane keeping control unit for generating lane assistance control by generating the calculated auxiliary steering torque in a steering control device.
Lane keeping control system comprising a. The method of claim 1,
The vehicle state includes a vehicle speed, and the road state includes one or more of a road curvature and a road width. The method of claim 2,
The front peripheral distance setting unit,
Setting the sum of the first forward peripheral distance corresponding to the vehicle speed, the second forward peripheral distance corresponding to the road curvature, and the third forward peripheral distance corresponding to the road width as the forward peripheral distance; Lane Keep Control System. The method of claim 3,
The first forward peripheral distance corresponds to the vehicle speed in a predetermined vehicle speed range, the second forward peripheral distance corresponds to the road curvature in a predetermined road curvature range, the third forward peripheral distance is in a certain road width range Lane keeping control system, characterized in that corresponding to proportional to the road width. In the lane keeping control method provided by the lane keeping control system,
A forward peripheral distance setting step of setting a forward peripheral distance based on at least one of a vehicle state and a road state;
A lane information obtaining step of obtaining lane information according to the set forward looking distance;
An auxiliary steering torque calculation step of calculating an auxiliary steering torque for lane keeping control based on the obtained lane information; And
Lane maintenance control step of performing the lane maintenance control by generating the calculated auxiliary steering torque to the steering control device
Lane keeping control method comprising a. 6. The method of claim 5,
The forward peripheral distance setting step,
Obtaining at least one of information on the vehicle condition including a vehicle speed and information on the road condition including at least one of road curvature and road width,
Setting the sum of the first forward peripheral distance corresponding to the vehicle speed, the second forward peripheral distance corresponding to the road curvature, and the third forward peripheral distance corresponding to the road width as the forward peripheral distance; Lane keeping control method characterized in that.

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