KR20120055013A - Method for setting control time of lane keeping assist system - Google Patents

Method for setting control time of lane keeping assist system Download PDF

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KR20120055013A
KR20120055013A KR1020100116469A KR20100116469A KR20120055013A KR 20120055013 A KR20120055013 A KR 20120055013A KR 1020100116469 A KR1020100116469 A KR 1020100116469A KR 20100116469 A KR20100116469 A KR 20100116469A KR 20120055013 A KR20120055013 A KR 20120055013A
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steering angle
steering
vehicle
lane
angle
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KR1020100116469A
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KR101573550B1 (en
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정인용
김재희
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현대자동차주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/10—Path keeping
    • B60Y2300/12—Lane keeping

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

PURPOSE: A method for setting control time of lane keeping supporting system is provided to induce safer driving by preventing car accident by starting or ending a steering control if a risk of deviating lane gets higher. CONSTITUTION: A method for setting control time of lane keeping supporting system comprises next steps: collecting lane information from an image sensor(100); computing predicted deviation amount by using lane information; computing desired yaw angle by using predicted deviation amount; computing the goal yaw rate by using the goal reentrant angle; computing a requested steering angle by using the goal yaw rate; computing a correction steering angle by comparing the requested steering angle with actual steering wheel steering angle by manipulation of operator; automatically controlling steering of the vehicles so that the correction steering angle enters into criteria range.

Description

차선유지지원시스템의 제어 시점 설정방법{Method for setting control time of Lane Keeping Assist System} Method for setting control time of Lane Keeping Assist System

본 발명은 차선유지지원시스템의 제어 시점 설정방법에 관한 것으로, 더욱 상세하게는 운전자의 조향으로 인한 주행 중 의도하지 않은 상황에 의해 차량의 차선이탈 위험성이 발생할 경우 이를 판단하여 차선유지지원시스템이 조향제어를 개입 또는 종료할 수 있도록 시점을 제공하는 기술이다.The present invention relates to a control point setting method of a lane maintenance support system, and more particularly, when a lane departure risk of a vehicle occurs due to an unintentional situation during driving due to a driver's steering, the lane maintenance support system determines a steering lane. It is a technique that provides a point of view to intervene or terminate control.

차량에 대한 다양한 기능이 향상됨에 따라 차량의 운전자 및 탑승자의 안정과 편리성을 향상시키기 위한 다양한 기술이 소개되고 있다. 특히, 차량이 안전하게 차선을 유지하도록 하는 차선유지 보조시스템이 상용화되고 있다.As various functions of the vehicle are improved, various technologies for improving the stability and convenience of the driver and the passenger of the vehicle have been introduced. In particular, a lane keeping assistance system for allowing a vehicle to safely maintain a lane has been commercialized.

이러한 차선유지 보조 시스템은 차량이 차선을 이탈하는 경우 이를 감지하고 해당 속도에서 목적 차선을 따라가도록 운전자를 돕는 시스템이다. The lane keeping assistance system is a system that detects when a vehicle leaves the lane and assists the driver to follow the target lane at the corresponding speed.

그러나, 종래의 차선유지 보조 시스템은 차량이 차선을 이탈하는 경우 이를 운전자에게 경고하여 운전자가 조향을 제어함으로써 차선 이탈을 방지하는 방식으로 운전자가 졸음운전중이거나 조향제어가 불가능한 상태인 경우 사고로 이어지더라고 이를 방지할 수 없었다.However, the conventional lane keeping assistance system warns the driver when the vehicle leaves the lane and prevents the vehicle from leaving the lane by controlling the steering, thereby leading to an accident when the driver is drowsy driving or when the steering control is impossible. I couldn't prevent it.

본 발명의 목적은 차량의 차선이탈 위험성이 발생할 경우 이를 판단하여 차선유지지원시스템이 조향 제어를 개입 또는 종료할 수 있도록 하는데 있다.An object of the present invention is to determine if there is a risk of lane departure of the vehicle so that the lane maintenance support system can intervene or terminate steering control.

상기와 같은 목적을 달성하기 위한 본 발명에 따른 차선유지지원시스템의 제어 시점 설정방법은, 영상센서부로부터 차선정보를 수집하는 과정과, 상기 차선정보를 이용하여 이탈예측량을 산출하는 과정과, 상기 이탈예측량을 이용하여 목표 요각을 산출하는 과정과, 상기 목표 요각을 이용하여 목표 요레이트를 산출하는 과정과, 상기 목표 요레이트를 이용하여 요구 조향각을 산출하는 과정과, 상기 요구조향각과 운전자의 조작에 의한 실제 조향휠 조향각을 비교하여 수정조향각을 산출하는 과정과, 상기 수정조향각이 기준범위내로 진입하도록 차량의 조향을 자동 제어하는 과정을 포함하는 것을 특징으로 한다.The control point setting method of the lane keeping support system according to the present invention for achieving the above object comprises the steps of collecting the lane information from the image sensor unit, calculating the deviation prediction using the lane information; A process of calculating a target yaw angle by using a deviation predictor; a process of calculating a target yaw rate using the target yaw rate; a process of calculating a required steering angle by using the target yaw rate; And a process of calculating a corrected steering angle by comparing the actual steering wheel steering angle by the automatic steering wheel, and automatically controlling the steering of the vehicle so that the corrected steering angle enters a reference range.

또한, 상기 수정조향각을 산출하는 과정은, 상기 요구조향각과 상기 실제 조향휠 조향각의 차이값으로 상기 수정조향각을 산출하는 것을 특징으로 한다.In the calculating of the corrected steering angle, the corrected steering angle may be calculated based on a difference between the required steering angle and the actual steering wheel steering angle.

또한, 상기 차량의 조향을 자동 제어하는 과정은, 상기 수정 조향각이 경고기준범위를 벗어나는 경우 경고를 하는 과정을 포함하는 것을 특징으로 한다.In addition, the process of automatically controlling the steering of the vehicle, characterized in that it comprises a process of warning if the modified steering angle is out of the warning reference range.

또한, 상기 차량의 조향을 자동 제어하는 과정은, 상기 수정 조향각이 개입기준범위를 벗어나는 경우 상기 수정 조향각이 개입기준범위내로 진입하도록 자동 제어하는 것을 특징으로 한다.In addition, the process of automatically controlling the steering of the vehicle, characterized in that the automatic control to enter the correction steering angle within the intervention reference range when the modified steering angle is out of the intervention reference range.

또한, 상기 차량의 조향을 자동 제어하는 과정은, 상기 수정 조향각이 경고 기준점에 도달하면 운전자에게 경고를 발생하고, 상기 수정 조향각이 개입 기준점에 도달하면 차량의 조향을 자동 제어하는 과정과, 상기 차량의 조향을 자동 제어하는 중에 상기 수정 조향각이 상기 경고 기준점에 도달하면 상기 차량의 조향의 자동 제어를 종료하는 과정을 포함하는 것을 특징으로 한다.The controlling of the steering of the vehicle may include: generating a warning to a driver when the corrected steering angle reaches a warning reference point, and automatically controlling the steering of the vehicle when the corrected steering angle reaches an intervention reference point; And when the corrected steering angle reaches the warning reference point during the automatic control of the steering, ending the automatic control of the steering of the vehicle.

상기와 같이 본 발명은 차량의 차선이탈 위험성이 발생할 경우 이를 판단하여 차선유지지원시스템이 조향제어를 개입 또는 종료할 수 있도록 함으로써 사고 위험을 방지할 수 있어 더욱 안전한 주행을 유도할 수 있는 효과가 있다.As described above, the present invention can determine the risk of lane departure of the vehicle, thereby determining the risk of accidents by allowing the lane maintenance support system to intervene or terminate steering control, thereby inducing a safer driving. .

도 1은 본 발명의 실시예에 따른 사전 예측 제어를 위한 차선유지지원시스템의 구성도.
도 2는 본 발명의 실시예에 따른 차선유지지원시스템의 조향 제어 시점 설정방법을 나타내는 순서도.
도 3은 본 발명의 실시예에 차선유지지원시스템의 사전 예측 제어 로직을 설명하기 위한 도면.
도 4는 본 발명의 실시예에 따른 수정조향각 기준 제어 시점을 설명하기 위한 도면.
도 5는 본 발명의 실시예에 따른 조향제어로직 개입 및 종료 시점 설정방법을 설명하기 위한 그래프.1 is a block diagram of a lane keeping support system for predictive control according to an embodiment of the present invention.
2 is a flowchart illustrating a method for setting a steering control time point of a lane keeping support system according to an exemplary embodiment of the present invention.
3 is a diagram for explaining pre-prediction control logic of a lane keeping support system according to an embodiment of the present invention;
4 is a view for explaining a modified steering angle reference control time point according to an embodiment of the present invention.
5 is a graph for explaining a steering control logic intervention and end point setting method according to an embodiment of the present invention.

이하, 본 발명에 따른 차선유지지원시스템의 제어 시점 설정방법을 첨부된 도 1 내지 도 5를 참조하여 상세히 설명한다.Hereinafter, a method of setting a control time of a lane keeping support system according to the present invention will be described in detail with reference to FIGS. 1 to 5.

도 1은 본 발명의 실시예에 따른 사전 예측 제어를 위한 차선유지지원시스템의 구성도이다.1 is a block diagram of a lane keeping support system for pre-predictive control according to an embodiment of the present invention.

사전 예측 제어를 위한 차선유지지원시스템은 영상 센서부(100), 제어부(200), 경고 발생부(300) 및 조향제어부(400)를 포함한다.The lane keeping support system for the predictive control includes an image sensor unit 100, a control unit 200, an alert generating unit 300, and a steering control unit 400.

영상 센서부(100)는 카메라센서(미도시)를 구비하여, 차량의 외부 영상을 촬영하고 이에 대한 정보를 생성한다. 즉, 영상센서부(100)는 촬영정보로부터 차선정보(차선폭, 차량의 횡변위, 양측 차선까지의 거리, 차선의 형태, 차로와 차량간의 상대요각, 도로곡률)를 추출한다.The image sensor unit 100 includes a camera sensor (not shown) to photograph an external image of the vehicle and generate information about the image. That is, the image sensor unit 100 extracts lane information (lane width, lateral displacement of the vehicle, distance to both lanes, shape of the lane, relative yaw angle between the lane and the vehicle, and road curvature) from the photographing information.

제어부(200)는 영상센서부(100)로부터 수신한 차선정보를 이용하여 이탈예측량(dyc,dyv)를 산출하고, 산출한 이탈예측량(dyc,dyv)과 차선정보 중 포함된 횡변위(dy0)을 이용하여 목표 요각(Ψp)을 산출한다. 또한, 제어부(200)는 목표 요각(Ψp)을 이용하여 목표 요레이트(Ψpp)를 산출한다. 이후, 제어부(200)는 목표 요레이트(Ψpp)를 차량의 실제 요레이트와 비교하여 차이값을 이용하여 요구조향각을 산출한다. 이때, 제어부(200)는 차량의 현재 차속, 요레이트, 조향각 등의 정보를 차량내의 장치(엔진제어기, 변속제어기 등)로부터 수집하여 주행중 계속 확인한다.Control unit 200 by using the lane information is received from the image sensor unit 100, leaving yecheukryang (dy c, dy v) calculated and included in the calculated departure yecheukryang (dy c, dy v) and lane information drift Calculate the target yaw angle Ψ p using (dy 0 ). In addition, the controller 200 calculates the target yaw rate Ψ pp using the target yaw angle Ψ p . Thereafter, the controller 200 compares the target yaw rate Ψ pp with the actual yaw rate of the vehicle and calculates the required steering angle using the difference value. At this time, the control unit 200 collects information such as the current vehicle speed, yaw rate, steering angle, etc. of the vehicle from the devices (engine controller, shift controller, etc.) in the vehicle to continue checking while driving.

또한, 제어부(200)는 요구 조향각과 차량의 실제 조향휠 조향각을 비교하여 수정조향각을 산출하고, 수정조향각이 개입기준범위를 벗어나면 차선을 이탈하는 것으로 판단하고 조향제어부(400)를 제어하여 차량의 조향을 제어함으로써 차선 이탈을 방지한다.In addition, the controller 200 compares the required steering angle with the actual steering wheel steering angle of the vehicle to calculate the corrected steering angle. Control lane steering to prevent lane departure.

경고 발생부(300)는 제어부(200)에 의해 산출된 요구조향각을 화면에 표시하여 운전자가 요구조향각에 따라 조향각을 조정할 수 있도록 한다. 경고 발생부(300)는 제어부(200)의 제어하에 수정조향각이 경고기준범위를 벗어난 경우 경고문구를 화면에 표시한다. 경고 발생부(300)는 음성출력도 가능하도록 구현하는 것이 바람직하다.The warning generator 300 displays the required steering angle calculated by the controller 200 on the screen so that the driver can adjust the steering angle according to the required steering angle. The warning generator 300 displays a warning message on the screen when the corrected steering angle is out of the warning reference range under the control of the controller 200. Alert generation unit 300 is preferably implemented to enable the voice output.

조향제어부(400)는 제어부(200)에 의해 제어되어 차량의 조향을 제어한다.The steering controller 400 is controlled by the controller 200 to control steering of the vehicle.

이하, 도 2 및 도 3을 참조하여 본 발명의 실시예에 따른 차선유지지원시스템의 제어 시점 설정방법을 구체적으로 설명하기로 한다. 이때, 운전자가 주시하는 전방 시점(A)에 도달하는데 소요될 시간(Tp)를 정의하고 차량의 현재 위치(B)에서 영상센서부(100)를 통해 얻어진 횡변위(dy0), 차로와 차량간의 상대요각(Δα), 도로 곡률반경(R)을 입력변수로 사용한다. Hereinafter, a control point setting method of the lane keeping support system according to an exemplary embodiment of the present invention will be described in detail with reference to FIGS. 2 and 3. In this case, the time Tp required to reach the front view point A, which the driver observes, is defined and the lateral displacement dy 0 obtained through the image sensor unit 100 at the current position B of the vehicle, the relative between the lane and the vehicle. The yaw angle (Δα) and the road curvature radius (R) are used as input variables.

먼저, 제어부(200)는 영상센서부(100)로부터 차선정보(차선폭, 차량의 횡변위, 양측 차선까지의 거리, 차선의 형태, 차로와 차량간의 상대요각, 도로곡률)를 수집한다(S100).First, the control unit 200 collects lane information (lane width, lateral displacement of the vehicle, distance to both lanes, the shape of the lane, the relative yaw between the lane and the vehicle, and the road curvature) from the image sensor unit 100 (S100). .

그 후, 제어부(200)는 차선정보를 이용하여 아래 수학식 1 및 수학식 2를 이용하여 이탈 예측량을 산출한다(S200). Thereafter, the control unit 200 calculates a deviation prediction amount using Equation 1 and Equation 2 using lane information (S200).

Figure pat00001
Figure pat00001

여기서, 이탈예측량(dyc)는 도로로 인한 횡방향 변위, v는 차속, αp는 상대요각인 Δαp의 미소각이고, 수학식 1에서 도로 기준 이탈예측량(dyc)은 차속과 sinαp를 곱산하고 적분하여 산출된다.Here, the departure prediction amount (dy c ) is the lateral displacement due to the road, v is the vehicle speed, α p is the small angle of Δα p which is the relative yaw angle, and in the equation (1), the road reference departure prediction amount (dy c ) is the vehicle speed and sinα p It is calculated by multiplying and integrating.

Figure pat00002
Figure pat00002

여기서, 이탈예측량(dyv)은 차속벡터로 인한 횡방향 변위이고 v는 차속, Tp는 운전자가 주시하는 전방지점(A)에 도달하는데 소요되는 시간, Δα는 차로와 차량간의 상대요각을 의미한다. 차속벡터 기준 이탈예측량(dyv)은 차속(v), 운전자가 주시하는 전방지점(A)에 도달하는데 소요되는 시간(Tp), 상대요각(Δα)의 싸인함수값을 곱하여 산출된다.Here, the deviation prediction amount (dy v ) is the lateral displacement due to the vehicle speed vector, v is the vehicle speed, T p is the time required to reach the forward point A, which the driver watches, and Δα is the relative yaw angle between the lane and the vehicle. do. The vehicle speed vector reference deviation prediction amount dy v is calculated by multiplying the vehicle function v, the time required to reach the front point A to be watched by the driver T p , and the sign function value of the relative yaw angle Δα.

그 후, 제어부(200)는 이탈예측량(dyc, dyv) 및 횡변위(dy0)를 아래 수학식 3에 적용시켜 목표 요각(Ψp)을 산출한다(S300). Thereafter, the control unit 200 determines the deviation predicted amount dy c , dy v ) and the lateral displacement dy 0 are applied to Equation 3 below to calculate a target yaw angle Ψ p (S300).

Figure pat00003
Figure pat00003

여기서, kc, ko, kv는 운전자 성향 지수이고, Sp는 차량의 현재 위치(A)에서 차량이 이탈할 것으로 추정되는 지점(C)까지의 거리를 의미한다. 운전자 성향 지수(kc, ko, kv)는 실험을 통해 차속 및 도로환경에 따른 운전 성향을 실험치로 미리 정해두는 것이 바람직하다.Here, k c , k o , and k v are driver tendency indices, and S p means a distance from the current position A of the vehicle to a point C at which the vehicle is estimated to leave. The driver tendency index (k c , k o , k v ) is preferable to determine the driving tendency according to the vehicle speed and the road environment through experiments.

수학식 3에서 목표 요각(Ψp)은 이탈예측량(dyc, dyv) 및 횡변위(dy0)에 각각 운전자 성향 지수(kc, kv, ko)를 곱산한 값을 차량의 현재 위치(A)에서 차량이 이탈할 것으로 추정되는 지점(C)까지의 거리(Sp)로 나눈 후 아크탄젠트(arctan) 함수 연산을 수행하여 산출된다.In Equation 3, the target yaw angle Ψ p is a deviation predictor (dy c , dy v ) and lateral displacement (dy 0 ) multiplied by the driver propensity index (k c , k v , k o ), respectively, from the current position (A) of the vehicle to the point (C) at which the vehicle is estimated to leave. It is calculated by performing the arc tangent (arctan) function after dividing by the distance S p .

이후, 제어부(200)는 목표 요각(Ψp)을 아래 수학식 4에 적용하여 목표 요레이트(Ψpp)를 산출한다(S400).Thereafter, the controller 200 calculates the target yaw rate Ψ pp by applying the target yaw angle Ψ p to Equation 4 below (S400).

Figure pat00004
Figure pat00004

수학식 4에서 목표 요레이트(Ψpp)는 목표 요각(Ψp)을 운전자가 주시하는 전방지점(A)에 도달하는데 소요되는 시간(Tp)으로 나누어 산출된다.In Equation 4, the target yaw rate Ψ pp is calculated by dividing the target yaw angle Ψ p by the time T p required to reach the forward point A that the driver watches.

그 후, 제어부(200)는 산출된 목표 요레이트(Ψpp)와 차량의 실제 요레이트를 비교하여 요레이트의 차이값에 휠베이스를 곱산한 후 차속으로 나누어 요구 조향각을 산출한다(S500).Thereafter, the controller 200 compares the calculated target yaw rate Ψ pp with the actual yaw rate of the vehicle, multiplies the difference in yaw rate by the wheelbase, and divides the vehicle speed by the vehicle speed to calculate the required steering angle (S500).

이에, 요구 조향각정보를 화면에 표시하여 운전자가 요구 조향각정보에 따라 조향각을 조정할 수 있도록 한다(S600).Thus, the requested steering angle information is displayed on the screen so that the driver can adjust the steering angle according to the requested steering angle information (S600).

그후, 제어부(200)는 요구 조향각과 운전자가 조작하는 조향휠 조향각을 비교하여 수정 조향각을 산출한다(S700). 이때, 수정조향각은 운전자가 조작하는 조향휠 조향각과 요구조향각의 차이로서 정의된다.Thereafter, the controller 200 calculates a corrected steering angle by comparing the steering angle of the steering wheel operated by the driver with the required steering angle (S700). In this case, the corrected steering angle is defined as the difference between the steering wheel steering angle and the required steering angle operated by the driver.

이에, 제어부(200)는 수정조향각을 기준으로 차량의 조향각이 기준범위를 벗어나는 경우 조향각 제어부(400)를 제어하여 차량의 조향을 자동 제어한다(S800).Thus, the controller 200 automatically controls the steering of the vehicle by controlling the steering angle controller 400 when the steering angle of the vehicle is out of the reference range based on the corrected steering angle (S800).

도 4 및 도 5를 참조하여 수정조향각에 의한 차량의 조향을 제어하는 시점을 설명하면, 수정조향각이 개입기준 범위(-δinterv~ +δinterv)를 벗어나면 제어부(200)가 조향각제어부(400)를 제어 차량의 조향각이 수정조향각의 개입기준 범위(-δinterv~ +δinterv)내로 진입하도록 제어한다.Referring to FIGS. 4 and 5, when the steering angle of the vehicle is controlled by the corrected steering angle, the control unit 200 controls the steering angle controller 400 when the corrected steering angle is out of the intervention reference range (-δ interv to + δ interv ). ) Is controlled so that the steering angle of the control vehicle enters the intervention reference range (-δ interv ~ + δ interv ) of the modified steering angle.

한편, 수정조향각이 경고기준범위(-δwarn~ +δwarn)를 벗어나면 제어부(200)가 경고 발생부(300)를 제어하여 경고음 또는 경고문구를 출력하도록 한다.On the other hand, when the modified steering angle is outside the warning reference range (-δ warn ~ + δ warn ), the control unit 200 controls the warning generating unit 300 to output a warning sound or warning phrase.

도 5에 따르면, 수정조향각이 개입기준 범위(-δinterv ~ +δinterv) 내에 진입한 상태이면 운전자가 조향을 제어하도록 하고, 경고기준범위(-δwarn ~ +δwarn)를 벗어나면 운전자에게 차선이 이탈할 가능성을 경고한 후, 수정조향각이 개입기준 범위(-δinterv~ +δinterv)를 벗어나면 조향제어부(400)를 제어하여 수정조향각이 개입기준 범위(-δinterv~ +δinterv) 내로 진입하도록 차량의 조향을 제어한다.According to FIG. 5, when the modified steering angle enters the intervention reference range (-δ interv ~ + δ interv ), the driver controls the steering, and when the correction steering angle falls outside the warning reference range (-δ warn ~ + δ warn ), After warning of the possibility of lane departure, if the steering angle is outside the intervention reference range (-δ interv ~ + δ interv ), the steering control unit 400 is controlled to correct the steering angle at the intervention reference range (-δ interv ~ + δ interv). Control of the vehicle to enter the vehicle.

더욱 구체적으로 설명하면, 수정조향각이 경고 기준점(D, G)에 도달하면 경고를 발생시키고, 수정조향각이 개입 기준점(E, H)에 도달하면 차량 이탈 방지를 위한 차량 조향 보조 제어를 수행하고, 수정 조향각이 경고 기준점(F, I)에 도달하면 차량 조향 보조 제어를 종료하고 다시 운전자가 조향 제어를 수행할 수 있도록 한다.In more detail, when the corrected steering angle reaches the warning reference point (D, G), a warning is issued, and when the corrected steering angle reaches the intervention reference point (E, H), the vehicle steering assistance control for vehicle departure prevention is performed. When the corrected steering angle reaches the warning reference points F and I, the vehicle steering assistance control is terminated and the driver can perform the steering control again.

이와같이, 본 발명은 차선유지지원시스템(LKAS)에 있어서 영상 센서부(100)를 통해 얻어지는 차선정보(차선폭, 차량의 횡변위, 양측 차선까지의 거리, 차선의 형태, 차로와 차량간의 상대요각, 도로곡률)와 차량 자체적으로 인지 가능한 상태정보(차속, 조향각, 요레이트)를 통해 특정 시간이 지날때의 차량의 위치 및 이탈량을 예측하여 차량이 차로를 이탈하지 않도록 사전 제어하도록 함으로써 차선유지 성능을 향상시키고, 요레이트 및 슬립각을 감소시켜 운전자의 조향 이질감을 최소화할 수 있다. As described above, the present invention provides the lane information (lane width, lateral displacement of the vehicle, distance to both lanes, shape of the lane, relative angle between the lane and the vehicle) obtained through the image sensor unit 100 in the lane keeping support system (LKAS), Lane maintenance performance by predicting the position and departure amount of the vehicle at a specific time through the curvature of the road) and the vehicle's own perceptible status information (vehicle speed, steering angle, yaw rate). To reduce the yaw rate and slip angle, minimizing the steering heterogeneity of the driver.

또한, 본 발명은 수정조향각을 개입 기준으로 하여, 차로 내 횡방향 거리를 물론 차량과 도로간 상대요각을 모두 고려하게 되므로 객관적인 개입시점을 설정할 수 있다.In addition, the present invention considers the relative steering angle between the vehicle and the road as well as the transverse distance in the lane, based on the correction steering angle as an intervention criterion so that an objective intervention point can be set.

또한, 개입시점에서의 수정조향각을 규정하고 차량이 수정조향각에 의한 기준범위내로 진입하도록 자동제어를 수행함으로써 일관적인 시점 정보를 제공할 수 있게 된다.In addition, it is possible to provide consistent viewpoint information by defining a corrected steering angle at the time of intervention and performing automatic control for the vehicle to enter the reference range by the corrected steering angle.

100 : 영상 센서부
200 : 제어부
300 : 경고발생부
400 : 조향 제어부100: image sensor
200:
300: warning unit
400: steering control

Claims (5)

영상센서부로부터 차선정보를 수집하는 과정;
상기 차선정보를 이용하여 이탈예측량을 산출하는 과정;
상기 이탈예측량을 이용하여 목표 요각을 산출하는 과정;
상기 목표 요각을 이용하여 목표 요레이트를 산출하는 과정;
상기 목표 요레이트를 이용하여 요구 조향각을 산출하는 과정;
상기 요구조향각과 운전자의 조작에 의한 실제 조향휠 조향각을 비교하여 수정조향각을 산출하는 과정; 및
상기 수정조향각이 기준범위내로 진입하도록 차량의 조향을 자동 제어하는 과정
을 포함하는 것을 특징으로 하는 차선유지지원시스템의 제어 시점 설정방법.Collecting lane information from the image sensor unit;
Calculating a deviation prediction amount using the lane information;
Calculating a target yaw angle using the deviation predicted amount;
Calculating a target yaw rate using the target yaw angle;
Calculating a required steering angle using the target yaw rate;
Calculating a corrected steering angle by comparing the required steering angle with an actual steering wheel steering angle by a driver's operation; And
A process of automatically controlling the steering of the vehicle such that the corrected steering angle enters a reference range
Control point setting method of the lane keeping support system comprising a. 제 1항에 있어서,
상기 수정조향각을 산출하는 과정은,
상기 요구조향각과 상기 실제 조향휠 조향각의 차이값으로 상기 수정조향각을 산출하는 것을 특징으로 하는 차선유지지원시스템의 제어 시점 설정방법.The method of claim 1,
The process of calculating the corrected steering angle,
And calculating the corrected steering angle based on a difference between the required steering angle and the actual steering wheel steering angle. 제 1항 또는 제 2항에 있어서,
상기 차량의 조향을 자동 제어하는 과정은,
상기 수정 조향각이 경고기준범위를 벗어나는 경우 경고를 하는 과정
을 포함하는 것을 특징으로 하는 차선유지지원시스템의 제어 시점 설정방법.3. The method according to claim 1 or 2,
The process of automatically controlling the steering of the vehicle,
Warning when the modified steering angle is out of the warning standard range
Control point setting method of the lane keeping support system comprising a. 제 1항 또는 제 2항에 있어서,
상기 차량의 조향을 자동 제어하는 과정은,
상기 수정 조향각이 개입기준범위를 벗어나는 경우 상기 수정 조향각이 개입기준범위내로 진입하도록 자동 제어하는 것을 특징으로 하는 차선유지지원시스템의 제어 시점 설정방법.3. The method according to claim 1 or 2,
The process of automatically controlling the steering of the vehicle,
And if the corrected steering angle is outside the intervention reference range, automatically controlling the modified steering angle to enter the intervention reference range. 제 1항에 있어서,
상기 차량의 조향을 자동 제어하는 과정은,
상기 수정 조향각이 경고 기준점에 도달하면 운전자에게 경고를 발생하고, 상기 수정 조향각이 개입 기준점에 도달하면 차량의 조향을 자동 제어하는 과정; 및
상기 차량의 조향을 자동 제어하는 중에 상기 수정 조향각이 상기 경고 기준점에 도달하면 상기 차량의 조향의 자동 제어를 종료하는 과정
을 포함하는 것을 특징으로 하는 차선유지지원시스템의 제어 시점 설정방법.
The method of claim 1,
The process of automatically controlling the steering of the vehicle,
Generating a warning to a driver when the corrected steering angle reaches a warning reference point, and automatically controlling steering of the vehicle when the corrected steering angle reaches an intervention reference point; And
Terminating automatic control of steering of the vehicle when the corrected steering angle reaches the warning reference point while automatically controlling the steering of the vehicle
Control point setting method of the lane keeping support system comprising a.
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WO2014029599A1 (en) * 2012-08-21 2014-02-27 Robert Bosch Gmbh Method and apparatus for guiding a vehicle within a lane
KR20140147233A (en) * 2013-06-19 2014-12-30 현대모비스 주식회사 Apparatus and method for judging drowsiness drive using driving pattern of vehicle
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WO2014029599A1 (en) * 2012-08-21 2014-02-27 Robert Bosch Gmbh Method and apparatus for guiding a vehicle within a lane
KR20140147233A (en) * 2013-06-19 2014-12-30 현대모비스 주식회사 Apparatus and method for judging drowsiness drive using driving pattern of vehicle
KR101499458B1 (en) * 2013-08-12 2015-03-06 현대오트론 주식회사 Automatic steering apparatus and method for vehicle
US9771072B2 (en) 2014-04-16 2017-09-26 Hyundai Motor Company Vehicle control system and method for self-control driving thereof
US9434383B2 (en) 2014-12-01 2016-09-06 Hyundai Motor Company Integrative method and system for controlling blind spot detection system and lane keeping assist system
KR20170119877A (en) * 2016-04-20 2017-10-30 주식회사 만도 Lane Keeping Control System and Steering Control Method
CN109466552A (en) * 2018-10-26 2019-03-15 中国科学院自动化研究所 Intelligent driving lane keeping method and system
CN109466552B (en) * 2018-10-26 2020-07-28 中国科学院自动化研究所 Intelligent driving lane keeping method and system
CN113120079A (en) * 2020-01-15 2021-07-16 通用汽车环球科技运作有限责任公司 Steering wheel angle offset correction for autonomous vehicles using angle control
CN115805937A (en) * 2021-09-14 2023-03-17 长沙中车智驭新能源科技有限公司 Lane keeping auxiliary control method and system based on multi-point preview
CN115805937B (en) * 2021-09-14 2024-05-28 长沙中车智驭新能源科技有限公司 Lane keeping auxiliary control method and system based on multipoint pre-aiming
CN114889593A (en) * 2022-04-21 2022-08-12 合众新能源汽车有限公司 Lane departure intervention method, device, equipment and storage medium
CN114889593B (en) * 2022-04-21 2024-05-14 合众新能源汽车股份有限公司 Lane departure intervention method, device, equipment and storage medium

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