KR20140025755A - Apparatus for controlling lateral direction of vehicle and method thereof - Google Patents

Abstract

Disclosed are a device for controlling the transverse direction of a vehicle and a method thereof. The device for controlling the transverse direction of a vehicle according to one embodiment of the present invention includes a driver recognition unit which identifies a driver by using at least one sensor installed on the vehicle when a driver gets into the vehicle; a driver pattern detecting unit which detects driving patterns of the identified driver based on previously saved driving patterns of drivers; and a transverse direction control unit which performs a transverse control of the vehicle based on the detected driving patterns of the driver. The transverse direction control unit performs the transverse control of the vehicle based on the detected driving patterns if the torque of a motor-driven power steering (MDPS) by the driver in the vehicle is lower than a preset threshold value so that present invention can perform the transverse control of the vehicle according to the driving patterns of the driver in a driver seat; removes a failure of recognizing the driving patterns of the driver if the vehicle is driven by multiple drivers; and can solve a problem when the traffic lines are not recognized. [Reference numerals] (110) Sensor unit; (111) Ultrasonic sensor; (112) Image camera; (113) Seat pressure sensor; (114) Torque sensor; (115) Displacement sensor; (120) Signal processing unit; (121) Driver recognition unit; (122) Driver pattern detecting unit; (130) Memory unit; (140) Transverse direction control unit

Description

Apparatus for controlling lateral direction of vehicle and method

The present invention relates to vehicle lateral control, and more particularly, to a vehicle lateral control apparatus and a method for identifying a driver and performing lateral control of the vehicle using a driver-specific driving pattern.

In general, the vehicle is equipped with a variety of systems for driver and passenger protection, driving assistance and improved ride comfort.

Among other systems, autonomous driving control system is a technology that recognizes lanes and performs automatic steering using a camera.

The autonomous driving control system measures the lane width, the transverse position of the vehicle, the distance to both lanes, the shape of the lane and the radius of curvature of the road, based on the image processing of the camera. Use it to estimate the driving trajectory of the vehicle and to operate the steering system so that the vehicle can maintain or change lanes.

However, the above-described autonomous driving control system has a problem in that it cannot reflect the driver's characteristics in that it performs autonomous driving using only information obtained from a sensor. The conventional technology for solving this problem is an autonomous driving vehicle. The driver's behavioral characteristics were reflected on the path search and driving behavior.

However, such a prior art has no countermeasures in case of driving data of a plurality of drivers or when sudden driving occurs while acquiring the past driving data when determining the past driving pattern to determine the characteristics of the driver. In this case, there is a problem that gives the driver a sense of rejection than the normal autonomous driving by reflecting the wrong past driving pattern.

In addition, the lane keeping control system mounted on the vehicle detects the left and right lanes using a front camera, and based on the lane detection result, steer auxiliary steering torque to prevent lane departure of the vehicle and maintain the lane. It is a device that generates the control device. Among these lane keeping control systems, a road center following control system that performs a lane keeping control function by controlling the center of the road to follow is also being developed.

On the other hand, different drivers have different driving tendencies. For example, when driving on a curved road, there is a driver having a driving tendency to turn close to the inside of the road, a driver having a driving tendency to turn toward the center of the road, and a driver having a driving tendency to turn outside the road.

The lane keeping control system performs a lane keeping control function by simply controlling to prevent deviation of the detected lane or following a road center, so that the above-mentioned drivers cannot reflect different driving tendencies. Since the lane keeping control is not performed in consideration of the driving tendency of the driver, a problem may occur in the steering control performed by the lane keeping control according to the driver's steering intention at a specific point. This may cause a control function malfunction in the lane keeping control system, and may cause an accident in serious cases.

In order to solve the problem of the lane keeping control system, a technique according to an exemplary embodiment of the present invention is a reference tracking position setting method for setting a reference tracking position to be followed by a vehicle in consideration of a driver's driving tendency, By controlling the vehicle to follow the set reference following position, the lane keeping control function reflecting the driver's driving tendency was performed.

However, this conventional technology has a problem in that when a plurality of drivers drive a vehicle, the lateral offset characteristics of several people are determined as one driver's driving tendency without distinction.

Accordingly, there is a need for an apparatus capable of controlling a vehicle in consideration of the current driving tendency of the plurality of vehicle drivers.

Korean Patent Publication No. 2011-0104682 (Published 2011.09.23) Korean Laid-Open Patent No. 2012-0022305 (Published 2012.03.12)

An object according to an embodiment of the present invention, which was devised to solve the above problems, is to provide a lateral control apparatus for a vehicle capable of performing lateral control of a vehicle in accordance with a driver's propensity to sit in a driver's seat and a method thereof. To provide.

Specifically, the present invention controls the vehicle lateral direction by controlling the control of the languidance system (LGA), the lane keeping assist system (LKAS), and the lane change system (LCS), which are the lateral control systems, based on the driving tendency of the vehicle driver. To provide a vehicle lateral control device and a method for improving the safety and reliability for the vehicle.

In addition, an object according to an embodiment of the present invention is to eliminate a driver's propensity recognition failure that may occur when a vehicle is driven by a plurality of drivers, and to solve the problem of lane recognition that may occur during lateral control. The present invention provides a transverse control device for a vehicle and a method thereof.

In order to achieve the above object, a lateral direction control apparatus for a vehicle according to an embodiment of the present invention includes a driver recognition unit for identifying the driver using at least one sensor installed in the vehicle; A driver pattern detector configured to detect the driving pattern of the identified driver from driving patterns for a plurality of drivers stored in advance; And a lateral controller configured to perform lateral control of the vehicle by using the detected driving pattern of the driver.

The lateral control unit may perform lateral control of the vehicle by using the detected driver pattern when the torque of the electronic steering apparatus MDPS by the driver in the vehicle is less than a predetermined threshold value.

The driver recognition unit may identify the driver by using information detected by a sensor installed in a driving seat of the vehicle.

The driver pattern detector may detect the driving patterns of the identified driver and separate a driving pattern for an abnormal situation among the detected driving patterns.

The lateral controller may calculate an average value of the detected driving patterns of the driver and perform lateral control of the vehicle based on the calculated average value.

When controlling the lane guidance system of the vehicle, the lateral control unit may control the lane guidance system based on deflection information to the left or right lane of the detected driver's driving pattern.

The lateral control unit determines whether a stop obstacle exists when the lane keeping assistant system of the vehicle is controlled, and if the stop obstacle exists, draws a virtual line at a position spaced a predetermined distance from the stop obstacle. The lane keeping assistance system may be controlled based on the virtual line, and the lane keeping assistance system may be controlled based on a distance between the virtual line and the stop obstacle in the driver's driving pattern.

When the lateral control unit controls the lane change system of the vehicle, the lane is based on the lane change rate of the driver calculated by the x-axis change amount and the y-axis change amount between lanes among the driver's driving patterns. Change system can be controlled.

According to another aspect of the present invention, there is provided a lateral control apparatus for a vehicle, including: a driver recognition unit configured to identify the driver using at least one sensor installed in the vehicle; A driving information generation unit for extracting a lateral driving characteristic of the driver and generating the lateral driving information of the driver by mapping the extracted lateral driving characteristic to the identified identification information of the driver; And a driving pattern generation unit configured to generate a lateral driving pattern of the driver by using the generated lateral driving information and at least one or more lateral driving information mapped to the identification information stored in advance.

According to an embodiment of the present disclosure, a method of controlling a vehicle lateral direction may include identifying the driver by using at least one sensor installed in the vehicle; Detecting the identified driving pattern of the driver from driving patterns for a plurality of drivers stored in advance; And performing lateral control of the vehicle by using the detected driving pattern of the driver.

According to the present invention, it is possible to perform the lateral control of the vehicle in accordance with the driver's propensity to sit in the driver's seat, and may occur when the driver's propensity recognition failure and lateral control that may occur when the vehicle is driven by a plurality of drivers. This can eliminate the problem of lane detection.

That is, the present invention performs the lateral control of the vehicle using the driving propensity or driving pattern for the driver of the current driver's seat when controlling the LGS (Lane Guidance System), LKAS (Lane Keeping Assist System), LCS (Lane Change System) In addition, the driver may recognize the unrecognized lane and give safety and reliability to the driver by considering the distance recognition by the ultrasonic sensor and the driver's driving inclination for the problem of the lane unrecognition that may be generated by the guardrail.

In addition, the present invention by assigning the identification number for each driver, by analyzing / storing the driving tendency for each driver, it is possible to eliminate the driver's propensity recognition failure that may occur when the vehicle is driven by a plurality of drivers, such as a sudden situation By removing the driving information on the same abnormal situation and analyzing the driver's driving tendency, it is possible to accurately generate the driver's driving pattern, and thereby to reliably perform the lateral control of the driver.

In addition, since the present invention can be applied as a signal processing unit separate from the lateral control system, it can be applied to an integrated driverless vehicle controller.

1 illustrates a configuration of a lateral control apparatus of a vehicle according to an embodiment of the present invention.
FIG. 2 illustrates an exemplary diagram for describing the control of the LKAS illustrated in FIG. 1.
FIG. 3 shows an exemplary view for explaining the control of the LCS shown in FIG. 1.
FIG. 4 illustrates an exemplary diagram for describing the control of the LGS illustrated in FIG. 1.
Figure 5 shows the configuration of the lateral direction control apparatus of a vehicle according to another embodiment of the present invention.
6 is a flowchart illustrating a method of controlling a vehicle lateral direction according to an embodiment of the present invention.
FIG. 7 is a flowchart illustrating an embodiment of operation S650 of FIG. 6.
8 is a flowchart illustrating another exemplary operation for step S650 illustrated in FIG. 6.
9 is a flowchart illustrating still another embodiment of operation S650 shown in FIG. 6.
10 is a flowchart illustrating an operation method of a transverse direction control method of a vehicle according to another exemplary embodiment of the present invention.

Other objects and features of the present invention will become apparent from the following description of embodiments with reference to the accompanying drawings.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, the term "comprising" or " comprising " is intended to specify the presence of stated features, integers, steps, operations, elements, parts or combinations thereof, , But do not preclude the presence or addition of one or more other features, elements, components, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted in an ideal or overly formal sense unless explicitly defined in the present application Do not.

Preferred embodiments of the present invention will be described in detail with reference to the accompanying 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.

Hereinafter, an apparatus and method for controlling a vehicle lateral direction according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 10.

1 illustrates a configuration of a lateral control apparatus of a vehicle according to an embodiment of the present invention.

Referring to FIG. 1, a vehicle lateral control apparatus includes a sensor unit 110, a signal processing unit 120, a storage unit 130, and a lateral control unit 140.

The sensor unit 110 is configured for all sensors provided in the vehicle including the ultrasonic sensor 111, the image camera 112, the seat pressure sensor 113, the torque sensor 114, the displacement sensor 115, and the like. it means.

Here, the ultrasonic sensor 111 may be used to determine the distance from the surrounding moving vehicle or the surrounding stop obstacle using ultrasonic waves, and the image camera 112 may be used to recognize the surrounding vehicle, the surrounding obstacle, the lane, or the like. The seat pressure sensor 113 may be used to identify a vehicle driver, the torque sensor 114 may be used to detect torque of an electronic steering device (MDPS), and the displacement sensor ( 115 may be used to detect pedal displacement of the vehicle, and the like.

Of course, the image camera 112 may also be used to identify the vehicle driver. In order to identify the vehicle driver using the image camera 112, the image camera 112 may perform image image processing, and thereby may process the image of the vehicle driver. Skill is needed.

The storage unit 130 may store information about the information detected by the sensor unit 110 and the information processed by the signal processing unit 120, that is, information on driving tendency for each driver and driving patterns generated by driving tendency for each driver. Save the information. Of course, the storage unit 130 is not limited to the above-described information, and may store all the information related to the present invention.

At this time, the driving tendency information for the driver stored in the storage unit 130 may be mapped and stored with the driver identification number, and may be combined with the information detected by the sensor unit 110 to detect lane deflection information and lanes in a straight line. Lane change rate information at the time of change, information about the distance from the stop obstacle when driving in a straight line near the stop obstacles such as guard rails can be stored, as well as all information that can be generated when driving the vehicle can be stored. .

The signal processor 120 is a core technology of the present invention, and includes a driver recognition unit 121 and a driver pattern detection unit 122.

The driver recognizing unit 121 identifies the driver in the driver's seat of the vehicle based on the information received from the sensor unit 110.

At this time, the driver recognition unit 121 may identify the vehicle driver using the information detected by the seat pressure sensor 113 installed in the driver's seat, and by the image camera 112 to photograph the driver's seat as needed. By image-processing the face of the photographed driver, the vehicle driver may be identified.

The driver pattern detection unit 122 detects a driving pattern for the driver identified by the driver recognition unit 121 from the driving patterns for the plurality of drivers stored in the storage 130 in advance, and the lateral control unit 140. Driver's propensity information for the transverse function to be controlled.

At this time, the driver pattern detector 122 detects at least one or more driving patterns or driving tendencies for the driver identified by the driver recognition unit 121, and separates the driving pattern for the abnormal situation among the detected driving patterns. Alternatively, the driving pattern may be determined, and the driving pattern for the vehicle driver may be determined by calculating an average value of the driving patterns of the driver while the driver's propensity information for the abnormal situation is removed.

The horizontal direction controller 140 controls the horizontal direction of the vehicle based on the driving pattern information of the current vehicle driver received from the signal processor 120.

At this time, the transverse direction control unit 140 of the vehicle driver's driving pattern information based on the LGS (Lane Guidance System) 142, LKAS (Lane Keeping Assist System) 141, LCS (Lane Change System) 143 Control can be performed.

Furthermore, when the MDPS torque detected by the sensor unit 110 is less than a preset threshold value, the lateral control unit 140 may perform lateral control based on driving pattern information of the vehicle driver, and the MDPS torque is a threshold value. In the above case, in order to update the driving pattern information of the vehicle driver, the lateral control may be released and the signal processor 120 may be controlled to collect the driving pattern information of the vehicle driver.

At this time, by updating the driving pattern information of the driver previously stored using the driving pattern information collected by the signal processing unit 120, the driving pattern information of the driver later, for example, the updated LGS deflection information of the driver, LKAS separation Transverse control can be performed using distance and LCS lane change rate.

Hereinafter, a process of controlling LKAS, LGS, and LCS will be described with reference to FIGS. 2 to 4.

1) LKAS Control

When controlling the LKAS, the lateral control unit 140 not only provides a warning by recognizing the lateral object using an ultrasonic sensor but also controls the LKAS at a predetermined interval based on the driving pattern of the vehicle driver. Eliminate driver anxiety during control.

That is, the horizontal control unit 140 determines the presence or absence of stationary obstacles such as guardrails, vehicles of the same speed, and the like on the left and right sides using ultrasonic sensors mounted on the front and rear sides. At this time, the classification of the stationary obstacle and the moving obstacle may be determined as a stationary obstacle when the front and rear ultrasonic sensors come out with the same value for a predetermined time, and as a moving obstacle when the front and rear values are different or are not the same. Can be.

In addition, the horizontal controller 140 determines whether to recognize the left and right lanes and compensates the virtual line (or the virtual lane) together with the lane width information based on the ultrasonic signal even if the lane on the side where the stop obstacle exists is not recognized. Here, the virtual line is a lane in which an unrecognized lane is virtually formed, and can be solved through virtual line compensation even when driving in a tunnel, which is a situation in which the front camera is not recognized.

For example, as shown in FIG. 2, when the guardrail which is a stop obstacle exists on the left side of the vehicle, the control of the existing LKAS was performed at a position 210 close to the guardrail, but in the present invention, the guardrail or the like is used. The LKAS control is performed at a position 220 spaced apart from the driver rail by a predetermined distance from the driver's driving tendency or pattern when the same stop obstacle exists. That is, the lateral controller 140 performs LKAS control based on the stopping obstacle detected by the ultrasonic sensor, the distance between the vehicle, and the driving tendency of the vehicle driver.

Therefore, even if the driver feels that the driver is too close to the guard rail and has anxiety in the lateral control, the LKAS lateral control is performed in consideration of the driver's driving tendency, thereby eliminating anxiety about the lateral control. Can be.

As described above, when the stationary obstacle or the moving obstacle exists, the lateral control unit 140 of the present invention may perform the LKAS control by using the distance value learned by the driver how far the obstacle is driven.

2) LCS Control

When the turn signal for lane change is received, the lateral controller 140 determines that the vehicle driver wants to change the lane, and uses the x-axis change amount and the y-axis change amount between the lanes in the driving pattern of the vehicle driver. The change rate is calculated and the LCS is controlled based on the calculated lane change rate of the driver.

At this time, as shown in FIG. 3, the transverse control unit 140 displays the distance, the initial heading angle θ, and the lane offset with the front and rear side preceding vehicles when the lane change start 310 previously stored as the driving tendency of the vehicle driver. The lane change rate of the driver may be calculated using the lane offset and the end time t2 of the start time t1 and the time point at which the lane change is completed (the heading angle becomes 0). That is, as shown in FIG. 3, if the heading angle and the transverse distance are known through the geometric relationship between the two points 310 and 320, the transverse change amount Δx and the longitudinal change amount Δy are calculated per hour. Calculate your lane change rate.

Of course, the lane change rate of the driver may be calculated by using an average value every time the number of driving of the vehicle increases, and when the number of driving of the vehicle increases more than a certain number of times, the lane change rate of the driver may converge to a certain value. This value may be unique to each driver.

That is, the lateral control unit 140 of the present invention is the amount of change in the x-axis and the amount of change in the y-axis from the time point t1 at which the driver gives the steering angle for lane change to the time point t2 at which the lane is changed to finally restore the steering angle to zero. Control the LCS by using the information for calculating the lane change rate or lane change rate of the driver calculated using the.

3) LGS Control

The horizontal control unit 140 controls the LGS based on the deflection information of the vehicle driver's driving pattern or inclination received from the signal processor 120 to the left or right lane because the degree of left and right deflection of the lane is different according to the driver. .

In this case, the driver's deflection information may be different when there is an obstacle on the left or the right, and accordingly, the deflection information may vary depending on the surrounding obstacle. Can be converged.

Of course, in order to control the LGS, the vehicle checks the current position of the vehicle by using image information of the lane photographed by the video camera to check the position in the lane, and checks the current position of the vehicle and the driver's deflection information. It is preferable to perform the LGS control on the basis of this.

For example, when the driver is deflected in the left lane as shown in FIG. 4, the lateral control unit 140 controls the LGS such that the center of the vehicle is deflected from the lane center part 420 to the left 410, and the driver is in the right lane. When deflected, the LGS is controlled to deflect the center of the vehicle from the lane center part 420 to the right side 430.

As described above, the vehicle lateral direction control apparatus according to the present invention grasps driver's propensity to drive each driver, and thereby controls the vehicle lateral direction, thereby relieving the driver's anxiety that may be generated by the lateral direction control. Thus, the reliability of the transverse control device can be improved.

Furthermore, the present invention can also provide the driver with reliability and stability for lateral control by eliminating problems that may occur when the lane is not recognized, such as when entering a guardrail or a tunnel.

FIG. 5 illustrates a configuration of an apparatus for controlling a lateral direction of a vehicle according to another exemplary embodiment of the present disclosure, and illustrates a configuration for generating a driving pattern for performing lateral control for each driver.

Referring to FIG. 5, the vehicle lateral control apparatus includes a sensor unit 110, a driver recognition unit 510, a driving information generator 520, a driving pattern generator 530, and a storage unit 540. .

Since the sensor unit 110 has been described in detail with reference to FIG. 1, the description thereof will be omitted.

The driver recognition unit 510 identifies the vehicle driver based on information detected by the sensor unit 110, for example, pressure information received from the seat pressure sensor.

The driving information generator 520 extracts the characteristics of the driver's lateral driving while the vehicle driver drives the vehicle, and maps the extracted driver's lateral characteristic information to the identified driver's identification information in the lateral direction of the driver. Generate driving information.

In this case, the driver's identification information may be obtained from driver's identification information mapped to the seat pressure information stored in the storage unit 540 in advance. Of course, when the driver's identification information is not stored in the storage unit 540, new identification information may be generated and stored.

At this time, the driving information generation unit 520 may generate the driving characteristic information of the driver in the form of ID-01-UL1R0-RL1R1-RL1R0-S.

Here, 01 means the first driver that is stored in advance, UL1R0 means that there is an object on the left side and no object on the right side by the ultrasonic sensor, FL1R1 is the part for the front side and the object on the front left side and the front right side Also, RL1R0 means that there is an object in the rear side, and there is an object on the rear left side and no object on the rear right side, and S means a straight line. At this time, when the vehicle is traveling in a curve rather than a straight line, the driving characteristic information of the driver may be generated using C instead of S. Of course, information about the distance and information about the image may also be stored together to generate driving information of the driver.

The driving pattern generator 530 may generate the driver's driving information generated by the driving information generator 520 and at least one or more driving information about the driver of the current vehicle previously stored in the storage 540, that is, the lateral driving information. The driver generates a transverse driving pattern of the driver and stores the driver in the storage unit 540.

At this time, the driving pattern generator 530 removes driving information on an abnormal situation such as an accident situation among the driving information of the corresponding driver, and uses the driving information of the driver from which the abnormal driving information is removed. Can be generated.

Here, the driving pattern of the driver may include all of driving information for controlling the LGS, LKAS, and LCS for each driver.

The storage unit 540 stores all information necessary for the present invention, such as information detected by the sensor unit 110, driver information for each driver generated by the driving pattern generator 530, and driver identification information.

The driving pattern for each driver stored in the storage unit 540 may become clear as the number of driving of the vehicle increases.

The apparatus for generating a driver's driving pattern described with reference to FIG. 5 is a device that operates when the MDPS torque of the driver is greater than or equal to a threshold value, and the driver for the lateral control according to the driver's disposition when the driver is willing to drive. To generate a driving pattern.

6 is a flowchart illustrating a method of controlling a vehicle lateral direction according to an embodiment of the present invention.

Referring to FIG. 6, the method of controlling the vehicle lateral direction according to the present invention identifies a current driver in the vehicle using at least one sensor provided in the vehicle, for example, a driving seat pressure sensor and / or an image camera. (S610).

When the vehicle driver is identified, the driving pattern for the identified vehicle driver is detected from the driving patterns for the plurality of drivers stored in advance (S620).

In this case, the detection of the driving pattern of the corresponding driver may detect and acquire the driving pattern or the driving information for the corresponding driver using identification information corresponding to the corresponding driver, for example, an ID.

When a driving pattern of the corresponding driver is detected among the plurality of drivers, the driving pattern for the abnormal situation is separated or removed from the detected driving information or driving patterns of the corresponding driver (S630).

Here, the driving pattern for the abnormal situation may mean a driving pattern that is out of a predetermined range from the average driving tendency of the driver, and the driving pattern for the abnormal situation may be detected by other methods as well.

In order to determine whether the vehicle driver controls the lateral direction using the driving tendency, it is determined whether the MDPS torque is smaller than a preset threshold value (S640).

As a result of the determination in step S640, when the MDPS torque is greater than or equal to the threshold value, it is determined that the driver is willing to drive and collects driving information for updating the driving pattern of the driver, and when the MDPS torque is less than the threshold value, the driving pattern in an abnormal situation In consideration of the driving pattern of the separated or removed vehicle driver, lateral control of the vehicle is performed (S650 and S660).

Here, the lateral control of the vehicle is LGS, LKAS, LCS control, the lateral control for each will be described with reference to Figs.

FIG. 7 is a flowchart illustrating an embodiment of operation S650 of FIG. 6, which relates to LGS control.

Referring to FIG. 7, in the step S650 of controlling the lateral direction of the vehicle by using the driver's driving pattern, the driver's driving pattern is biased toward the left lane, that is, driving to the right lane. In operation S710, information on whether the operation is performed is detected.

Here, the detected deflection information may be an offset from the left or right lane or may be an offset from the center of the lane.

If the driver's deflection information is detected, lane guidance of the vehicle is controlled based on the detected deflection information (S720).

FIG. 8 is a flowchart illustrating another embodiment of the operation S650 of FIG. 6, which relates to LKAS control.

Referring to FIG. 8, in the step S650 of controlling the lateral direction of the vehicle using the driver's driving pattern, in order to perform the LKAS control, it is determined whether a stop obstacle exists around the vehicle (S810).

When a stop obstacle exists around the vehicle, a virtual line, that is, a virtual lane, is formed at a position spaced a predetermined distance from the stop obstacle based on the stop obstacle (S820).

In this case, the virtual line may be corrected according to a situation, and the formation of the virtual line may be formed based on the driving tendency in the case where the vehicle driver has a stop obstacle.

That is, the position where the virtual line is formed may vary depending on the distance between the stationary obstacle and the stationary obstacle.

When the virtual line is formed, the LKAS control for maintaining the lane of the vehicle is performed based on the formed virtual line (S830).

FIG. 9 is a flowchart illustrating another embodiment of operation S650 of FIG. 6, which relates to LCS control.

Referring to FIG. 9, in the step S650 of controlling the lateral direction of the vehicle using the driver's driving pattern, information on a lane change rate of the vehicle driver is detected from the driver's driving pattern, and the detected information is used by using the detected information. The lane change rate is calculated (S910).

Of course, when the lane change rate is stored in the driving pattern, the lane change rate of the corresponding driver may be acquired by detecting the lane change rate.

When the lane change rate of the driver is calculated, LGS control on lane change of the vehicle is performed based on the calculated lane change rate (S920).

At this time, LGS control of the vehicle may be performed when a turn signal for lane change is received.

FIG. 10 is a flowchart illustrating a method of controlling a vehicle lateral direction according to another exemplary embodiment of the present invention. The flowchart illustrates an operation flowchart of the apparatus shown in FIG. 5. This is for the case where the torque is above the threshold.

Referring to FIG. 10, when a driver who is currently in a vehicle is identified by at least one sensor, driving characteristics that are driven by the identified vehicle driver are extracted or generated in this case (S1010 and S1020).

Here, the identification information of the driver may be obtained by searching from the identification information of the plurality of drivers stored in advance, and the description thereof is omitted in the description of the apparatus.

When the lateral driving characteristic of the driver is generated, lateral driving information is generated by mapping the lateral driving characteristic and the driver identification information (S1030). Here, the lateral driving information may include driving information necessary for LGS, LCS, and LKAS control.

When the lateral driving information of the driver is generated by driving the vehicle, the driving pattern of the corresponding driver is generated using the generated lateral driving information and at least one or more lateral driving information of the corresponding driver stored in advance (S1040).

Here, the driver's driving pattern may be generated by calculating an average value of the driving information excluding the driving information on the abnormal situation, and the driving pattern of the driver may be stored in a preset storage means.

The lateral control method of a vehicle according to an exemplary embodiment of the present invention may be implemented in the form of program instructions that can be executed by various computer means and recorded in a computer readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

As described above, the present invention has been described by specific embodiments such as specific components and the like. For those skilled in the art, various modifications and variations are possible from these descriptions.

Accordingly, the spirit of the present invention should not be construed as being limited to the embodiments described, and all of the equivalents or equivalents of the claims, as well as the following claims, belong to the scope of the present invention .

Claims (18)

A driver recognition unit identifying the driver by using at least one sensor installed in the vehicle when the driver boards the vehicle;
A driver pattern detector configured to detect the driving pattern of the identified driver from driving patterns for a plurality of drivers stored in advance; And
Transverse direction control unit for performing the transverse direction control of the vehicle by using the detected driving pattern of the driver
Vehicle lateral control device comprising a. The method of claim 1,
The transverse control unit
Vehicle lateral control, characterized in that when the torque of the electronic steering apparatus (MDPS) by the driver in the vehicle is less than a predetermined threshold value, the lateral control of the vehicle is performed using the detected driver pattern. Device. The method of claim 1,
The driver recognition unit
And the driver is identified using information sensed by a sensor installed in a driving seat of the vehicle. The method of claim 1,
The driver pattern detection unit
And detecting a driving pattern of the identified driver and separating a driving pattern for an abnormal situation among the detected driving patterns. The method of claim 1,
The transverse control unit
And calculating an average value of the detected driving patterns of the driver and performing lateral control of the vehicle based on the calculated average value. The method of claim 1,
The transverse control unit
When controlling the lane guidance system (Lane Guidance System) of the vehicle lateral direction control, characterized in that for controlling the lane guidance system based on the deflection information to the left or right lane of the driver's driving pattern detected Device. The method of claim 1,
The transverse control unit
In the case of controlling a lane keeping assistant system of the vehicle, it is determined whether a stop obstacle exists, and when the stop obstacle exists, a virtual line is formed at a position spaced apart from the stop obstacle by the virtual line. And controlling the lane keeping assistance system based on the control. 8. The method of claim 7,
The transverse control unit
And controlling the lane keeping assistance system based on a distance between the virtual line and the stop obstacle in the driver's driving pattern. The method of claim 1,
The transverse control unit
When the lane change system of the vehicle is controlled, the lane change system is controlled based on the lane change rate of the driver calculated by the x-axis change amount and the y-axis change amount between lanes among the driver's driving patterns. Vehicle lateral control device, characterized in that.
A driver recognition unit identifying the driver by using at least one sensor installed in the vehicle when the driver boards the vehicle;
A driving information generation unit for extracting a lateral driving characteristic of the driver and generating the lateral driving information of the driver by mapping the extracted lateral driving characteristic to the identified identification information of the driver; And
A driving pattern generator for generating a lateral driving pattern of the driver by using the generated lateral driving information and at least one or more lateral driving information mapped to the identification information stored in advance.
Vehicle lateral control device comprising a. 11. The method of claim 10,
The driving pattern generator
Vehicle lateral control, characterized in that for generating the lateral driving pattern of the driver after removing the lateral driving information for the abnormal situation from the generated lateral driving information and the at least one or more lateral driving information stored in advance. Device.
Identifying the driver using at least one sensor installed in the vehicle when the driver is riding;
Detecting the identified driving pattern of the driver from driving patterns for a plurality of drivers stored in advance; And
Performing transverse control of the vehicle using the detected driving pattern of the driver;
Vehicle lateral control method comprising a. The method of claim 12,
The step of performing the lateral control
Vehicle lateral control, characterized in that when the torque of the electronic steering apparatus (MDPS) by the driver in the vehicle is less than a predetermined threshold value, the lateral control of the vehicle is performed using the detected driver pattern. Way. The method of claim 12,
The detecting step
Detecting at least one driving pattern corresponding to the identified driver; And
Separating a driving pattern for an abnormal situation among the detected at least one driving pattern
Lt; / RTI >
The step of performing the lateral control
And controlling the vehicle in a lateral direction using the at least one driving pattern in which the driving pattern for the abnormal situation is separated. The method of claim 12,
The step of performing the lateral control
And controlling the lane guidance system based on the deflection information to the left or right lane of the detected driver's driving pattern when controlling the lane guidance system of the vehicle. The method of claim 12,
The step of performing the lateral control
Determining whether a stop obstacle exists when controlling the lane keeping assistance system of the vehicle;
Forming a virtual line at a position spaced a predetermined distance from the stop obstacle when the stop obstacle exists; And
Controlling the lane keeping assistance system based on the formed virtual line
Vehicle transverse direction control method comprising a. The method of claim 12,
The step of performing the lateral control
Calculating a lane change rate of the driver using an x-axis change amount and a y-axis change amount between lanes of the driver's driving pattern when controlling the lane change system of the vehicle; And
Controlling the lane change system based on the calculated lane change rate of the driver
Vehicle transverse direction control method comprising a.
A computer-readable recording medium in which a program for executing the method of any one of claims 12 and 17 is recorded.

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