KR20140076433A - A lane guidance revision method and system using historical information of driving - Google Patents

Abstract

The present invention relates to a method for correcting lane guidance using study information and a system thereof. The system can reduce driver′s fatigue and provide more comfortable driving environments by allowing the driver to drive a vehicle in a psychologically stable condition despite poor road conditions by adjusting lane guidance according to lane situation and past study information for situations such as when a large vehicle approaches from an adjacent lane while a lane guiding function for following the center of a lane is operated.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lane guidance induction line adjusting method using learning information,

The present invention adjusts the lane guidance follow line according to the lane situation and the information learned in the past when the lane guidance function for following the center of the lane is operated, The present invention relates to a technique for enabling a driver to travel in a psychologically stable state even in a threatening road situation.

Smart Cruise Control (SCC) and Lane Keeping Assist System (LKAS) are completely different from each other in the control direction of the vehicle. However, even if the SCC and the LKAS are operated at the same time, the respective functions of the SCC and the SCC are only provided for the longitudinal threat based on the driver's vehicle, and the LKAS only functions for the lateral lane departure. It is difficult to cope with situations. In addition, even if the risk detection and alarm function using the lateral sensor is enabled and the lateral risk avoidance is possible, it is realistic to provide a risk avoidance function in which the person manually manages the avoidance operation through the comprehensive control of the longitudinal / impossible.

Generally, the lane guidance function (usually applied to the 'lane departure alarm' or 'lane departure prevention' function) detects the lane through the sensor provided in the vehicle and guides the vehicle to travel along the center of the lane without leaving the lane This is a driving assistant function.

However, the conventional lane guiding function is such that the vehicle always follows the center of the lane without considering the presence or absence of the side vehicle traveling in the adjacent lane and the driving situation. As a result, for example, when a large vehicle comes close to the driver's vehicle in an adjacent lane or the vehicle in the next lane runs too close to his or her vehicle, the driver feels threatened even though his or her vehicle is running at the center of the lane I feel like I am in an unstable state for a while.

The embodiment of the present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a lane guiding function which can prevent a lane departure from being performed when a large vehicle approaches the adjacent lane, By adjusting the lane guidance follow-up line according to the situation and the information learned in the past, it enables the driver to travel in a psychologically stable state even in a threatening road situation around him.

The lane guidance induction line adjustment system using learning information according to an embodiment of the present invention is a system provided with a lane guidance function and includes at least one or more A camera; A lane detecting unit for detecting a lane based on a video signal photographed by the camera; A peripheral vehicle sensing unit that senses a running state of a surrounding vehicle including front, rear, and side through the camera or sensor; The navigation information including the adjustment of the steering wheel and the speed adjustment taken by the driver is stored in the form of a database through the vehicle steering angle and the speed information included in the CAN information for the peripheral conditions of the different conditions recognized by the peripheral vehicle sensing unit A management information storage unit; And a control unit for controlling the operation of the lane detecting unit, the surrounding vehicle detecting unit, and the CAN data, based on the input data of the lane detecting unit and the CAN information, And a control unit for reading the record of the driving information taken in the control unit and adjusting the lane guidance following line based on the read information.

In the lane guidance induction line adjusting system using learning information according to an embodiment of the present invention, the control unit controls the steering apparatus of the vehicle on the basis of the adjusted lane guidance follower line to execute the avoidance operation for the nearby vehicle .

Meanwhile, the lane induction follower line adjustment method using learning information according to an embodiment of the present invention may include a follower line adjustment in a system for providing a lane induction follower line based on a lane detected by a camera and a sensor, A driver corresponding pattern learning step of converting a driver adjustment record including a steering angle adjustment and a speed adjustment in a corresponding situation into a database as corresponding pattern learning information when a sidelobe vehicle is sensed; A proximity vehicle access determination step of determining whether the proximity vehicle approaches the subject vehicle by comparing the speed of the proximity vehicle with the speed of the subject vehicle; A surrounding situation determination step of determining whether the follower vehicle can be adjusted based on the surrounding information detected by the camera and the sensor when the proximity vehicle is determined to approach; And a follower line for controlling the vehicle on the basis of the calculated result, based on the learning information that has been databaseized in the driver correspondence pattern learning step, And an adjustment step.

Further, in the lane-inducing follow-up line adjusting method using learning information according to an embodiment of the present invention, the driver correspondence pattern learning step is configured to manage learning information independent of each individual for a plurality of drivers, And a customized follower adjustment function is executed.

Further, in the lane induction follow-up line adjustment method using learning information according to an embodiment of the present invention, the follow-up line information changed by the follow-up line adjustment step may include at least one of an avoidance angle?, A restoration angle? And information (?,?) For avoidance and calculation of a restoration time.

In the embodiment of the present invention, when a large-sized vehicle is approaching in the adjacent lane or a vehicle in the side lane is running too close during the execution of the lane guidance function, the present driving situation and the past learned information So that the driver can run in a psychologically stable state even in a threatening road environment around him, thereby reducing the driving fatigue of the driver and providing a more comfortable driving environment .

Therefore, it is possible to obtain an increase in the safety of the driver and an increase in the merchantability through this.

1 is a block diagram of a system having a lane-inducing follower line adjusting function using learning information according to an embodiment of the present invention;
FIG. 2 is a flowchart for explaining the operation of the system having the configuration of FIG. 1; FIG.
3 is a graph showing an expression pattern of dependency factors for independent factors with respect to travel information stored in the travel information storage unit 50 of FIG.
Fig. 4 and Fig. 5 illustrate a case in which a follower line according to the present invention is changed (adjusted) in a situation where a driver's vehicle overtakes a preceding large vehicle. Fig.

Hereinafter, embodiments according to the present invention will be described with reference to the accompanying drawings. FIG. 1 schematically shows a configuration of a system equipped with a lane guidance follow line adjustment function using learning information according to an embodiment of the present invention.

Reference numeral 10 in FIG. 1 denotes a plurality of cameras (Cam 1 to Cam N) installed on a vehicle and includes a front view camera used for Smart Cruise Control (SCC) and a Lane Keeping Assist System (LKAS) Camera.

Reference numeral 20 denotes a lane detecting unit for detecting a lane from a video signal photographed by the camera 10, and reference numeral 30 denotes an ultrasonic sensor for detecting nearby vehicles, in particular front and rear vehicles, by using ultrasonic waves.

Reference numeral 40 denotes a peripheral vehicle sensing unit for sensing a front and rear vehicle and a side vehicle traveling in a side lane on the basis of a video signal photographed by the camera 10 or a sensing signal by the ultrasonic sensor 30, The control unit 40 also receives driving information such as steering wheel adjustment and speed control performed by the driver with respect to peripheral conditions of different conditions recognized by the peripheral vehicle sensing unit 40 through the vehicle steering angle and speed information at that time included in the CAN information And is stored in a management information storage unit.

Reference numeral 60 denotes a control unit for controlling the overall operation of the system. The control unit 60 receives input signals such as the lane sensing unit 20, the surrounding vehicle sensing unit 40, and the CAN information, and the data of the driving information storage unit 50 Based on this, the lane guiding follow-up line was adjusted to the current situation.

Next, the operation of the system configured as described above will be described with reference to the flowchart of Fig.

When the operation of the Smart Cruise Control (SCC) or the Lane Keeping Assist System (LKAS) is selected, when the lane guidance function is executed, the control unit 60 receives input from the nearby vehicle sensing unit 40 (ST 10), which is adjacent to the adjacent lane for the purpose of passing, etc.

When the proximity vehicle approaching as a result of the detection of the sideways proximity vehicle is identified, the controller 60 updates various information about the surrounding situation and the information related to the driver's response to the driving information storage unit 50 in the form of a database Learning is performed on the corresponding pattern of the driver (ST 11).

The learning elements of the driver correspondence pattern largely depend on the independent factors such as the driver's own vehicle speed, the lateral distance from the side proximity vehicle, the existence of the vehicle on the opposite side of the proximity vehicle, and the degree of avoidance (angle) / speed, It can be classified into dependent factors such as the start of avoidance in the lane and the viewpoint of the turning point.

On the other hand, since one vehicle can be used by various drivers, the learning process can apply individual learning logic to each driver by distinguishing each driver.

The data stored in the driving information storage unit 50 may include driving environment information regarding the lateral distance to the nearby vehicle, the speed of the vehicle, and the presence of the vehicle on the opposite side.

In addition, if the driver feels a sense of threat and performs an avoidance operation through over-riding in the lane, the controller 60 can detect the avoidance speed, the steering angle, the steering point, etc. based on the information detected by various sensors and the CAN information Can be stored in the driving information.

On the other hand, the data stored in the driving information storage unit 50 is newly updated for each situation in different situations and is managed in the form of a database, so that it can be referred to as learning information about the driving pattern of the driver.

This learning information can be expressed by an expression pattern of the dependency factor for the independent factor. FIG. 3 is a graph illustrating the relationship between the two.

When the learning by the above-described process is completed, the control unit 60 determines whether the proximity vehicle should approach (ST12). The criterion for judging whether the sideward proximity vehicle approaches or not can be determined by comprehensively judging the speed of the approaching vehicle, the speed and direction of the driver himself / herself, and the like. Also, the accessibility may be quantified through the above-described sensing information, and the access state may be determined to be determined when the quantized value exceeds a predetermined value or more.

If it is determined in ST12 that the approaching vehicle is in an approaching state, the control unit 60 determines whether the vehicle is ahead or behind, based on the information input from the surrounding vehicle sensing unit 40, It is determined whether the lane guidance follow line can be changed (adjusted) in the current situation (ST 13).

As a result of the determination, if the follower line can be changed (adjusted), the control unit 60 controls the size and speed of the follower line (adjustment) optimized for the current situation based on the learning information stored in the travel information storage unit 50 (ST14), and changes the follow-up line (adjustment) by controlling the steering apparatus 70 based on this (ST15).

4 and 5 illustrate a case in which the follower line is changed (adjusted) by the above-described process, and the case where the driver's vehicle overtakes the preceding large vehicle.

Referring to FIG. 4, a large-sized vehicle is running at a low speed in front of a driver's vehicle, and the controller 60 senses that there is an adjacent vehicle through an input from the surrounding vehicle sensing unit 40.

The control unit 60 compares the input of the peripheral vehicle sensing unit 40 and the CAN information with the data stored in the driving information storage unit 50. If there is no driving information in the same situation, If there is similar driving information, the distance to the preceding vehicle, the speed and the like are judged to determine whether or not the vehicle is approaching.

The control unit 60 determines that the driver's vehicle will overtake the left side of the preceding large-sized vehicle in consideration of the speed of the driver's vehicle and the speed of the opponent vehicle, The driver reads out the operation pattern information displayed by the driver, and calculates the changed follow-up line based on the read-out operation pattern information.

As shown in Fig. 5, the modified follower information includes the avoidance angle [alpha], restoration angle [beta], spacing distance d from the follower line, avoidance information, and information [epsilon] .

Accordingly, the driver's vehicle travels along the adjusted follower line spaced apart from the original follower line by the steering angle? By the avoidance angle? At the time when the distance from the preceding vehicle is? After the preceding vehicle has passed, when the distance from the vehicle to the vehicle is increased by (?), The avoidance operation according to the present invention is completed by resetting the steering angle by the restoring angle?

If the information derived by the learning is not sufficient, the control unit 60 can implement to use the default values of the previously specified parameters.

On the other hand, if it is determined in ST13 that the current driving situation is not a situation in which the follower line can be changed, the control unit 60 proceeds to the ST10 step, Monitoring can be performed.

That is, according to the above embodiment, when the lane guidance function is being executed, a situation in which a large-sized vehicle approaches the adjacent lane or a vehicle in the adjacent lane runs too close to the vehicle, It is possible to realize the system of the lane guidance inducing line adjusting function that allows the driver to travel in a psychologically stable state even in a threatening road situation around him by adjusting the lane guidance follower line.

The present invention is not limited to the above-described embodiments, and various modifications may be made without departing from the technical scope of the present invention. For example, the order of execution of each step disclosed in the above- The order of execution of each step may be changed according to its implementation state, unless the implementation of the function itself becomes impossible due to the change of the order.

10: camera 20: lane detection unit
30: ultrasonic sensor 40: peripheral vehicle sensing unit
50: travel information storage unit 60:
70: Steering device

Claims (5)

In a system equipped with a lane guidance function,
At least one camera installed in the vehicle and photographing an image of a situation around the vehicle;
A lane detecting unit for detecting a lane based on a video signal photographed by the camera;
A peripheral vehicle sensing unit that senses a running state of a surrounding vehicle including front, rear, and side through the camera or sensor;
The navigation information including the adjustment of the steering wheel and the speed adjustment taken by the driver is stored in the form of a database through the vehicle steering angle and the speed information included in the CAN information for the peripheral conditions of the different conditions recognized by the peripheral vehicle sensing unit A management information storage unit; And
The control unit determines the current surrounding vehicle traveling state based on the lane detecting unit, the surrounding vehicle detecting unit, and the input data of the CAN information while controlling the overall operation of the system, and, from the database of the driving information storing unit, And a control unit for reading a record of the taken driving information and adjusting a lane guidance following line based on the read information. The method according to claim 1,
Wherein the control unit controls the steering apparatus of the vehicle on the basis of the adjusted lane guidance follower line so as to perform the avoidance operation for the nearby vehicle. A follower line adjustment method in a system for providing a lane guidance follower line based on a lane detected by a camera and a sensor and a situation of a nearby vehicle,
A driver corresponding pattern learning step of converting a driver adjustment record including a steering angle adjustment and a speed adjustment in a corresponding situation into a database as corresponding pattern learning information when a sidelobe proximity vehicle is detected;
A proximity vehicle access determination step of determining whether the proximity vehicle approaches the subject vehicle by comparing the speed of the proximity vehicle with the speed of the subject vehicle;
A surrounding situation determination step of determining whether the follower vehicle can be adjusted based on the surrounding information detected by the camera and the sensor when the proximity vehicle is determined to approach; And
If it is determined that the follower line can be adjusted, the follower line optimized for the current situation is calculated on the basis of the learning information databaseed in the driver correspondence pattern learning step, and the follower line controlling the vehicle based on the calculated result Wherein the lane guidance inducing line adjusting method comprises the steps of: The method of claim 3,
Wherein the driver correspondence pattern learning step is configured to manage learning information independent of each individual for a plurality of drivers so that a follower line adjustment function customized for each individual is executed. Way. The method of claim 3,
The follower line information changed by the follower line adjusting step includes the avoidance angle?, The restoration angle?, The spacing distance d from the follower line, and the information? And? And the lane guidance inducing line adjusting method using the learning information.

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