KR20140092025A - Apparatus for assisting lane and method for assisting thereof - Google Patents

Abstract

The present invention provides an apparatus for assisting a lane comprising: a first sensing part for sensing current surrounding object information of a lane to be changed by being synchronized with operation of a turn signal lamp of a vehicle; a control part for receiving the current surrounding object information sensed from the first sensing part, and including the range of pre-set standard surrounding object information; a first determining part for determining whether the current surrounding object information sensed from the first sensing part is within the range of the standard surrounding object information or not according to control of the control part; and a first operating part for operating a steering device of the vehicle to maintain the vehicle to be in the current lane according to control of the control part if the first determining part determines that the current surrounding object information is within the range of the standard surrounding object information, or to change a lane of the vehicle to a lane to be changed according to control of the control part if the first determining part determines that the current surrounding object information is out of the range of the standard surrounding object information; and a method for assisting a lane.

Description

[0001] Apparatus for assisting lanes and method for assisting [0002]

The present invention relates to a lane assistant and an assistant method thereof.

In general, the conventional lane assistant device is provided to detect a nearby object and change the lane safely when the lane of the vehicle is trying to change the lane.

However, in the conventional lane assistant device, after the turn signal lamp operation of the vehicle, the lane assist mode is operated to detect the current surrounding object, so that there is a limit to quickly detect the current surrounding object.

Accordingly, in recent years, along with the operation of the turn signal lamp of the vehicle, it is possible to rapidly detect the surrounding object at present and prevent the collision with the current surrounding object at the time of changing the vehicle, thereby protecting the life of the occupant There has been a continuous study on an improved lane assistance device and an assistant method for preventing damage to the vehicle and the surrounding objects in advance.

In addition, in recent years, an improved lane assistant device and an assistant method thereof, which can identify a vehicle to be maintained as a current lane, or to change a lane to be changed to a lane to be changed, It is coming.

In recent years, an improved lane assistance device capable of further preventing damage to the vehicle and the surrounding objects and further improving the speed of the vehicle while further protecting the life of the occupant and the life of the object around him / Studies of assistive methods have been conducted continuously.

In recent years, research on an improved lane assistance device and an assistant method that can induce the driver to drive the driver's attention or to identify the driver so as to increase the speed of the vehicle, .

It is an object of the present invention to provide a lane assistant and an assistant method thereof that can prevent damage to a vehicle and a nearby object in advance while protecting the life of a passenger and the life of an object near the present.

It is another object of the present invention to provide a vehicle occupant protection system capable of preventing a collision with a current surrounding object at the time of a vehicle change, And an auxiliary method thereof.

It is still another object of the present invention to provide a lane assistant and an assistant method that can induce a driver to perform a careful operation because the vehicle can be identified so as to be maintained as a current lane.

It is still another object of the present invention to provide a lane assistance device and an assistant method thereof that can induce a driver to perform a careful operation because the vehicle can be identified as a lane to be changed.

It is another object of the present invention to provide a lane assistant device capable of further preventing the damage of the vehicle and the surrounding objects while further protecting the life of the occupant and the life of the object near the vehicle, And an auxiliary method thereof.

It is still another object of the present invention to provide a lane assistant and an assistant method thereof that can induce a driver to perform a driver's operation because the driver can be identified to lower the speed of the vehicle.

It is still another object of the present invention to provide a lane assistance device and an assistant method thereof that can induce an accelerating operation to a driver because it is possible to identify the vehicle so as to increase the speed of the vehicle.

In order to accomplish the above object, the present invention provides a navigation system comprising: a first sensing unit for sensing current surrounding object information in a lane to be synchronized with a direction indicator operation of a vehicle; A control unit receiving current surrounding object information sensed by the first sensing unit and including a preset reference surrounding object information range; A first determination unit for determining whether the current surrounding object information detected by the first sensing unit is a reference surrounding object information range according to control of the control unit; And when the first determination unit determines that the current surrounding object information is in the reference surrounding object information range, the control unit may maintain the current lane of the vehicle under the control of the control unit, The first driving unit drives the steering apparatus of the vehicle so as to change the vehicle to the lane to be changed according to the control of the control unit.

According to another aspect of the present invention, the first determination unit further includes a first identifying unit that identifies that the vehicle is maintained in the current lane, when it is determined that the current surrounding object information is the reference surrounding object information range.

According to another aspect of the present invention, there is further provided a second identification unit for identifying, when the first determination unit determines that the current surrounding object information is out of the reference surrounding object information range, changing the vehicle to the changed lane.

According to another aspect of the present invention, there is further provided a second sensing unit for sensing current access information between a vehicle and current surrounding object information when the first determining unit determines that the current surrounding object information is out of the reference surrounding object information range and; The control unit further receives the current access information detected by the second sensing unit, further includes a preset reference access information range, a first reference speed adjustment range, and a second reference speed adjustment range; And a second determination unit for determining whether the current access information detected by the second sensing unit is in a reference access information range under the control of the control unit; If the second determination unit determines that the current access information is in the range of the reference access information, it may lower the speed of the vehicle according to the first reference speed control range under the control of the controller, And a second driving unit for driving the speed regulating device of the vehicle so as to increase the speed of the vehicle in accordance with the second reference speed regulating range under the control of the control unit when it is determined that the information is out of the range.

According to another aspect of the present invention, when the second determination unit determines that the current access information is in the range of the reference access information, it further includes a third identification unit that identifies the vehicle speed lowering in accordance with the first reference speed adjustment range do.

According to another aspect of the present invention, when the second determination unit determines that the current access information is out of the reference access information range, the fourth identification unit further identifies the vehicle speed increase according to the second reference speed adjustment range .

The present invention also provides a method of controlling a vehicle, comprising: a first sensing step of sensing, by a first sensing unit, current surrounding object information of a lane to be changed in synchronization with a turn signal operation of a vehicle; A first determining step of determining whether the current surrounding object information detected by the first sensing unit is a reference surrounding object information range set in the control unit according to the control of the control unit; And a control unit for controlling the first driving unit to drive the steering device of the vehicle so as to maintain the current lane of the vehicle, if the first determining unit determines that the current surrounding object information is the reference surrounding object information range, And a driving step of driving the steering apparatus of the vehicle so that the first driving unit changes the vehicle to a lane to be changed according to the control of the control unit when it is determined that the current surrounding object information is out of the reference surrounding object information range.

According to another aspect of the present invention, when the first determination unit determines that the current surrounding object information is in the reference surrounding object information range after the first determination step, the first identification unit identifies the vehicle as the current lane And further performs a first identifying step.

According to another aspect of the present invention, when the first determination unit determines that the current surrounding object information is out of the reference surrounding object information range after the first determination step, The second identification step.

According to another aspect of the present invention, when the first determination unit determines that the current surrounding object information is out of the reference surrounding object information range after the first determination step, the current access information between the vehicle and the current surrounding object information is the second Further performing a second sensing step of sensing by the sensing unit; A second determination step of determining whether the current access information sensed by the second sensing unit is in the reference access information range set in the control unit by the second determination unit according to the control of the control unit; When the second determining unit determines that the current access information is within the reference access information range, the second driving unit controls the speed control unit of the vehicle so as to lower the speed of the vehicle in accordance with the first reference speed control range set by the control unit, Or if the second determining unit determines that the current access information is out of the reference access information range, the second driving unit controls the second driving unit to increase the speed of the vehicle in accordance with the second reference speed adjustment range set by the control unit, And a speed adjusting step of driving the speed adjusting device of FIG.

According to another aspect of the present invention, when the second determination unit determines that the current access information is in the reference access information range after the second determination step, And a third discriminating step of discriminating by the discriminating unit.

According to another aspect of the present invention, when the second determination unit determines that the current access information is out of the reference access information range after the second determination step, it increases the speed of the vehicle in accordance with the second reference speed adjustment range 4 discrimination unit identifies the fourth identification step.

According to the lane assistance device and the assistance method of the present invention, as described above, the following effects can be obtained.

First, there is an effect that the damage of the vehicle and the surrounding objects can be prevented in advance while protecting the life of the occupant and the life of the object near the vehicle.

Second, it is possible to prevent the collision with the current surrounding object at the time of changing the vehicle, so that it is possible to prevent damage to the vehicle and the surrounding objects while protecting the life of the occupant There are other effects.

Third, since the vehicle can be identified to be maintained in the current lane, there is another effect that can induce driver's attention driving.

Fourth, since the vehicle can be identified to be changed to the lane to be changed, there is another effect that can induce driver's attention driving.

Fifth, there is another effect that the damage of the vehicle and the surrounding objects can be prevented more effectively, and the speed of the vehicle can be increased efficiently, while further protecting the life of the occupant and the life of the object near the vehicle.

Sixth, there is another effect that can induce driver to drive caution because it can be identified to lower the speed of the vehicle.

Seventh, there is another effect that can induce the driver to accelerate driving because the vehicle can be identified to increase the speed of the vehicle.

1 is a block diagram showing a state in which a steering apparatus is connected to a lane assistant apparatus according to a first embodiment of the present invention;
Fig. 2 is a block diagram showing an example of the lane assistance device shown in Fig. 1. Fig.
3 is a flowchart showing a lane assistant method of a lane assistant device according to a first embodiment of the present invention;
FIG. 4 is a block diagram showing an example of a lane assistant device according to a second embodiment of the present invention; FIG.
5 is a flowchart showing a lane assistant method of a lane assistant device according to a second embodiment of the present invention;
6 is a block diagram showing an example of a lane assistant device according to a third embodiment of the present invention;
7 is a flowchart showing a lane assistant method of a lane assistant device according to a third embodiment of the present invention;
FIG. 8 is a block diagram showing an example of a lane assistant device according to a fourth embodiment of the present invention; FIG.
9 is a flowchart showing a lane assistant method of a lane assistant device according to a fourth embodiment of the present invention;
10 is a block diagram showing an example of a lane assistant device according to a fifth embodiment of the present invention;
11 is a flowchart showing a lane assistant method of a lane assistant device according to a fifth embodiment of the present invention;
FIG. 12 is a block diagram showing an example of a lane assistant device according to a sixth embodiment of the present invention; FIG.
13 is a flowchart showing a lane assistant method of a lane assistant device according to a sixth embodiment of the present invention;

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

≪ Embodiment 1 >

FIG. 1 is a block diagram showing a state in which a steering apparatus is connected to a lane assistant apparatus according to a first embodiment of the present invention, and FIG. 2 is a block diagram showing an example of the lane assistant apparatus shown in FIG.

1 and 2, a lane assistant 100 according to a first embodiment of the present invention includes a first sensing unit 102, a control unit 104, a first determination unit 106, and a first driving unit 108).

The first sensing unit 102 is provided to sense current surrounding object information of the lane to be changed in synchronization with the turn signal operation of the vehicle.

Here, although the current peripheral object information is not shown, at least one of a vehicle (not shown), a motorcycle (not shown), a bicycle (not shown), an animal (not shown) and an obstacle (not shown) Can be.

At this time, the first sensing unit 102 includes at least one of a CCD camera, an ultrasonic sensor, a radar sensor, an infrared sensor, and a blind spot detection (BSD) sensor for sensing current surrounding object information of a lane to be changed I can do it.

The control unit 104 receives the current surrounding object information sensed by the first sensing unit 102 and is provided to include a predetermined reference surrounding object information range.

The first determination unit 106 is provided to determine whether the current surrounding object information detected by the first sensing unit 102 is a reference surrounding object information range under the control of the control unit 104. [

At this time, the controller 104 and the determiner 106 may be a general ECU (Electric Control Unit, Engine Control Unit, etc.) for controlling and determining the overall operation of the vehicle, A microcontroller (MCU) (not shown) for controlling the entire operation by having a processor, a memory, and an input / output device in a single chip or the like. However, the present invention is not limited thereto. It is possible to use all of the judgment control means capable of judging and controlling.

When the first determining unit 106 determines that the current surrounding object information is within the reference surrounding object information range, the first driving unit 108 controls the steering of the vehicle so as to maintain the current lane of the vehicle under the control of the controller 104. [ And drives the apparatus 10.

If the first determining unit 106 determines that the current surrounding object information is out of the reference surrounding object information range, the first driving unit 108 may change the vehicle to the changed lane under the control of the controller 104 And drives the steering apparatus 10 of the vehicle.

A lane assistant method 300 for assisting a lane using the lane assistant 100 according to the first embodiment of the present invention will now be described with reference to FIG.

3 is a flowchart showing a lane assistant method of a lane assistant device according to the first embodiment of the present invention.

Referring to FIG. 3, the lane assistant method 300 of the lane assistance device 100 of FIGS. 1 and 2 according to the first embodiment of the present invention includes a first sensing step S302 and a first determining step S304. And a driving step (S306: S306a, S306b).

First, in the first sensing step S302, the first sensing unit 102 of FIG. 2 senses the current surrounding object information of the lane to be changed in synchronization with the direction indicator operation of the vehicle.

Thereafter, the first determining step S304 determines whether the current surrounding object information sensed by the first sensing unit 102 (see FIG. 2) is the reference surrounding object information range set in the control unit 104 (FIG. 2) (106) of FIG. 2 according to the control of the first determination unit (104).

Lastly, in the driving step S306a, if it is determined in the first determination unit 106 of FIG. 2 that the surrounding object information is in the reference surrounding object information range, (108 in Fig. 2) drives the steering apparatus of the vehicle (10 in Fig. 1 and Fig. 2) to maintain the vehicle in the present lane.

On the other hand, if it is determined in the first determination unit (106 in FIG. 2) that the current surrounding object information is out of the reference surrounding object information range, the driving step 306b controls the first And drives the steering apparatus of the vehicle (10 in Fig. 1 and Fig. 2) to change the vehicle from the driving section (108 in Fig. 2) to the lane to be changed.

The lane assistant 100 and the assistant method 300 according to the first embodiment of the present invention may include the lane assistant 100 and the assistant method 300 according to the first embodiment of the present invention, A first sensing step S302, a first determination step S304, and a driving step S306 including steps S306a and S306b are performed.

Therefore, the lane assistant 100 and the assistant method 300 according to the first embodiment of the present invention can be configured such that when turning on the turn signal of the vehicle for lane change, It is possible to safely change the vehicle to the lane to be changed if it is determined that the surrounding object information is out of the reference surrounding object information range.

Accordingly, the lane assistant 100 and the assistant method 300 according to the first embodiment of the present invention can prevent collision with the current surrounding object at the time of changing the vehicle, It is possible to prevent the damage of the vehicle and the surrounding objects in advance by protecting the life and the life of the objects near the present.

≪ Embodiment 2 >

4 is a block diagram showing an example of a lane assistance device according to a second embodiment of the present invention.

4, the lane assistant 400 according to the second embodiment of the present invention includes the first sensing unit 102, the control unit 104, and the second sensing unit 102, as in the lane assistant 100 according to the first embodiment. And includes a first determination unit 106 and a first driving unit 108.

The function of each component corresponding to the lane assistant device 400 according to the second embodiment of the present invention and the organic connection relation between them are the same as those of the lane assistant device 100 according to the first embodiment The functions of the respective components and the organic connection relationship therebetween are the same, so that the respective further explanations thereof will be omitted below.

Here, the lane auxiliaries 400 according to the second embodiment of the present invention further include a first identification unit 409. [

That is, if the first determination unit 106 determines that the current surrounding object information is within the reference surrounding object information range, the first identifying unit 409 is provided to identify that the vehicle is maintained in the current lane.

Although not shown, the first identification unit 409 may include a speaker (not shown), a light emitting member (not shown), and an HMI (human machine interface) module (not shown) provided for the driver to identify the vehicle information or status (Not shown), a light emitting operation of a light emitting member (not shown), and a HMI (Human Machine Interface) module (not shown), including at least one of a head- (HUD) message display operation of the HUD (Head-UP Display) module (not shown) and the HUD (Head-UP Display) message display operation of the HUD You can.

A lane assistant method 500 for assisting a lane by using the lane assistant 400 according to the second embodiment of the present invention will be described with reference to FIG.

5 is a flowchart showing a lane assistant method of a lane assistant device according to a second embodiment of the present invention.

5, the lane assistant method 500 of the lane assistance device 400 of FIG. 4 according to the second embodiment of the present invention is similar to the lane assistant device 100 of FIGS. 1 and 2 according to the first embodiment. The first sensing step S302, the first determination step S304, and the driving step S306 (S306a, S306b), as in the lane assistant method 300 of FIG.

The function of each of the steps corresponding to the lane assistant method 500 of the lane assistant device 400 of FIG. 4 according to the second embodiment of the present invention and the organic connection relation between them are identical to those of the first embodiment The functions of the respective steps corresponding to the lane assistant method 300 of the lane assistant device (100 of FIGS. 1 and 2) according to the present invention are the same as the functions of the respective steps and the organic connection relation between them, It will be omitted.

Here, the lane assistant method 500 of the lane assistant device 400 (FIG. 4) according to the second embodiment of the present invention further performs the first identifying step S505 after the first determining step S304 .

For example, the lane assistant method 500 of the lane assistance device (400 of FIG. 4) according to the second embodiment of the present invention may be configured such that after the first determination step (S304) and before the driving step (S306a) (S505) can be further performed.

That is, if it is determined in the first determination unit 106 in FIG. 4 that the current surrounding object information is in the reference surrounding object information range, the first identifying step S505 may be such that the first identifying unit 409 of FIG. 4).

The lane assist system 400 and the assistant method 500 according to the second embodiment of the present invention may include the first sensing unit 102, the control unit 104, the first determination unit 106, A first detection step S302, a first determination step S304, a first identification step S505, and a drive step S306 (S306a, S306b) including the first identification part 108 and the first identification part 409 .

Therefore, the lane assistant 400 and its assistant method 500 according to the second embodiment of the present invention can synchronize with the turn indicator operation of the vehicle when turning on the turn indicator of the vehicle for lane change, It is possible to safely change the vehicle to the lane to be changed if it is determined that the surrounding object information is out of the reference surrounding object information range.

Accordingly, the lane assistant 400 and the assistant method 500 according to the second embodiment of the present invention can prevent collision with the current surrounding objects at the time of changing the vehicle, It is possible to prevent the damage of the vehicle and the surrounding objects in advance by protecting the life and the life of the objects near the present.

When the lane assistant 400 and the assistant method 500 according to the second embodiment of the present invention determine that the surrounding object information is in the reference surrounding object information range, So that the driver can be guided to drive the driver's attention.

≪ Third Embodiment >

6 is a block diagram showing an example of a lane assistant device according to a third embodiment of the present invention.

6, the lane assistant 600 according to the third embodiment of the present invention includes the first sensing unit 102, the control unit 104, and the second sensing unit 102 in the same manner as the lane assistant 100 according to the first embodiment, And includes a first determination unit 106 and a first driving unit 108.

The function of each component corresponding to the lane assistant device 600 according to the third embodiment of the present invention and the organic connection relation between them are applicable to the lane assistant device 100 according to the first embodiment The functions of the respective components and the organic connection relationship therebetween are the same, so that the respective further explanations thereof will be omitted below.

Here, the lane auxiliary device 600 according to the third embodiment of the present invention further includes a second identification part 611. [

That is, when the first determination unit 106 determines that the current surrounding object information is out of the reference surrounding object information range, the second identification unit 611 is provided to identify that the vehicle is changed to the changed lane.

Although not shown, the second identification unit 611 may include a speaker (not shown), a light emitting member (not shown), and an HMI (human machine interface) module (not shown) provided for the driver to identify the vehicle information or status (Not shown), a light emitting operation of a light emitting member (not shown), and a HMI (Human Machine Interface) module (not shown), including at least one of a head- (HUD) message display operation of the HUD (Head-UP Display) module (not shown) and a HUD (Head-UP Display) message display operation of the HUD You can.

A lane assistant method 700 for assisting the lane using the lane assistant 600 according to the third embodiment of the present invention will be described with reference to FIG.

7 is a flowchart illustrating a lane assistant method of a lane assistant device according to a third embodiment of the present invention.

7, the lane assistant method 700 of the lane assistant device 600 of FIG. 6 according to the third embodiment of the present invention is similar to the lane assistant device 100 of FIGS. 1 and 2 according to the first embodiment. The first sensing step S302, the first determination step S304, and the driving step S306 (S306a, S306b), as in the lane assistant method 300 of FIG.

The function of each of the steps corresponding to the lane assistant method 700 of the lane assistant device 600 (FIG. 6) according to the third embodiment of the present invention and the organic connection relation between them are identical to those of the first embodiment The functions of the respective steps corresponding to the lane assistant method 300 of the lane assistant device (100 of FIGS. 1 and 2) according to the present invention are the same as the functions of the respective steps and the organic connection relation between them, It will be omitted.

Here, the lane assistant method 700 of the lane assistant device 600 (FIG. 6) according to the third embodiment of the present invention further performs the second identifying step S705 after the first determining step S304 .

For example, the lane assistant method 700 of the lane assistance device (600 of FIG. 6) according to the third embodiment of the present invention may be configured such that after the first determination step (S304) and before the driving step (S306b) (S705) can be further performed.

That is, in the second identification step S705, if it is determined in the first determination unit (106 in FIG. 6) that the current surrounding object information is out of the reference surrounding object information range, (611 in Fig. 6).

The lane assistance device 600 and the assisting method 700 according to the third embodiment of the present invention may include the lane assistant device 600 and the assisting method 700 of the lane assistant device 600 according to the third embodiment of the present invention, The first detection step S302, the first determination step S304, the second identification step S705, and the drive step S306 (S306a, S306b) including the first identification part 108 and the second identification part 611 .

Therefore, the lane assistant 600 and its assistant method 700 according to the third embodiment of the present invention can synchronize with the direction indicator operation of the vehicle when turning on the turn indicator of the vehicle for lane change, It is possible to safely change the vehicle to the lane to be changed if it is determined that the surrounding object information is out of the reference surrounding object information range.

Accordingly, the lane assistant 600 and the assistant method 700 according to the third embodiment of the present invention can prevent collision with the current surrounding objects at the time of changing the vehicle, It is possible to prevent the damage of the vehicle and the surrounding objects in advance by protecting the life and the life of the objects near the present.

In addition, when the lane assistant 600 and the assistant method 700 according to the third embodiment of the present invention determine that the surrounding object information is out of the reference surrounding object information range, the lane assistant 600 and the assistant method 700 So that the driver can be guided to drive the driver's vehicle.

<Fourth Embodiment>

FIG. 8 is a block diagram showing an example of a lane assistance device according to a fourth embodiment of the present invention.

8, the lane assistant 800 according to the fourth embodiment of the present invention is similar to the lane assistant 100 according to the first embodiment except that the first sensing unit 102, the control unit 104, And includes a first determination unit 106 and a first driving unit 108.

The function of each component corresponding to the lane assistant 800 according to the fourth embodiment of the present invention and the organic connection relation between them are the same as those of the lane assistant device 100 according to the first embodiment The functions of the respective components and the organic connection relationship therebetween are the same, so that the respective further explanations thereof will be omitted below.

The lane assistant 800 according to the fourth exemplary embodiment of the present invention further includes a second sensing unit 813, a second determination unit 815, and a second driving unit 817.

The second sensing unit 813 is provided to sense the current access information between the vehicle and the current surrounding object information when the first determining unit 106 determines that the current surrounding object information is out of the reference surrounding object information range.

Here, the second sensing unit 813 may include at least one of a CCD camera, an ultrasonic sensor, a radar sensor, an infrared sensor, and a blind spot detection (BSD) sensor for sensing current access information between the vehicle and current surrounding object information Can include one.

At this time, the controller 804 further receives the current access information sensed by the second sensing unit 813, and further includes a preset reference access information range, a first reference speed adjustment range, and a second reference speed adjustment range.

The second determination unit 815 is provided to determine whether the current access information detected by the second sensing unit 813 is in the reference access information range under the control of the control unit 804. [

At this time, the second determination unit 815 determines the overall operation of the vehicle by using a main computer applied to the vehicle, or a general ECU (Engine Control Unit, not shown) A microcontroller (MCU) (not shown) that is provided with a processor, a memory, and an input / output device to determine an overall operation of the vehicle. However, the present invention is not limited thereto and may be any means of determining the overall operation of the vehicle It is possible.

When the second determining unit 815 determines that the current access information is in the reference access information range, the second driving unit 817 lowers the vehicle speed according to the first reference speed control range under the control of the controller 804 The speed control device 30 of the vehicle is driven.

When the second determining unit 815 determines that the current access information is out of the reference access information range, the second driving unit 817 controls the second driving unit 817 in accordance with the second reference speed control range, The speed control device 30 of the vehicle is driven to increase the speed.

A lane assistant method 900 for assisting a lane using the lane assistant 800 according to the fourth embodiment of the present invention will be described with reference to FIG.

9 is a flowchart showing a lane assistant method of a lane assistant device according to a fourth embodiment of the present invention.

9, the lane assistant method 900 of the lane assistant device 800 of FIG. 8 according to the fourth embodiment of the present invention is similar to the lane assistant device 100 of FIGS. 1 and 2 according to the first embodiment. The first sensing step S302, the first determination step S304, and the driving step S306 (S306a, S306b), as in the lane assistant method 300 of FIG.

The function of each of the steps corresponding to the lane assistant method 900 of the lane assistant 800 (FIG. 8) according to the fourth embodiment of the present invention and the organic connection relation between them are identical to those of the first embodiment The functions of the respective steps corresponding to the lane assistant method 300 of the lane assistant device (100 of FIGS. 1 and 2) according to the present invention are the same as the functions of the respective steps and the organic connection relation between them, It will be omitted.

Here, the lane assistant method 900 of the lane assistant 800 (FIG. 8) according to the fourth embodiment of the present invention may be configured such that after the first determining step S304, the second sensing step S908 and the second determination Step S910 and a speed adjustment step (S912: S912a, S912b) are further performed.

For example, the lane assistant method 900 of the lane assistant 800 (FIG. 8) according to the fourth embodiment of the present invention may be configured such that after the driving step S306b, the second sensing step S908 and the second determination step S910) and a speed adjustment step (S912: S912a, S912b).

That is, if it is determined in step S908 that the current surrounding object information is out of the reference surrounding object information range in the first determination unit (106 in FIG. 8), the current access information between the vehicle and the current surrounding object information 2 sensing unit (813 of FIG. 8).

8). Next, the second determination step S910 determines whether the current access information sensed by the second sensing unit 813 in FIG. 8 is the reference access information range set in the control unit 804 in FIG. 8, (815 of FIG. 8) in accordance with the control of the second determination unit.

8), if it is determined that the current access information is within the reference access information range, the speed control step S912a may control the speed of the second driving unit (817 in Fig. 8), driving the speed regulating device (30 in Fig. 8) of the vehicle so as to lower the speed of the vehicle in accordance with the first reference speed regulating range set in the control portion (804 in Fig. 8).

On the other hand, if it is determined that the current access information is out of the reference access information range in the second determination unit 815 of FIG. 8, the rate adjustment step S912b may determine that the second access unit 8) of the vehicle to increase the speed of the vehicle in accordance with the second reference speed control range set in the control unit (804 in Fig. 8) in the first speed control range (817 in Fig. 8).

The lane assistant 800 and the assistant method 900 according to the fourth embodiment of the present invention may include the lane assistant 800 and the assistant method 900 according to the fourth embodiment of the present invention, The first sensing step S302, the first determining step S304, and the driving step S306, including the first sensing unit 108, the second sensing unit 813, the second determining unit 815, and the second driving unit 817, S306a and S306b, a second sensing step S908, a second determining step S910, and a speed adjusting step S912: S912a and S912b.

Therefore, the lane assistant 800 and the assistant method 900 according to the fourth embodiment of the present invention can synchronize with the turn indicator operation of the vehicle when turning on the turn indicator of the vehicle for lane change, It is possible to safely change the vehicle to the lane to be changed if it is determined that the surrounding object information is out of the reference surrounding object information range.

Accordingly, the lane assistant 800 and the assistant method 900 according to the fourth embodiment of the present invention can prevent collision with the current surrounding object at the time of changing the vehicle, It is possible to prevent the damage of the vehicle and the surrounding objects in advance by protecting the life and the life of the objects near the present.

The lane assistant 800 and the assistant method 900 according to the fourth exemplary embodiment of the present invention detect current access information and determine that the current access information is within the reference access information range, The speed of the vehicle can be lowered in accordance with the range.

On the other hand, when the lane assistant 800 and the assistant method 900 according to the fourth embodiment of the present invention detect current access information and determine that the current access information is out of the reference access information range, The speed of the vehicle can be increased in accordance with the speed control range.

Accordingly, the lane assistant 800 and the assistant method 900 according to the fourth embodiment of the present invention can increase the speed of the vehicle while preventing the collision with the nearby objects at present, The life of the occupant and the life of the object near the current occupant can be further protected, thereby preventing damage to the vehicle and the surrounding objects more effectively and improving the speed of the vehicle efficiently.

<Fifth Embodiment>

10 is a block diagram illustrating an example of a lane assistant device according to a fifth embodiment of the present invention.

10, a lane assistant 1000 according to a fifth embodiment of the present invention includes a first sensing unit 102, a control unit 804, and a second sensing unit 102 similar to the lane assistant 800 according to the fourth embodiment, And includes a first determination unit 106, a first driving unit 108 and a second sensing unit 813, a second determination unit 815, and a second driving unit 817.

The function of each component corresponding to the lane assistant 1000 according to the fifth embodiment of the present invention and the organic connection relation between them are applicable to the lane assistant 800 according to the fourth embodiment The functions of the respective components and the organic connection relationship therebetween are the same, so that the respective further explanations thereof will be omitted below.

Here, the lane auxiliary apparatus 1000 according to the fifth embodiment of the present invention further includes a third identification unit 1019. [

That is, when the second determination unit 815 determines that the current access information is in the reference access information range, the third identification unit 1019 provides the vehicle to identify the vehicle speed lowering in accordance with the first reference speed control range do.

Although not shown, the third identification unit 1019 may include a speaker (not shown), a light emitting member (not shown), and an HMI (human machine interface) module (not shown) provided for the driver to identify the vehicle information or status (Not shown), a light emitting operation of a light emitting member (not shown), and a HMI (Human Machine Interface) module (not shown), including at least one of a head- And a HUD (Head-UP Display) message display operation of a HUD (Head-UP Display) module (not shown) in accordance with the first reference speed control range, The speed of the vehicle can be identified.

A lane assistant method 1100 for assisting the lane using the lane assistant 1000 according to the fifth embodiment of the present invention will be described with reference to FIG.

11 is a flowchart showing a lane assistant method of a lane assistant device according to a fifth embodiment of the present invention.

11, the lane assistant method 1100 of the lane assistant apparatus 1000 (FIG. 10) according to the fifth embodiment of the present invention includes the lane assistant method 800 of the lane assistant apparatus 800 of FIG. 8 The first sensing step S302, the first determining step S304, the driving step S306 (S306a, S306b), the second sensing step S908, and the second determining step S910 And a speed adjustment step (S912: S912a, S912b).

The functions of the respective steps corresponding to the lane assistant method 1100 of the lane assistant device 1000 (Fig. 10) according to the fifth embodiment of the present invention and the organic connection relation between them are identical to those of the fourth embodiment The function for each step corresponding to the lane assistant method (900 in FIG. 9) of the lane assistant device (800 in FIG. 8) according to the present invention, and the organic connection relation between them, It will be omitted.

Here, the lane assistant method 1100 of the lane assistant apparatus 1000 (FIG. 10) according to the fifth embodiment of the present invention further performs the third identifying step S1111 after the second determining step S910 .

For example, the lane assistant method 1100 of the lane assistant apparatus 1000 (FIG. 10) according to the fifth embodiment of the present invention may be configured such that, after the second determination step S910 and before the speed adjustment step S912a, Step S1111 can be further performed.

That is, if it is determined in step S1111 that the current access information is within the reference access information range, the second determination unit (step 811 in FIG. 10) 3 identification unit (1019 in Fig. 10).

The lane assistant 1000 and the assistant method 1100 according to the fifth embodiment of the present invention may include a first sensing unit 102, a controller 804, a first determination unit 106, A first sensing step S302 and a first determining step S302 including the first sensing unit 108 and the second sensing unit 813, the second determining unit 815, the second driving unit 817 and the third identifying unit 1019, (Step S304), the driving step S306 (steps S306a and S306b), the second sensing step S908, the second determining step S910, the third identifying step S1111, and the speed adjusting step S912 (S912a and S912b) .

Therefore, the lane assistant 1000 and its assistant method 1100 according to the fifth embodiment of the present invention can be configured such that when turning on the turn signal of the vehicle for lane change, It is possible to safely change the vehicle to the lane to be changed if it is determined that the surrounding object information is out of the reference surrounding object information range.

Accordingly, the lane assistant 1000 and its assistant method 1100 according to the fifth embodiment of the present invention can prevent collision with the current surrounding object at the time of changing the vehicle, It is possible to prevent the damage of the vehicle and the surrounding objects in advance by protecting the life and the life of the objects near the present.

The lane assistant 1000 and the assistant method 1100 according to the fifth embodiment of the present invention detect current access information and determine that the current access information is within the reference access information range, The speed of the vehicle can be lowered in accordance with the range.

On the other hand, when the lane assistant 1000 and its assistant method 1000 according to the fifth embodiment of the present invention detect current access information and determine that the current access information is out of the reference access information range, The speed of the vehicle can be increased in accordance with the speed control range.

Accordingly, the lane assistant 1000 and the assistant method 1100 according to the fifth embodiment of the present invention can increase the speed of the vehicle while preventing collision with nearby objects at present, The life of the occupant and the life of the object near the current occupant can be further protected, thereby preventing damage to the vehicle and the surrounding objects more effectively and improving the speed of the vehicle efficiently.

In addition, when the lane assistant 1000 and the assistant method 1100 according to the fifth embodiment of the present invention determine that the current access information is within the reference access information range, So that the driver can be guided to drive the driver's vehicle.

<Sixth Embodiment>

12 is a block diagram showing an example of a lane assistance device according to a sixth embodiment of the present invention.

12, the lane assistant 1200 according to the sixth embodiment of the present invention includes the first sensing unit 102, the control unit 804, and the second sensing unit 102 in the same manner as the lane assistant 800 according to the fourth embodiment, And includes a first determination unit 106, a first driving unit 108 and a second sensing unit 813, a second determination unit 815, and a second driving unit 817.

The function of each component corresponding to the lane assistant 1200 according to the sixth embodiment of the present invention and the organic connection relation between them are applicable to the lane assistant 800 according to the fourth embodiment The functions of the respective components and the organic connection relationship therebetween are the same, so that the respective further explanations thereof will be omitted below.

Here, the lane auxiliary apparatus 1200 according to the sixth embodiment of the present invention further includes a fourth identification unit 1221. [

That is, when the second determination unit 815 determines that the current access information is out of the reference access information range, the fourth identification unit 1221 identifies the vehicle speed increase according to the second reference speed adjustment range / RTI &gt;

Although not shown, the fourth identification unit 1221 may include a speaker (not shown), a light emitting member (not shown), and an HMI (human machine interface) module (not shown) provided for the driver to identify the vehicle information or status (Not shown), a light emitting operation of a light emitting member (not shown), and a HMI (Human Machine Interface) module (not shown), including at least one of a head- And a HUD (Head-UP Display) message display operation of a HUD (Head-Up Display) module (not shown) in accordance with the second reference speed control range, The speed of the vehicle can be identified.

A lane assistant method 1300 for assisting the lane using the lane assistant 1200 according to the sixth embodiment of the present invention will now be described with reference to FIG.

13 is a flowchart showing a lane assistant method of a lane assistant device according to a sixth embodiment of the present invention.

13, the lane assistant method 1300 of the lane assistant device 1200 of FIG. 12 according to the sixth embodiment of the present invention includes the lane assistant method 800 of the lane assistant device 800 of FIG. 8 The first sensing step S302, the first determining step S304, the driving step S306 (S306a, S306b), the second sensing step S908, and the second determining step S910 And a speed adjustment step (S912: S912a, S912b).

The functions of the respective steps corresponding to the lane assistant method 1300 of the lane assistant 1200 of FIG. 12 according to the sixth embodiment of the present invention, and the organic connection relation between them, The function for each step corresponding to the lane assistant method (900 in FIG. 9) of the lane assistant device (800 in FIG. 8) according to the present invention, and the organic connection relation between them, It will be omitted.

Here, the lane assistant method 1300 of the lane assistant 1200 (FIG. 12) according to the sixth embodiment of the present invention further performs the fourth identifying step S1311 after the second determining step S910 .

For example, the lane assistant method 1300 of the lane assistant device 1200 (FIG. 12) according to the sixth embodiment of the present invention may be configured such that, after the second determination step S910 and before the speed adjustment step S912b, Step S1311 may be further performed.

That is, if it is determined that the current access information is out of the reference access information range in the second determination unit (815 of FIG. 12), the fourth identification step S1311 may increase the speed of the vehicle in accordance with the second reference speed adjustment range 1221 in Fig. 12).

The lane assistant 1200 and the assistant method 1300 according to the sixth embodiment of the present invention may include the first sensing unit 102, the controller 804, the first determination unit 106, A first sensing step S302 and a first determining step S302 including the first sensing unit 108 and the second sensing unit 813 and the second determining unit 815 and the second driving unit 817 and the fourth identifying unit 1221. [ S304), the driving step S306 (S306a, S306b), the second sensing step S908, the second determining step S910, the fourth identifying step S1311 and the speed adjusting step S912 (S912a, S912b) .

Therefore, the lane auxiliary device 1200 and its auxiliary method 1300 according to the sixth embodiment of the present invention are configured such that when turning on the turn signal of the vehicle for lane change, It is possible to safely change the vehicle to the lane to be changed if it is determined that the surrounding object information is out of the reference surrounding object information range.

Accordingly, the lane auxiliaries 1200 and the assistant method 1300 according to the sixth embodiment of the present invention can prevent collision with the current surrounding object at the time of changing the vehicle, It is possible to prevent the damage of the vehicle and the surrounding objects in advance by protecting the life and the life of the objects near the present.

In addition, the lane auxiliaries 1200 and the assistant method 1300 according to the sixth embodiment of the present invention detect the current access information and determine that the current access information is within the reference access information range, The speed of the vehicle can be lowered in accordance with the range.

On the other hand, when the lane assistant 1200 and its auxiliary method 1300 according to the sixth embodiment of the present invention detect current access information and determine that the current access information is out of the reference access information range, The speed of the vehicle can be increased in accordance with the speed control range.

Accordingly, the lane auxiliaries 1200 and the assistant method 1300 according to the sixth embodiment of the present invention can increase the speed of the vehicle while preventing collision with nearby objects at present, The life of the occupant and the life of the object near the current occupant can be further protected, thereby preventing damage to the vehicle and the surrounding objects more effectively and improving the speed of the vehicle efficiently.

Further, when the lane assistant 1200 and its assistant method 1300 according to the sixth embodiment of the present invention determine that the current access information is out of the standard access information range, It is possible to induce the driver to accelerate the operation.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Therefore, it should be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than the foregoing description, It is intended that all changes and modifications derived from the equivalent concept be included within the scope of the present invention.

Claims (12)

A first sensing unit for sensing current surrounding object information of a lane to be changed in synchronization with a direction indicator light operation of the vehicle;
A controller receiving a current surrounding object information sensed by the first sensing unit and including a preset reference surrounding object information range;
A first determination unit determining whether the current surrounding object information detected by the first sensing unit is in the reference surrounding object information range under the control of the controller; And
Wherein the first determination unit determines that the current surrounding object information is in the reference surrounding object information range, maintains the vehicle in the current lane under the control of the controller, And a first driver for driving the steering apparatus of the vehicle so as to change the vehicle to the changed lane under the control of the controller when it is determined that the reference lane information is out of the reference surrounding object information range.
The method according to claim 1,
Further comprising a first identifying unit for identifying, when the first determining unit determines that the current surrounding object information is the reference surrounding object information range, maintaining the vehicle as a current lane.
The method according to claim 1,
Further comprising a second identifying unit for identifying, when the first determining unit determines that the current surrounding object information is out of the reference surrounding object information range, changing the vehicle to the changed lane.
The method according to claim 1,
Further comprising: a second sensing unit for sensing current access information between the vehicle and the current surrounding object information when the first determining unit determines that the current surrounding object information is out of the reference surrounding object information range;
Wherein the control unit further receives the current access information detected by the second sensing unit and further includes a preset reference access information range, a first reference speed adjustment range, and a second reference speed adjustment range;
And a second determination unit for determining whether the current access information sensed by the second sensing unit is in the reference access information range under the control of the control unit;
When the second determining unit determines that the current access information is in the reference access information range, it decreases the speed of the vehicle according to the first reference speed control range under the control of the controller, A second driver for driving the speed regulating device of the vehicle to increase the speed of the vehicle in accordance with the second reference speed regulating range under the control of the controller when it is determined that the current access information is out of the reference access information range, The lane auxiliary device further comprising:
5. The method of claim 4,
Further comprising a third identifying unit that identifies that the vehicle speed is lowered in accordance with the first reference speed control range when the second determining unit determines that the current access information is in the reference access information range, .
5. The method of claim 4,
Further comprising a fourth discriminating unit for discriminating that the speed of the vehicle is high in accordance with the second reference speed adjusting range when the second determining unit determines that the current access information is out of the reference approach information range, Device.
A first sensing step of sensing, by the first sensing unit, current surrounding object information of the lane to be changed in synchronization with a direction indicator operation of the vehicle;
A first determining step of determining whether the current surrounding object information sensed by the first sensing unit is a reference surrounding object information range set in the control unit according to the control of the control unit; And
When the first determination unit determines that the current surrounding object information is in the reference surrounding object information range, drives the steering apparatus of the vehicle so that the first driving unit maintains the vehicle in the current lane under the control of the controller Or if the first determination unit determines that the current surrounding object information is out of the reference surrounding object information range, the first driving unit changes the vehicle to the changed lane under the control of the controller And a driving step of driving the steering apparatus of the lane assist system.
8. The method of claim 7,
After the first determination step,
Further comprising a first identification step of identifying, in the first identification unit, that the vehicle is kept in the current lane, when the first determination unit determines that the current peripheral object information is in the reference peripheral object information range, Way.
8. The method of claim 7,
After the first determination step,
And a second identifying step of identifying, in the second determining unit, the changing of the vehicle to the changed lane when the first determining unit determines that the current surrounding object information is out of the reference surrounding object information range Lane assistant method.
8. The method of claim 7,
After the first determination step,
And a second sensing step of sensing, by the second sensing unit, current access information between the vehicle and the current surrounding object information when the first determination unit determines that the current surrounding object information is out of the reference surrounding object information range Perform further;
Further comprising: a second determination step of determining, by the second determination unit, whether the current access information sensed by the second sensing unit is a reference access information range set in the controller, according to the control of the controller;
When the second determining unit determines that the current access information is in the reference access information range, the second driving unit may lower the speed of the vehicle in accordance with the first reference speed control range set in the controller according to the control of the controller When the second determination unit determines that the current access information is out of the reference access information range, the second driving unit sets the second reference in the second driving unit according to the control of the control unit, Further comprising a speed adjusting step of driving the speed adjusting device of the vehicle so as to increase the speed of the vehicle in accordance with the speed adjusting range.
11. The method of claim 10,
After the second determination step,
And a third discriminating step of discriminating in the third discriminating unit that the speed of the vehicle is lowered in accordance with the first reference speed adjusting range when the second judging unit judges that the current access information is in the reference approach information range Lane assistant method to perform further.
11. The method of claim 10,
After the second determination step,
A fourth identification step of identifying, in the fourth identification unit, that the speed of the vehicle is increased in accordance with the second reference speed control range when the second determination unit determines that the current access information is out of the reference access information range; The lane assistant method further comprising:

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