KR20170053880A - Driver Assistance Apparatus and Vehicle Having The Same - Google Patents

Abstract

According to an embodiment, a vehicle driving assistance apparatus comprises: a communication transmitting data to a near vehicle and receiving the data from the near vehicle; a sensor unit sensing a periphery of a vehicle; and a processor determining a lane changing position from peripheral information of the vehicle. The processor determines a lane changing candidate position in accordance with the peripheral information of the vehicle, transmitting a lane changing cooperation request to the near vehicle related to the lane changing candidate position through the communication unit, and confirming the lane changing position in accordance with feedback of the near vehicle with respect to the cooperation request.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle driving assist apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle driving assistant provided in a vehicle and a vehicle including the same.

A vehicle is a device that moves a user in a desired direction by a boarding user. Typically, automobiles are examples.

The automobiles are internal combustion engine cars, external combustion engine cars, gas turbine cars or electric vehicles according to the prime mover used.

Electric vehicles are electric vehicles that use electric energy to drive electric motors. They include pure electric vehicles, hybrid electric vehicles (HEV), plug-in hybrid electric vehicles (PHEV), and hydrogen fuel cell vehicles (FCEV).

Meanwhile, in recent years, the development of an intelligent vehicle (Smart Vehicle) has been actively developed for safety and convenience of drivers, pedestrians, and the like.

Intelligent automobiles are also called smart automobiles, cutting-edge vehicles that combine information technology (IT) technology. Intelligent automobiles provide optimum transportation efficiency through interworking with intelligent transportation system (ITS) as well as introducing advanced system of automobile itself.

For example, intelligent vehicles have the technical advantage of maximizing the safety of the occupants as well as the occupants by developing key safety-related technologies such as Adaptive Cruise Control (ACC), obstacle detection, collision detection or mitigation.

In addition, recently, V2V (Vehicle to Vehicle) technology which attracts automobiles to run while exchanging wireless communication between automobiles running adjacent to each other is getting attention. With this V2V technology, automobiles can run at constant distance from each other on the road. In detail, it is possible to prevent a sudden traffic accident by sharing the location and speed information of the nearby vehicle in real time.

On the other hand, the driving situation in which accidents occur most frequently is intersection entry and exit, lane change. Because the traffic between the cars is only a turn signal light during the change of the lane, most of the people do not understand the intention to drive between the vehicles and the accident occurs.

In addition, techniques such as blind spot detection function for notifying other vehicles in the blind spot of the change lane and lane change assist function for notifying the time of the lane change are being developed by the lane change assistant technology.

However, these techniques are only a matter of giving warning notices to users.

In order to solve the above-mentioned problems, an embodiment of the present invention is to provide a vehicle driving assistant apparatus and a vehicle including the same, which can smoothly change a lane by appropriately exchanging data concerning a lane change between vehicles in specific situations.

The vehicle driving assist system according to the embodiment includes a communication unit for transmitting and receiving data with an adjacent vehicle, a sensor unit for sensing the vehicle periphery, and a processor for determining a lane change position from the vehicle periphery information, Determines a lane-changing candidate position, transmits a lane-changing cooperation request to the adjacent vehicle related to the lane-changing candidate position through the communication unit, and determines the lane-changing position according to the feedback of the adjacent vehicle for the cooperation request.

Further, the embodiment provides a vehicle including the vehicle driving assist device described above.

The vehicle driving assist system according to the embodiment can perform communication-based lane changing function for exchanging necessary information with each other through the communication unit to reduce the risk of accident and to facilitate traveling communication between vehicles.

In particular, the vehicle driving assist system according to the embodiment can smoothly change the lane through the exchange of information and communication with neighboring vehicles by time and situation.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing an appearance of a vehicle provided with a vehicle driving assistant device according to an embodiment of the present invention; FIG.
2 is a view showing an inner tube of a vehicle provided with a vehicle driving assist system according to an embodiment of the present invention.
3 shows a block diagram of a vehicle driving assist system according to an embodiment of the present invention.
4 shows an example of a sensor unit and a camera according to an embodiment of the present invention.
5 is a flowchart illustrating a communication-based lane changing method according to an embodiment of the present invention.
FIGS. 6 to 16 are views for assisting the description of FIG. 5. FIG.
17 is a flowchart illustrating a communication-based lane-changing cooperation method according to an embodiment of the present invention.
FIGS. 18 to 21 are views for assisting the description of FIG. 17. FIG.
22 is a flowchart illustrating a communication-based lane changing method according to another embodiment of the present invention.
23 is a flowchart illustrating a communication-based lane changing method according to another embodiment of the present invention.
Fig. 24 is an example of an internal block diagram of the vehicle of Fig. 1;

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The vehicle described herein may be a concept including a car, a motorcycle. Hereinafter, the vehicle will be described mainly with respect to the vehicle.

The vehicle described in the present specification may be a concept including both an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as a power source, and an electric vehicle having an electric motor as a power source.

In the following description, the left side of the vehicle means the left side in the running direction of the vehicle, and the right side of the vehicle means the right side in the running direction of the vehicle.

Unless otherwise mentioned in the following description, the LHD (Left Hand Drive) vehicle will be mainly described.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a vehicle driving assistance device according to an embodiment will be described in detail with reference to the drawings.

1 to 3, a vehicle 700 according to the embodiment includes wheels 13FL and 13RL rotated by a power source, driving operation means 721A, 721B, 721C and 721D for controlling the running of the vehicle, And a vehicle driving assistance device.

Here, the vehicle driving assistant device is a separate device that can carry out the function of assisting the driving of the vehicle 700 by exchanging necessary information with the vehicle 700 through data communication, It can also be defined as a device.

And when it is a separate apparatus, some of the units of the vehicle driving assist apparatus are not included in the vehicle driving assist apparatus but may be units of the vehicle or other apparatus mounted on the vehicle 700. [ These units can be understood as being included in the vehicle driving assist apparatus by transmitting and receiving data through the interface unit of the vehicle driving assist apparatus.

3, but it is also possible to use the units directly installed in the vehicle 700 through the interface unit 130, and the vehicle 700 can be used as the vehicle 700, But may also be implemented as a combination of the units directly installed in the system.

Hereinafter, the vehicle driving assist device will be described as a separate device from the vehicle 700, and a vehicle driving assistance device that provides a communication-based lane changing function for smoothly performing lane change through inter-vehicle data communication.

The vehicle driving assistance apparatus includes an input unit 110, a communication unit 120, an interface unit 130, a memory 140, a monitoring unit 160, a processor 170, a display unit 180, A power supply unit 190,

First, the vehicle driving assistant may include an input unit 110 for sensing a user's input. The user can input settings for the function of the driving assistant through the input unit 110 or execute input for turning on / off the vehicle driving assistant.

The input unit 110 may include a gesture input unit (e.g., an optical sensor) for sensing a user gesture, a touch input unit (e.g., a touch sensor, a touch key, A microphone, a mechanical key, and the like, and a microphone for sensing a voice input.

Next, the vehicle driving assistant device may include a communication unit 120 that communicates with the other vehicle 500, the terminal 600, and the server 610 and the like.

The vehicle driving assistance apparatus can receive at least one of navigation information, other vehicle driving information, and traffic information through the communication unit 120. [

In detail, the communication unit 120 can exchange data with another vehicle 500, the mobile terminal 600, or the server 610 in a wireless manner.

The communication unit 120 receives at least one of location information, weather information, and road traffic situation information (for example, TPEG (Transport Protocol Expert Group)) from the mobile terminal 600 and / or the server 610 .

Also, the communication unit 120 can receive traffic information from the server 610 equipped with the intelligent traffic system (ITS). Here, the traffic information may include traffic light information, lane information, and the like.

Also, the communication unit 120 may receive navigation information from the server 610 and / or the mobile terminal 600. [ Here, the navigation information may include at least one of map information related to a vehicle running, lane information, vehicle location information, set destination information, and route information according to a destination.

In particular, the communication unit 120 can receive the real-time position of the vehicle 700 with the navigation information. For example, the communication unit 120 may include a GPS (Global Positioning System) module or a WiFi (Wireless Fidelity) module to acquire the position of the vehicle.

The communication unit 120 can receive the running information of the other vehicle 500 from the other vehicle 500 and transmit the running information of the vehicle 700 to share the running information of the vehicle.

Here, the traveling information shared by the two vehicles may include at least one of direction information, position information, vehicle speed information, acceleration information, movement route information, forward / backward information, adjacent vehicle information, and turn signal information.

In addition, when the user is boarding the vehicle 700, the user's mobile terminal 600 and the vehicle driving assistance device may perform pairing with each other automatically or by execution of the user's application.

Such a communication unit can wirelessly communicate using a wireless data communication system. Wireless data communication schemes include, but are not limited to, technical standards or communication schemes for mobile communication (e.g., Global System for Mobile communications (GSM), Code Division Multi Access (CDMA), Code Division Multi Access 2000 (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband CDMA), HSDPA (High Speed Downlink Packet Access), HSUPA (Long Term Evolution), LTE Term Evolution-Advanced) or the like can be used.

In addition, the communication unit 120 may use a wireless Internet technology. For example, the wireless communication unit 120 may be a WLAN (Wireless LAN), a Wi-Fi (Wireless-Fidelity) (HSDPA), Long Term Evolution (LTE), Long Term Evolution (LTE), and Long Term Evolution (LTE). Term Evolution-Advanced).

In addition, the communication unit 120 may use short range communication, and may be a Bluetooth ™, a Radio Frequency Identification (RFID), an Infrared Data Association (IrDA), an Ultra Wideband (UWB) ), ZigBee, Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct and Wireless Universal Serial Bus (USB) technologies.

Also, it is possible to exchange data with other vehicles and servers wirelessly using a wireless communication module of a mobile terminal, by pairing with a mobile terminal in the vehicle using a short distance communication method.

Next, the vehicle driving assistance apparatus may include an interface unit 130 that receives vehicle-related data or transmits the processed or generated signal to the processor 170. [

In detail, the vehicle driving assistance device can receive the navigation information and / or the sensor information through the interface unit 130.

Further, the vehicle driving assistant device can transmit a control signal for executing the vehicle driving assist function, information generated by the vehicle driving assistant, and the like through the interface unit 130. [

To this end, the interface unit 130 performs data communication with at least one of a control unit 770, an AVN (Audio Video Navigation) device 400 and a sensing unit 760 in the vehicle by a wired communication or a wireless communication method .

In detail, the interface unit 130 can receive the navigation information by the data communication with the control unit 770, the AVN apparatus 400 and / or the separate navigation apparatus.

The interface unit 130 may receive the sensor information from the control unit 770 or the sensing unit 760.

Here, the sensor information includes direction information of the vehicle 700, position information, vehicle speed information, acceleration information, tilt information, forward / backward information, fuel information, distance information to front and rear vehicles, distance information between the vehicle and the lane, And may include at least one or more of the information.

Also, the sensor information may include a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward / backward sensor, a wheel sensor, a vehicle speed sensor, A vehicle body inclination sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle internal temperature sensor, and a vehicle internal humidity sensor. On the other hand, the position module may include a GPS module for receiving GPS information.

The interface unit 130 may receive a user input received through the user input unit 110 of the vehicle 700. The interface unit 130 may receive the user input from the input unit of the vehicle 700 or the control unit 770. [ That is, when the input unit is arranged in the vehicle itself, user input may be received through the interface unit 130. [

In addition, the interface unit 130 may receive the traffic information obtained from the server 610. The server 610 may be a server located in a traffic control station that controls traffic. For example, when traffic information is received from the server 610 through the communication unit 120 of the vehicle 700, the interface unit 130 may receive the traffic information from the control unit 770. [

Next, the memory 140 may store various data for operation of the vehicle driving assistance apparatus, such as a program for processing or controlling the processor 170. [

In detail, the memory 140 may store a plurality of application programs (application programs or applications) that are driven by the vehicle driving assistant, data for operation of the vehicle driving assistant, and instructions. At least some of these applications may be downloaded from an external server via wireless communication. Also, at least some of these applications may reside on a vehicle driving assistance device from the time of shipment for a basic function of the vehicle driving assistance device (e.g., vehicle driving assistance function).

On the other hand, the application program is stored in the memory 140, installed on the vehicle driving assistance device, and can be driven by the processor 170 to perform the operation (or function) of the vehicle driving assistance device.

The processor 170 typically controls the overall operation of the mobile terminal 100, in addition to the operations associated with the application program. Processor 170 may provide or process appropriate information or functionality to a user by processing signals, data, information, etc., input or output through the components discussed above, or by driving application programs stored in memory 170.

In addition, the memory 140 may store data for object identification included in the image. For example, when a predetermined object is detected in the vehicle surroundings image acquired through the camera 160, the memory 140 may store data for confirming what the object corresponds to according to a predetermined algorithm .

For example, the memory 140 may store data on traffic information as data for object identification. For example, when predetermined traffic information such as a lane or a traffic sign is detected in the image obtained through the camera 160, the memory 140 stores the traffic information in the memory 140 You can save the data to check if it is applicable.

The memory 140 may be implemented in hardware, such as a flash memory type, a hard disk type, a solid state disk type, an SDD type (Silicon Disk Drive type) (RAM), a static random access memory (SRAM), a read-only memory (ROM), an EEPROM , electrically erasable programmable read-only memory (PROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, and optical disk.

In addition, the vehicle driving assistance apparatus may be operated in association with a web storage that performs a storage function of the memory 140 on the Internet.

Next, the vehicle driving assistance device may further include a sensor unit 150 for sensing an object around the vehicle 700. [

The vehicle driving assist device may include a separate sensor unit 150 to sense the surrounding objects and the sensor information obtained from the sensing unit 770 of the vehicle 700 itself may be received through the interface unit 130 It is possible.

In addition, the sensor unit 150 may include a camera 160.

The sensor unit 150 may sense a peripheral object of the vehicle 700.

In detail, the sensor unit 150 senses a surrounding object and can detect the position of the object, the distance to the vehicle, and the like. The processor 170 analyzes the sensed information to acquire an object It is possible to further detect the attribute information.

The sensor unit 150 may include various distance measurement sensors such as a lidar sensor, a laser sensor, an ultrasonic waves sensor, and a stereo camera.

The sensor unit 150 may be disposed at least one of front, back, right, left, and ceiling of the vehicle 700.

In particular, the attribute of the object can be obtained by analyzing the image captured by the camera 160. [

More specifically, the vehicle driving assist device may include a camera 160 for acquiring a vehicle surround image. Then, the acquired vehicle surroundings image can be detected by the processor 170 around the vehicle, and the property of the object can be detected to generate the image information.

Here, the image information may include at least one of the type of the object, the traffic signal information displayed by the object, the distance between the object and the vehicle, and the position of the object.

More specifically, the processor 170 generates image information by performing object analysis such as detecting an object in an image photographed through image processing, tracking an object, measuring a distance to the object, and checking an object .

In order for the processor 170 to perform object analysis more easily, the camera 160 may be a stereo camera that takes images and measures distances to objects in the captured images. However, the embodiment is not limited thereto.

The camera 160 may include an internal camera that captures the front of the vehicle 700 and acquires a forward image within the vehicle.

Further, the camera 160 may further include a plurality of cameras.

4, a plurality of cameras 160 may be disposed on at least one of the left, rear, right, front, and ceiling of the vehicle 700, respectively.

The left camera 160b may be disposed in a case surrounding the left side mirror. Alternatively, the left camera 160b may be disposed outside the case surrounding the left side mirror. Alternatively, the left camera 160b may be disposed in one area outside the left front door, the left rear door, or the left fender.

The right camera 160c may be disposed in a case surrounding the right side mirror. Or the right camera 160c may be disposed outside the case surrounding the right side mirror. Alternatively, the right camera 160c may be disposed in one area outside the right front door, the right rear door, or the right fender.

Further, the rear camera 160d can be disposed in the vicinity of a rear license plate or a trunk switch. The front camera 160a may be disposed in the vicinity of the ambulance or in the vicinity of the radiator grill.

The processor 170 may synthesize images photographed in all directions to provide an overview image of the vehicle 700 viewed from the top view. When the surrounding view image is generated, a boundary portion between each image area occurs. These boundary portions can be naturally displayed by image blending processing.

Further, the ceiling camera 160e may be disposed on the ceiling of the vehicle 700 to photograph all the front, rear, left, and right sides of the vehicle 700. [

Such a camera 160 may directly include an image sensor and an image processing module. The camera 160 may process still images or moving images obtained by an image sensor (e.g., CMOS or CCD). In addition, the image processing module may process the still image or the moving image obtained through the image sensor, extract required image information, and transmit the extracted image information to the processor 170.

The vehicle driving assistant device may include a display portion for displaying information on the vehicle driving assistant function.

The display unit 180 may include a plurality of display units.

For example, the display unit 180 may display the stop signal holding time as traffic signal information and display an image indicating that the start signal is turned on at the start signal.

The display unit 180 may include a first display unit 180a for projecting an image on a windshield W of the vehicle 700 to display the image. That is, the first display unit 180a may be a head up display (HUD), and may include a projection module for projecting an image on the windshield W. Also, the projection image projected by the projection module has a certain transparency, and the user can simultaneously view the projected image and the projected image.

The projection image displayed on the first display unit 180a overlaps with the projection image projected on the windshield W to form an augmented reality (AR).

In addition, the display unit 180 may include a second display unit 180b that is separately installed inside the vehicle and displays an image.

In detail, the second display unit 180b may be a display of the vehicle navigation device or a cluster on the inside of the vehicle interior.

The second display unit 180b may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT) LCD, an organic light-emitting diode (OLED) And may include at least one of a flexible display, a 3D display, and an e-ink display.

The second display unit 180b may be combined with a touch input unit to form a touch screen.

In addition, the vehicle driving assist apparatus may further include an audio output unit 185 and a power supply unit 190.

In detail, the audio output unit 185 can output a message to the audio confirming the description of the function of the vehicle driving assistant, whether or not the function is performed, and the like. That is, the vehicle driving assist device may complement the description of the function of the vehicle driving assist device through the audio output of the audio output portion 185, together with the visual indication through the display portion 180.

In addition, the power supply unit 190 may receive external power and internal power under the control of the processor 170 to supply power required for operation of the respective components.

Finally, the vehicle driving assistance device may include a processor 170 that controls the overall operation of each unit in the vehicle driving assistance device.

In addition, processor 170 may control at least some of the components discussed with FIG. 3 to drive the application program. Further, the processor 170 may operate, in combination, at least two of the components included in the vehicle driving assist device for driving the application program.

Such a processor 170 may be implemented in hardware as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) 170 may be implemented using at least one of processors, controllers, micro-controllers, microprocessors 170, and electrical units for performing other functions.

The processor 170 may be controlled by the control unit or may control various functions of the vehicle 700 through the control unit.

Hereinafter, referring to Figs. 5 to 16, a method for controlling the above-described configuration unit to provide a communication-based lane changing function will be described in detail.

First, the processor 170 may generate vehicle perimeter information. (S101)

The processor 170 may determine that the lane change is made when the user inputs the turn signal, and may generate the vehicle periphery information.

In detail, the processor 170 may generate the vehicle periphery information through the sensor information and the image information obtained by the sensor unit 150 and the camera 160.

The processor 170 may further include at least one or more pieces of information of the other vehicle navigation information, the navigation information, the traffic information, and the sensor information acquired by the communication unit 120 and / or the interface unit 130 to generate vehicle periphery information .

6, the processor 170 receives at least one of the other vehicles 511, 512, 513, 514, 515, and 516 running adjacent to the vehicle, the position of the other vehicle, Speed, the distance d between the other vehicles, the lanes 11, 12, and 13, and whether or not communication is established.

Next, the processor 170 can determine the lane-changing candidate position in accordance with the generated vehicle periphery information. (S103)

More specifically, when the adjacent vehicles 511 and 512 run on the change lane, the processor 170 can determine an area not obstructed by the running of the adjacent vehicle as the lane change candidate position 200. [

Specifically, the processor 170 can determine the lane-changing candidate position 200 according to the position of the adjacent vehicles 511, 512 running adjacent to the vehicle, the distance between adjacent vehicles, and the speed of the adjacent vehicle.

7, when the first adjacent vehicle 511 running backward in the lane to be changed and the second adjacent vehicle 512 running in front of the lane to be changed are running, the processor 170 When the distance between the first adjacent vehicle 511 and the second adjacent vehicle 512 is equal to or greater than a predetermined distance and the speed of the first adjacent vehicle 511 is equal to or lower than the predetermined speed and the speed of the second adjacent vehicle 512 is equal to or greater than The area between the first adjacent vehicle 511 and the second adjacent vehicle 512 can be determined as the lane change candidate position 200. [

8, the first adjacent vehicle 511 running in the lane to be changed, the second adjacent vehicle 512 running in front of the first adjacent vehicle 511, and the first adjacent vehicle 511 The third adjacent vehicle 513 running on the rear side of the third adjacent vehicle 513 may be running. When the distance between the first adjacent vehicle 511 and the second adjacent vehicle 512 is less than the predetermined distance or the speed of the first adjacent vehicle 511 is equal to or higher than the predetermined speed, 511 can be determined as the lane change candidate position (200).

That is, the processor 170 may determine the lane change candidate position 200 as the front area or the rear area of the first adjacent vehicle 511 that runs most adjacent to the change lane.

9, when the fourth adjacent vehicle 514 changes lanes ahead of the running first adjacent vehicle 511 in the lane to be changed, the first adjacent vehicle 511 changes the lane It is possible to assist in determining the lane change candidate position 200 by relaying the communication between the fourth adjacent vehicle 514 and the present vehicle 700. [

After the lane change candidate position 200 is determined, the processor 170 may transmit the lane change coordination request to the adjacent vehicles via the communication unit. (S105)

In detail, the processor 170 transmits a lane change coordination request message through the communication unit, and the message may include lane change candidate position 200, cooperative driving information for lane change, and the like.

For example, the processor 170 may transmit, through the communication unit, a lane change coordination request message indicating that the lane to be changed is to attempt to change the lane to the nearest adjacent vehicle in the forward direction.

Next, the processor 170 can receive the feedback of the adjacent vehicle according to the cooperation request through the communication unit. (S107)

In detail, the processor 170 can receive an acceptance message or reject message for the lane change coordination request from the adjacent vehicle via the communication unit. (S109)

Referring to FIG. 10, when the processor 170 receives the cooperation request acceptance message from the first adjacent vehicle 511, the processor 170 can determine the lane change candidate position to the lane change position 250.

If there is no feedback of the adjacent vehicle, the processor 170 may detect the driving pattern of the adjacent vehicle to detect feedback on whether or not to cooperate. (S110)

In detail, the processor 170 detects a driving pattern including a speed, a driving direction, an acceleration, and the like of the adjacent vehicle through a sensor unit and a camera, and determines whether the adjacent vehicle accepts or rejects the lane- Feedback can be determined.

For example, referring to FIG. 11, the processor 170 determines whether the first adjacent vehicle 511 decelerates and the second adjacent vehicle 512 increases the speed so that the first adjacent vehicle 511 and the second If the distance between the adjacent vehicles 512 increases, it can be judged as the acceptance feedback for the lane change coordination.

Conversely, referring to FIG. 12, when the first adjacent vehicle 511 accelerates the speed and the distance between the first adjacent vehicle 511 and the second adjacent vehicle 512 decreases, the processor 170 determines can do.

The processor 170 can determine the rear area of the adjacent vehicle to the lane change position 250 if it is determined that the lane change coordination is denial feedback.

Upon receiving the lane change coordination acceptance feedback, the processor 170 may determine the lane change candidate position 200 to the lane change position 250. (S111)

Then, the present vehicle 700 can make lane-changing travel to the lane-changing position 250. (S113)

More specifically, the processor 170 may autonomously drive to the lane-changing location 250 for lane-changing travel. At this time, the process of changing the lane by autonomous traveling on the display unit 180 may be displayed as an image.

13, the lane changing autonomous driving display unit 180 displays the adjacent vehicle images 511i and 512i, the road image, the steering rotation warning image 20i, the present vehicle 700 image 700i, A changed virtual path image, and a lane change location image 250i.

If the vehicle is in a manual driving mode, the display unit 180 may further display images for assisting the lane change.

14, a recommended operation image 20i, an image 700i of this vehicle 700, a lane change recommended route image 21i, a road image, a road image, And a lane change location image 250i.

On the other hand, if the steering handle 721A (see Fig. 2) changes in accordance with the autonomous steering change during the autonomous running, it can give a shock to the user holding the steering wheel.

In detail, if the steering wheel is moved automatically when the active lane changing function is activated, there may be a driving disorder. When the steering wheel is operated at low speed, the manipulated amount of steering wheel is large (more than one wheel).

The processor 170 can control the steering wheel to be capable of active steering while keeping the steering wheel steady under a certain condition in consideration of the vehicle speed, the steering operation amount, and the steering wheel operation speed at the time of lane change autonomous driving. When the driver steers the steering wheel over a certain angle, the autonomous lane change driving can be canceled.

Then, the processor 170 can align the steering wheel with the steering direction of the vehicle before the lane change is completed, or when the lane change support function operation is canceled to return to the original lane.

In addition, the display unit 180 may display images that assist in changing lanes using the first display unit 180a.

For example, referring to FIG. 15, a virtual image 250i indicating a position where a lane is changed on an actual road during manual running and a recommended operation image 20i for driving operation means are further displayed on the windshield, Lane change can be assisted.

In addition, the processor 170 may inform the adjacent vehicles by transmitting the lane change to the lane change position 250 after the lane change position 250 is determined, to the neighboring vehicles near the vehicle.

16, the processor 170 receives, via the communication unit, a fifth adjacent vehicle 515 in front of the driving lane, a sixth adjacent vehicle 516 in the rear, a second adjacent vehicle 516 in front of the change lane 512, a lane change position 250 and a lane change point, etc. to at least one of the first adjacent vehicle 511 and the fourth adjacent vehicle 514 on the side lane of the change lane.

That is, the vehicle driving assist system according to the embodiment can perform communication-based lane changing function to exchange information necessary for each situation through the communication unit, reduce the risk of accident, and smooth the communication between vehicles.

On the other hand, the vehicle driving assist device may receive a lane change coordination request of another vehicle.

Hereinafter, referring to Figs. 17 to 21, a method of controlling the configuration unit to cooperate with the communication-based lane change by the processor 170 will be described in detail.

First, the processor 170 can receive a cooperation request for lane change from the adjacent vehicle 521 via the communication unit. (S301)

18, the lane change coordination request message can be received from the adjacent vehicle in the side lane of the present vehicle 700. [ The lane change candidate position 200 may be included in this message.

Next, the processor 170 can determine whether or not to cooperate with the lane change. (S303)

In detail, the processor 170 can receive the cooperative acceptance or cooperative denial input from the user and determine whether to cooperate. In addition, the processor 170 can detect the running state of the vehicle 700 and determine whether to cooperate with the vehicle. (S305)

The processor 170 determines the lane change safety based on the speed of the vehicle, the traveling route, the distance to the front vehicle 522, the distance to the rear vehicle, and the lane change candidate position 200 of the adjacent vehicle 521 If it is determined to be safe, the lane change may be permitted.

19, when the processor 170 simultaneously receives a request to cooperate with the neighboring vehicles 521 and 524 on the lane change candidate position 200 overlapping, the processor 170 determines the lane change according to the request timing or the like, You can decide whether to cooperate. At this time, the processor 170 may relay the communication between the adjacent vehicles 521 and 524.

If it is determined that the lane change coordination is accepted, the processor 170 may receive an additional message for the lane change position 250 of the adjacent vehicle 521 according to the lane change coordination acceptance via the communication unit. (S307)

Then, the processor 170 can make a travel in accordance with the lane change coordination. (S309)

20, the processor 170 may send a cooperation acknowledgment message through the communication unit, and may control to decrease or maintain the speed of the vehicle so as to increase the distance from the front vehicle 521. [

On the other hand, you can receive compensation when you change the lane. (S311)

In order for the communication-based lane change function to be securely supported between vehicles, it is necessary to cooperate with the lane change fundamentally. In order to activate this cooperation, the server may award compensation to the vehicles cooperating with the lane change.

For example, you can offer concession mileage to drivers, provide rankings according to accumulated mileage, and provide mileage compensation.

These rewards can be converted into benefits such as premium discounts, car tax discounts, etc., in conjunction with insurance companies or state agencies.

The information on such concession mileage can be received through the communication unit and displayed on the display unit 180 during the lane change coordination.

On the other hand, when the lane change cooperation is denied, the processor 170 may transmit a lane change cooperation rejection message. (S313)

Then, the processor 170 can control the driving according to the lane change cooperative denial. (S315)

In detail, as shown in Fig. 21, the processor 170 can control to increase the speed of the vehicle 700 so as to reduce the lane change coordination to reduce the distance from the front vehicle 522. [

That is, the vehicle driving assist system according to the embodiment can perform a communication-based lane changing function to exchange information necessary for each situation through the communication unit with the adjacent vehicle for changing the lane, reduce the risk of accident, and smooth the traveling communication between the vehicles.

On the other hand, there may be a case where a lane change is necessary in a special situation, and the vehicle driving assist device can provide a communication-based lane changing function for each situation.

22, the processor 170 can detect the congestion of the other vehicles 531, 532, and 533 in the lane to be changed through the vehicle periphery information. In this case, the distance between the other vehicles 531, 532, and 533 may not be sufficient to change lanes.

In such a case, the processor 170 may transmit a lane change coordination request message to the lane ahead vehicles 531, 532, and 533 to change. At this time, the processor 170 can control to maintain the slow running to reduce the running speed.

If there is another vehicle that has accepted the cooperation, the processor 170 determines the front area of the other vehicle 532 that accepted the cooperation as the lane change position 250, and runs autonomously to the lane change position 250, An auxiliary image can be displayed to the user.

Then, the server can give compensation to the other vehicle 532 that has accepted the lane change and the vehicles 531 that are running behind the other vehicle, and can give the user of the vehicle 700 a penalty.

On the other hand, it may happen that the lane change is inevitable depending on the situation around the vehicle. For example, there may be an intersection entry / exit section or a travel road disappearance section.

23, when the processor 170 detects an unavoidable lane change situation from the perimeter information of the vehicle, it can automatically confirm the lane change position 250 and transmit a cooperation request to the adjacent vehicles 541 and 542, , And can lead to lending concession cooperation.

Such a vehicle driving assist system may be included in the vehicle.

24, the vehicle 700 includes a communication unit 710, an input unit 720, a sensing unit 760, an output unit 740, a vehicle driving unit 750, a memory 730, an interface unit 780, A control unit 770, a power source unit 790, a vehicle driving assistant device, and an AVN device 400. [

The communication unit 710 may include one or more modules that enable wireless communication between the vehicle and the mobile terminal 600, between the vehicle and the external server 510, or between the vehicle and the other vehicle 520. [ In addition, the communication unit 710 may include one or more modules that connect the vehicle to one or more networks.

The communication unit 710 may include a broadcast receiving module 711, a wireless Internet module 712, a local area communication module 713, a location information module 714, and an optical communication module 715.

The broadcast receiving module 711 receives broadcast signals or broadcast-related information from an external broadcast management server through a broadcast channel. Here, the broadcast includes a radio broadcast or a TV broadcast.

The wireless Internet module 712 is a module for wireless Internet access, and can be built in or externally mounted in a vehicle. The wireless Internet module 712 is configured to transmit and receive wireless signals in a communication network according to wireless Internet technologies.

Wireless Internet technologies include, for example, WLAN (Wireless LAN), Wi-Fi (Wireless Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA, WiBro World Wide Interoperability for Microwave Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), and Long Term Evolution-Advanced (LTE-A) (712) transmits and receives data according to at least one wireless Internet technology in a range including internet technologies not listed above. For example, the wireless Internet module 712 can exchange data with the external server 510 wirelessly. The wireless Internet module 712 can receive weather information and road traffic situation information (for example, TPEG (Transport Protocol Expert Group)) information from the external server 510. [

The short-range communication module 713 is for short-range communication and may be a Bluetooth ™, a Radio Frequency Identification (RFID), an Infrared Data Association (IrDA), an Ultra Wideband (UWB) It is possible to support near-field communication using at least one of Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct and Wireless USB (Universal Serial Bus)

The short range communication module 713 may form short range wireless communication networks (Wireless Area Networks) to perform short range communication between the vehicle and at least one external device. For example, the short-range communication module 713 can exchange data with the mobile terminal 600 wirelessly. The short distance communication module 713 can receive weather information and traffic situation information of the road (for example, TPEG (Transport Protocol Expert Group)) from the mobile terminal 600. For example, when the user has boarded the vehicle, the user's mobile terminal 600 and the vehicle can perform pairing with each other automatically or by execution of the user's application.

The position information module 714 is a module for acquiring the position of the vehicle, and a representative example thereof is a Global Positioning System (GPS) module. For example, when the vehicle utilizes a GPS module, it can acquire the position of the vehicle using a signal sent from the GPS satellite.

The optical communication module 715 may include a light emitting portion and a light receiving portion.

The light receiving section can convert the light signal into an electric signal and receive the information. The light receiving unit may include a photodiode (PD) for receiving light. Photodiodes can convert light into electrical signals. For example, the light receiving section can receive information of the front vehicle through light emitted from the light source included in the front vehicle.

The light emitting unit may include at least one light emitting element for converting an electric signal into an optical signal. Here, the light emitting element is preferably an LED (Light Emitting Diode). The optical transmitter converts the electrical signal into an optical signal and transmits it to the outside. For example, the optical transmitter can emit the optical signal to the outside through the blinking of the light emitting element corresponding to the predetermined frequency. According to an embodiment, the light emitting portion may include a plurality of light emitting element arrays. According to the embodiment, the light emitting portion can be integrated with the lamp provided in the vehicle. For example, the light emitting portion may be at least one of a headlight, a tail light, a brake light, a turn signal lamp, and a car light. For example, the optical communication module 715 can exchange data with another vehicle 520 via optical communication.

The input unit 720 may include a driving operation unit 721, a camera 195, a microphone 723, and a user input unit 724.

The driving operation means 721 receives a user input for driving the vehicle. The driving operation means 721 may include a steering input means 721A, a shift input means 721D, an acceleration input means 721C, and a brake input means 721B.

The steering input means 721A receives the input of the traveling direction of the vehicle from the user. The steering input means 721A is preferably formed in a wheel shape so that steering input is possible by rotation. According to the embodiment, the steering input means 721A may be formed of a touch screen, a touch pad, or a button.

The shift input means 721D receives inputs of parking (P), forward (D), neutral (N), and reverse (R) of the vehicle from the user. The shift input means 721D is preferably formed in a lever shape. According to an embodiment, the shift input means 721D may be formed of a touch screen, a touch pad, or a button.

The acceleration input means 721C receives an input for acceleration of the vehicle from the user. The brake inputting means 721B receives an input for decelerating the vehicle from the user. The acceleration input means 721C and the brake input means 721B are preferably formed in the form of a pedal. According to the embodiment, the acceleration input means 721C or the brake input means 721B may be formed of a touch screen, a touch pad, or a button.

The camera 722 may include an image sensor and an image processing module. The camera 722 may process still images or moving images obtained by an image sensor (e.g., CMOS or CCD). The image processing module processes the still image or moving image obtained through the image sensor, extracts necessary information, and transmits the extracted information to the control unit 770. On the other hand, the vehicle may include a camera 722 for shooting a vehicle front image or a vehicle peripheral image, and a monitoring unit 725 for shooting an in-vehicle image.

The monitoring unit 725 may acquire an image of the occupant. The monitoring unit 725 may obtain an image for biometrics of the occupant.

31, the monitoring unit 725 and the camera 722 are included in the input unit 720. However, the camera 722 may be described as a configuration included in the vehicle driving assist device as described above .

The microphone 723 can process an external sound signal as electrical data. The processed data can be used variously depending on the function being performed in the vehicle. The microphone 723 can convert the voice command of the user into electrical data. The converted electrical data can be transmitted to the control unit 770.

The camera 722 or the microphone 723 may be a component included in the sensing unit 760 rather than a component included in the input unit 720. [

The user input unit 724 is for receiving information from a user. When information is input through the user input unit 724, the control unit 770 can control the operation of the vehicle to correspond to the input information. The user input unit 724 may include touch input means or mechanical input means. According to an embodiment, the user input 724 may be located in one area of the steering wheel. In this case, the driver can operate the user input portion 724 with his / her finger while holding the steering wheel.

The sensing unit 760 senses a signal related to the running or the like of the vehicle. To this end, the sensing unit 760 may include a sensor, a wheel sensor, a velocity sensor, a tilt sensor, a weight sensor, a heading sensor, a yaw sensor, a gyro sensor, , A position module, a vehicle forward / reverse sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle internal temperature sensor, an internal humidity sensor, an ultrasonic sensor, a radar, .

Thereby, the sensing unit 760 can acquire the vehicle collision information, vehicle direction information, vehicle position information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, , Fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle, and the like.

In addition, the sensing unit 760 may include an acceleration pedal sensor, a pressure sensor, an engine speed sensor, an air flow sensor AFS, an intake air temperature sensor ATS, a water temperature sensor WTS, A position sensor (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.

The sensing unit 760 may include a biometric information sensing unit. The biometric information sensing unit senses and acquires the biometric information of the passenger. The biometric information may include fingerprint information, iris-scan information, retina-scan information, hand geo-metry information, facial recognition information, Voice recognition information. The biometric information sensing unit may include a sensor that senses the passenger's biometric information. Here, the monitoring unit 725 and the microphones 723 may operate as sensors. The biometric information sensing unit can acquire the hand shape information and the face recognition information through the monitoring unit 725.

The output unit 740 is for outputting information processed by the control unit 770 and may include a display unit 741, an acoustic output unit 742, and a haptic output unit 743. [

The display unit 741 can display information processed in the control unit 770. For example, the display unit 741 can display the vehicle-related information. Here, the vehicle-related information may include vehicle control information for direct control of the vehicle, or vehicle driving assistance information for a driving guide to the vehicle driver. Further, the vehicle-related information may include vehicle state information indicating the current state of the vehicle or vehicle driving information related to the driving of the vehicle.

The display unit 741 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) display, a 3D display, and an e-ink display.

The display unit 741 may have a mutual layer structure with the touch sensor or may be integrally formed to realize a touch screen. This touch screen may function as a user input 724 that provides an input interface between the vehicle and the user, while providing an output interface between the vehicle and the user. In this case, the display unit 741 may include a touch sensor that senses a touch with respect to the display unit 741 so that a control command can be received by a touch method. When a touch is made to the display unit 741, the touch sensor senses the touch, and the control unit 770 generates a control command corresponding to the touch based on the touch. The content input by the touch method may be a letter or a number, an instruction in various modes, a menu item which can be designated, and the like.

Meanwhile, the display unit 741 may include a cluster so that the driver can check the vehicle state information or the vehicle driving information while driving. Clusters can be located on the dashboard. In this case, the driver can confirm the information displayed in the cluster while keeping the line of sight ahead of the vehicle.

Meanwhile, according to the embodiment, the display unit 741 may be implemented as a Head Up Display (HUD). When the display unit 741 is implemented as a HUD, information can be output through a transparent display provided in the windshield. Alternatively, the display unit 741 may include a projection module to output information through an image projected on the windshield.

The sound output unit 742 converts an electric signal from the control unit 770 into an audio signal and outputs the audio signal. For this purpose, the sound output unit 742 may include a speaker or the like. It is also possible for the sound output section 742 to output a sound corresponding to the operation of the user input section 724. [

The haptic output unit 743 generates a tactile output. For example, the haptic output section 743 may operate to vibrate the steering wheel, the seat belt, and the seat so that the user can recognize the output.

The vehicle drive unit 750 can control the operation of various devices of the vehicle. The vehicle driving unit 750 includes a power source driving unit 751, a steering driving unit 752, a brake driving unit 753, a lamp driving unit 754, an air conditioning driving unit 755, a window driving unit 756, an airbag driving unit 757, A driving unit 758 and a suspension driving unit 759.

The power source drive section 751 can perform electronic control of the power source in the vehicle.

For example, when the fossil fuel-based engine (not shown) is a power source, the power source drive unit 751 can perform electronic control on the engine. Thus, the output torque of the engine and the like can be controlled. When the power source drive unit 751 is an engine, the speed of the vehicle can be limited by limiting the engine output torque under the control of the control unit 770. [

As another example, when the electric motor (not shown) is a power source, the power source driving unit 751 can perform control on the motor. Thus, the rotation speed, torque, etc. of the motor can be controlled.

The steering driver 752 may perform electronic control of a steering apparatus in the vehicle. Thus, the traveling direction of the vehicle can be changed.

The brake driver 753 can perform electronic control of a brake apparatus (not shown) in the vehicle. For example, it is possible to reduce the speed of the vehicle by controlling the operation of the brakes disposed on the wheels. As another example, it is possible to adjust the traveling direction of the vehicle to the left or right by differently operating the brakes respectively disposed on the left wheel and the right wheel.

The lamp driver 754 can control the turn-on / turn-off of the lamps disposed inside and outside the vehicle. Also, the intensity, direction, etc. of the light of the lamp can be controlled. For example, it is possible to perform control on a direction indicating lamp, a brake lamp, and the like.

The air conditioning driving unit 755 can perform electronic control on an air conditioner (not shown) in the vehicle. For example, when the temperature inside the vehicle is high, the air conditioner can be operated to control the cool air to be supplied to the inside of the vehicle.

The window driving unit 756 may perform electronic control of a window apparatus in the vehicle. For example, it is possible to control the opening or closing of the side of the vehicle with respect to the left and right windows.

The airbag driving unit 757 can perform electronic control of the airbag apparatus in the vehicle. For example, in case of danger, the airbag can be controlled to fire.

The sunroof driving unit 758 may perform electronic control of a sunroof apparatus (not shown) in the vehicle. For example, the opening or closing of the sunroof can be controlled.

The suspension driving unit 759 can perform electronic control of a suspension apparatus (not shown) in the vehicle. For example, when there is a curvature on the road surface, it is possible to control the suspension device so as to reduce the vibration of the vehicle.

The memory 730 is electrically connected to the control unit 770. The memory 770 may store basic data for the unit, control data for controlling the operation of the unit, and input / output data. The memory 790 can be, in hardware, various storage devices such as a ROM, a RAM, an EPROM, a flash drive, a hard drive, and the like. The memory 730 may store various data for operation of the entire vehicle, such as a program for processing or controlling the control unit 770.

The interface unit 780 can serve as a pathway to various kinds of external devices connected to the vehicle. For example, the interface unit 780 may include a port that can be connected to the mobile terminal 600, and may be connected to the mobile terminal 600 through the port. In this case, the interface unit 780 can exchange data with the mobile terminal 600.

Meanwhile, the interface unit 780 may serve as a channel for supplying electrical energy to the connected mobile terminal 600. The interface unit 780 provides electric energy supplied from the power supply unit 790 to the mobile terminal 600 under the control of the control unit 770 when the mobile terminal 600 is electrically connected to the interface unit 780 do.

The control unit 770 can control the overall operation of each unit in the vehicle. The control unit 770 may be referred to as an ECU (Electronic Control Unit).

The control unit 770 can perform a function corresponding to the transmitted signal in accordance with the execution signal transmission of the vehicle driving assist system.

The controller 770 may be implemented in hardware as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) processors, controllers, micro-controllers, microprocessors, and other electronic units for performing other functions.

The control unit 770 can delegate the role of the processor 170 described above. That is, the processor 170 of the vehicle driving assist apparatus can be set directly to the control unit 770 of the vehicle. In this embodiment, it is understood that the vehicle driving assist device refers to a combination of some components of the vehicle.

Alternatively, the control unit 770 may control the configurations so as to transmit the information requested by the processor 170. [

The power supply unit 790 can supply power necessary for the operation of each component under the control of the control unit 770. [ Particularly, the power supply unit 770 can receive power from a battery (not shown) in the vehicle.

The AVN (Audio Video Navigation) device 400 can exchange data with the control unit 770. The control unit 770 can receive navigation information from the AVN apparatus 400 or a separate navigation device (not shown). Here, the navigation information may include set destination information, route information according to the destination, map information about the vehicle driving, or vehicle location information.

The features, structures, effects and the like described in the foregoing embodiments are included in at least one embodiment of the present invention and are not necessarily limited to one embodiment. Further, the features, structures, effects, and the like illustrated in the embodiments may be combined or modified in other embodiments by those skilled in the art to which the embodiments belong. Therefore, it should be understood that the present invention is not limited to these combinations and modifications.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limiting the scope of the present invention. It can be seen that various modifications and applications are possible. For example, each component specifically shown in the embodiments may be modified and implemented. It is to be understood that the present invention may be embodied in many other specific forms without departing from the spirit or essential characteristics thereof.

Claims (16)

A communication unit for transmitting and receiving data to and from an adjacent vehicle;
A sensor unit for detecting vehicle periphery information; And
And a processor for determining a lane change position from the vehicle periphery information,
The processor comprising:
Determines a lane-changing candidate position in accordance with the vehicle periphery information,
A lane change coordination request is transmitted to the adjacent vehicle associated with the lane change candidate position through the communication unit,
And determines the lane change position according to the feedback of the adjacent vehicle to the cooperation request
Vehicle driving assistance device. The method according to claim 1,
The adjacent vehicle is an other vehicle traveling backward in the lane to be changed,
The lane-changing candidate position is the front area of the adjacent vehicle
Vehicle driving assistance device. 3. The method of claim 2,
The processor comprising:
And when the cooperative refusal feedback is received from the adjacent vehicle, the rear area of the adjacent vehicle is determined as the lane change position
Vehicle driving assistance device. 3. The method of claim 2,
The processor comprising:
Upon receiving the cooperation acceptance feedback from the adjacent vehicle, the lane change candidate position is determined as the lane change position
Vehicle driving assistance device. The method according to claim 1,
The processor comprising:
When detecting the vehicle congestion in the change lane through the vehicle periphery information, transmits the lane change coordination request to a plurality of other vehicles located in front of the change lane
Vehicle driving assistance device. 6. The method of claim 5,
The processor comprising:
The front area of the other vehicle that has accepted the lane change cooperation request is determined as the lane change position
Vehicle driving assistance device. The method according to claim 1,
The processor comprising:
When the lane change situation which is unavoidable is detected from the vehicle periphery information, the lane change position is automatically determined and the cooperation request is transmitted to the adjacent vehicle
Vehicle driving assistance device. The method according to claim 1,
Wherein,
Receiving a lane change coordination request from the adjacent vehicle,
The processor comprising:
Determines whether to cooperate with the information included in the lane change cooperation request and the vehicle periphery information
Vehicle driving assistance device. 9. The method of claim 8,
Wherein,
[0040] The lane change coordination unit
Vehicle driving assistance device. The method according to claim 1,
The processor comprising:
So as to autonomously drive to the determined lane change position
Vehicle driving assistance device. 11. The method of claim 10,
The processor comprising:
The position of the steering is fixed regardless of the steering change of the vehicle at the time of autonomous travel
Vehicle driving assistance device. The method according to claim 1,
The processor comprising:
Lane change assistance information for assisting the lane change driving to the lane change position,
Further comprising a display unit for displaying the lane change assistance information
Vehicle driving assistance device. 12. The method of claim 11,
Wherein the lane change assist information includes at least one of a steering operation amount, an excel pedal operation amount, a brake pedal operation amount, and an operation timing
Vehicle driving assistance device. The method according to claim 1,
The processor comprising:
And detects feedback on whether or not to cooperate with the running pattern of the adjacent vehicle
Vehicle driving assistance device. The method according to claim 1,
The processor comprising:
The lane change position is further transmitted to at least one of the preceding vehicle and the rearward vehicle in the driving lane, the preceding vehicle in the lane changing candidate position, and the next lane running vehicle in the change lane via the communication unit
Vehicle driving assistance device. A vehicle including the vehicle driving assist device according to claim 1.

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