KR20170105305A - Lane Departure Detection method and Vehicular Driving Control System Using The Method - Google Patents

Abstract

A driving control system detecting lane departure is disclosed. The system comprises: a protrusion sensing unit sensing protrusions; and a driving control unit operating a road surface sensing logic when reliability of recognizing a lane does not satisfy a predetermined value and performing a corresponding motion when the protrusion is sensed in at least one tire through the protrusion sensing unit. Therefore, driving efficiency can be improved.

Description

[0001] The present invention relates to a lane departure detection method and a vehicle driving control system using the same,

The present invention relates to vehicle technology, and more particularly, to a lane departure detection method and a travel control system using the same.

Due to the breakthrough of electronic control technology, various devices which were operated by mechanical methods in vehicles have been driven by electrical methods for reasons such as convenience of the driver and safety of operation, and automobile systems are gradually advanced and advanced It is going.

In general, autonomous navigation systems are applied to vehicles to provide safety for traffic accident reduction, traffic efficiency on the road, environment friendliness and convenience through fuel saving.

Recently, the autonomous navigation system is a technology that recognizes lanes and performs automatic steering by using cameras. It is based on the image processing of the camera, and is based on the lane width, the lateral position of the vehicle on the lane, the distance to both lanes and the shape of the lane, Measure the radius of curvature.

The system also provides a Smart Cruise Control function that estimates the driving trajectory of the vehicle using the measured vehicle position and road information and changes the lane along the estimated driving trajectory.

However, image information obtained from a camera has a limitation in recognizing correct lane information. For example, when the lane of the road is blurry and the lane recognition is difficult, a problem may arise in recognizing the lane information.

Therefore, there is a need for a more improved method of preventing vehicle departure.

Published Japanese Patent Application No. 10-2015-0119737 (Publication date Oct. 26, 2015)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a running control system for detecting and controlling a lane departure during autonomous driving.

Another object of the present invention is to provide a running control system that prevents a lane departure even when a lane is faintly recognized.

It is another object of the present invention to provide a driving control system that complements a technique of capturing an image to prevent a lane departure, and a driving control system that detects / prevents a lane departure.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention, unless further departing from the spirit and scope of the invention as defined by the appended claims. It will be possible.

The traveling control system for detecting a lane departure according to an embodiment of the present invention includes a ridge / And a driving control unit driving the road surface sensing logic when the reliability of recognizing the lane does not satisfy a predetermined value and performing an operation corresponding to the detected irregularities in at least one tire through the irregularity sensing unit.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, And can be understood and understood.

According to various embodiments of the present invention, there are the following advantages.

First, by providing a running control system that detects and controls lane departure during autonomous driving, device stability and reliability can be improved.

Secondly, provision of a running control system that prevents lane departure even when the lane is faintly recognized provides device stability and user stability.

Third, by providing a running control system that complements the technique of shooting a video to prevent lane departure, the device efficiency can be improved.

The effects obtained by the present invention are not limited to the above-mentioned effects, and other effects not mentioned can be clearly understood by those skilled in the art from the following description will be.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. It is to be understood, however, that the technical features of the present invention are not limited to the specific drawings, and the features disclosed in the drawings may be combined with each other to constitute a new embodiment.
1 (a) and 1 (b) are diagrams for explaining the present invention.
Figs. 2 (a) and 2 (b) are diagrams showing examples of objects formed on a road surface. Fig.
3 is a block diagram of a driving control system to which the lane departure detection method according to the embodiment is applied.
4 is a flowchart illustrating a lane departure detection method of the travel control system according to the embodiment.
5 (a) and 5 (b) are graphs showing a running control system for filtering signals according to an embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an apparatus and various methods to which embodiments of the present invention are applied will be described in detail with reference to the drawings. 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 description of the embodiment, in the case of being described as being formed on the "upper or lower", "before" or "after" of each component, (Lower) "and" front or rear "encompass both that the two components are in direct contact with each other or that one or more other components are disposed between the two components.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."

It is also to be understood that the terms such as " comprises, "" comprising," or "having ", as used herein, mean that a component can be implanted unless specifically stated to the contrary. But should be construed as including other elements. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

1 (a) and 1 (b) are diagrams for explaining the present invention.

According to Fig. 1 (a), it is assumed that the vehicle 11 travels on the road 13 autonomously. It is also assumed that the vehicle 11 has various devices (for example, radar, lidar, lane detection camera, steering system, etc.) for autonomous driving.

According to Fig. 1 (b), the vehicle 11 can travel in the area where the lane disappears while traveling in the third lane by autonomous riding. In this case, the camera mounted on the vehicle 11 may not detect the lane. Accordingly, even if the vehicle 11 travels in the third lane and deviates from the lane toward the second lane, it may be difficult to accurately return to the third lane.

According to the present invention, the vehicle 11 is changed to a mode for sensing the road surface so that it can sense that the vehicle 11 deviates from the lane by detecting the protrusions 15-1 to 15-4 formed on the road surface. Specifically, the vehicle 11 senses the vibration when the tires (Front Left, Front Right, Rear Left, and Rear Right) of the vehicle pass the unevennesses 15-1 to 15-4, have. Then, the vehicle 11 can return the lane departure to the original state through the traveling system.

For reference, the vehicle 11 may further include a specific sensor to measure the change in the wheel speed of the tire without sensing the vibration of the tire, thereby determining whether the tire passes through the unevenness.

Figs. 2 (a) and 2 (b) are diagrams showing examples of objects formed on a road surface. Fig.

Figure (a) shows a shape of a rumble strip provided on the road surface.

The rumble strip is a part of the rough surface on the road surface (a portion where the road surface or the side surface is roughly formed to prevent high-speed or falling, and a vibration occurs when the vehicle runs over it). Rumble strips can emit vibrations and sound when pressure is applied. Rumble strips can be formed along the centerline or lane.

2 (b) shows a shape of a jiggle bar provided on the road surface.

A zig-zag bar is an uneven portion on a road surface such as a rubble strip, and is an object formed on a road surface before a lane is formed or formed in a lane. If the wheels of the vehicle are stepped on the zigzag, the vehicle may be vibrated or sounded.

3 is a block diagram of a vehicle driving system to which the lane departure detection method according to the embodiment is applied.

3, the vehicle driving system 100 may include a photographing unit 110, an unevenness sensing unit 120, a high pass filter unit 130, a memory 140, and a travel control unit 150. [

The photographing unit 110 can photograph the front and rear sides of the vehicle. The photographing unit 110 can photograph a lane or an object in front of the vehicle (e.g., a lane, an uneven surface, a vehicle, and the like). The photographing unit 110 may transmit the photographed image to the travel controller 150 for analyzing the photographed image.

The travel control unit 150 can control the vehicle to return to the original trajectory when the vehicle leaves the lane. To this end, the travel control unit 150 may control various systems and devices including the steering system 210, the suspension system, and the like.

The driving control unit 150 can drive the logic for determining the lane of the vehicle itself when it is difficult to identify the lane on the road surface. The driving control unit 150 may control the unevenness sensing unit 120 to sense that the vehicle tire is stepped on. Here, the unevenness may be a rumble strip, a zig-bar, or the like, but is not limited thereto.

The unevenness sensing unit 120 can sense the unevenness of the tire.

The driving control unit 150 may control the high pass filter unit 130 to filter the high frequency area of the tire wheel detected by the unevenness sensing unit 120. [ Accordingly, the accuracy of the uneven detection can be improved.

The memory 140 may store various information necessary for driving the vehicle under the control of the travel control unit 150. [ For example, the memory 140 may store information such as the wheel speed of the vehicle, the high frequency region, and the like.

The travel controller 150 can control the overall operation related to the travel.

In addition, the travel controller 150 can control various systems required for autonomous travel. For example, the driving control unit 150 may control an ADAS system (Advanced Driver Assistance System) including SCC, HDA, AHB, LKA, AEB, SBW, and the like. Here, the SCC (Smart Cruise Control) is a control system that automatically adjusts the interval between vehicles. LKA (Lane Keeping Assist) is a lane departure automatic return system that automatically detects when the driver is driving drowsy or inadvertently leaves the lane. AHB (Autonomous Emergency Braking) is a system that automatically drives the brakes in an emergency. HAD (Highway Driving Assist) is a system that maintains clearance with the car on the highway and prevents lane departure. AHB Active Hydraulic Booster) is an electric hydraulic booster that determines the regenerative braking and hydraulic braking ratios, generates the determined hydraulic braking amount and secures the braking force through the hydraulic pressure, SBW (Shift By Wire) Wire), which is connected by electric wire instead of hydraulic pressure and operated by motor electromagnet.

The travel control unit 150 can measure and adjust the lateral steering, longitudinal speed / acceleration. The travel control unit 150 can determine the surrounding situation and determine the dangerous situation.

4 is a flowchart illustrating a lane departure detection method of a vehicle driving system according to an embodiment.

Once, the vehicle runs autonomously (S310).

At this time, the system 100 may be less reliable than the predetermined level of reliability of recognizing the lane (S315). For example, if the lane is blurry or the reliability of the image received through the camera is not equal to a predetermined level, It can be determined that the reliability of recognizing the user is less than a predetermined level. The system can divide the steps into steps of good, step 2, warning 3, etc., but this is only one example. The system 100 can periodically measure the reliability of recognizing the lane.

If the system 100 fails to meet a certain level of reliability of recognizing the lane, the system drives logic that senses the unevenness of the road (S320). At this time, the system can also drive the above logic through user setting.

Then, irregularities are detected for each tire (S325).

Specifically, the system 100 can measure the wheel speed based on the speed sensor pre-installed for each tire. The system 100 can set the tire wheel speed when the tire passes the unevenness and when the tire does not pass the unevenness.

The system 100 may use a filter to sense a higher lane departure through the wheel speed. The system 100 can highlight components through HPF (High Pass Filter). The system can filter the high frequency components of the signal through the HPF. Will be described in detail with reference to Figs. 5 (a) and 5 (b).

According to Fig. 5 (a), the system measures the wheel speed for each of the front left (FL), front right (FR), rear left (RL) and rear right (RR) tires. The system enlarges the components as shown in Figure 5 (b) through the HPF for more precise measurement.

Then, the system 100 can measure the wheel speed of the tire more accurately, and judge whether or not the tire passes through the unevenness.

Referring again to FIG. 4, after applying the HPF (S341), the system can determine whether the tire passes through the unevenness by referring to the wheel speed, vibration, and sound of each tire.

If the system exceeds the threshold set for each tire, the system sets Bump of the tire to 1 (S347). Here, it is assumed that the bump of the tire is set to 1 and the tire passes through the unevenness.

The system can allocate a certain amount of time without terminating the logic immediately (S345, S349, S351, S353) even if the corresponding tire does not exceed the threshold value initially. The change in the wheel speed of the front / rear tire of the vehicle does not occur at the same time.

At this time, the system 100 may place a counter for each of the tires. If the system 100 does not exceed the threshold value (S343). Count can be set to 0.

If the count of the tires exceeds the Count threshold (Max) (S351), the system 100 determines whether the tire passes the unevenness. If the tire passes the unevenness, The Bump of the tire is set to 1 (S347). If the Count of the tire exceeds the Count threshold (Max) (S351), the Bump of the tire is set to 0 (S347).

In this manner, the system 100 measures the wheel speed for each tire to determine whether it passes through the unevenness.

The system 100 determines that the vehicle is traveling in the uneven road and does not judge that the lane is deviated (S365) when all of the front left and right tires FL and FR travel along the unevenness (S330).

If the system 100 determines that the right lane has been deviated (the bump of FR and RR is 1 and the bump of FL and RL is 0), the system 100 performs the lane return control. Further, if it is determined that the system is left lane departure (Bump of FL, RL is 1, Bump of FR and RR is 0), lane return control is performed.

The system 100 may drive the lane departure prevention logic until the user transfers control authority to the user.

On the other hand, the system 100 can generate a virtual lane from road irregularities and lane information. For example, the system 100 may analyze the time difference between FR and RR in the wheel in the case of a right lane departure. The system 100 may create a virtual lane if the peak time difference occurs at approximately the same time (a predetermined error range). In this case, a virtual lane can be generated based on the existing lane width.

It will be apparent to 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. Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

The method according to the above-described embodiments may be implemented as a program to be executed by a computer and stored in a computer-readable recording medium. Examples of the computer-readable recording medium include a ROM, a RAM, a CD- , A floppy disk, an optical data storage system, and the like, and may also be implemented in the form of a carrier wave (for example, transmission over the Internet).

The computer readable recording medium may be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner. And, functional program, code, and code segments for implementing the above-described method can be easily inferred by programmers in the technical field to which the embodiment belongs.

Claims (18)

1. A running control system for detecting a lane departure,
An irregularity sensing unit for sensing irregularities;
And a driving control unit driving the road surface sensing logic when the reliability of recognizing the lane does not satisfy a predetermined value and performing an operation corresponding to the detected irregularities in at least one tire through the irregularity sensing unit, Driving control system. The method according to claim 1,
The driving control unit includes:
And judges that the vehicle has entered the uneven road when unevenness is detected in the front left and front right tires. The method according to claim 1,
The driving control unit includes:
And judges that the lane departure has not occurred when the front left and front right tires are detected as uneven. The method according to claim 1,
The driving control unit includes:
And judges that the left lane has been deviated and returns to the original state in the departed lane if unevenness is detected in the front left and rear left tires and unevenness is not detected in the front right and rear right tires. The method according to claim 1,
The driving control unit includes:
When the unevenness is detected in the front right and rear right tires and unevenness is not detected in the front left and rear left tires, it is judged that the right lane has been deviated and the control is returned to the original state in the departed lane. The method according to claim 1,
Wherein the unevenness is a rumble strip or a jiggle bar. The method according to claim 1,
The driving control unit includes:
And controls to perform autonomous driving. The method according to claim 1,
The driving control unit includes:
And generates virtual lanes based on the detected irregularities and lane widths. A lane departure detection method of a travel control system,
Driving the road surface sensing logic when the reliability of recognizing the lane does not satisfy the predetermined value; And
And performing an operation corresponding to the detected unevenness in at least one tire through the logic. 10. The method of claim 9,
The step of performing the corresponding operation includes:
And determining that the vehicle has entered the uneven road if unevenness is detected in the front left and front right tires. 10. The method of claim 9,
The step of performing the corresponding operation includes:
And judging that the lane departure has not occurred when the front left and front right tires are detected to be uneven. 10. The method of claim 9,
The step of performing the corresponding operation includes:
Judging that the left lane is deviated if unevenness is detected in the front left and rear left tires and unevenness is not detected in the front right and rear right tires; And
And returning to the original state from the departed lane. 10. The method of claim 9,
The step of performing the corresponding operation includes:
Judging that the right lane is deviated from the lane when the unevenness is detected in the front right and rear right tires and the unevenness is not detected in the front left and rear left tires; And
And returning to the original state from the departed lane. 10. The method of claim 9,
Wherein the unevenness is a rumble strip or a jiggle bar. 10. The method of claim 9,
Further comprising the step of: performing autonomous driving. 10. The method of claim 9,
The step of performing the corresponding operation includes:
And generating a virtual lane based on the detected irregularities and lane widths. A program recorded on a recording medium, characterized by realizing a lane departure detection method of a running control system according to any one of claims 9 to 16 through being executed by a processor. A computer-readable recording medium on which the program of claim 17 is recorded.

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