KR20170118392A - Vehicle control apparatus and control method thereof - Google Patents

Abstract

A vehicle control apparatus and a control method thereof are disclosed. The vehicle control apparatus and the control method thereof according to the embodiment of the present invention are configured to detect the current number of the current vehicles located in at least three lanes within a predetermined distance sensed by the sensing apparatus, Receives the current speed value of the current vehicle detected by the sensing device, receives HeadWay information for the current vehicle for maintaining the distance to the current vehicle for a predetermined time calculated from the HeadWay computing device, An input unit for receiving an input; A calculating unit for calculating the current congestion degree information for a predetermined time based on the number of inputted current vehicles, the current speed value for each current vehicle, the longitudinal length value for each current vehicle, and the HeadWay information for each current vehicle; Determining whether the calculated current congestion information is already set reference congestion information, comparing the current speed value of the current vehicle with the current speed value of the current vehicle for a predetermined time; And the current congestion degree information is the reference congestion degree information, a vehicle having a current speed value from a current speed value to a current speed value of the present vehicle is selected from at least three lanes And a control section for transmitting the lane change signal to the lane changing device so as to change the lane to the book.

Description

[0001] The present invention relates to a vehicle control apparatus and a control method thereof,

The present invention relates to a vehicle control apparatus and a control method thereof.

Generally, the conventional autonomous mobile device has been an autonomous mobile device based on communication information between the own vehicle and another vehicle.

However, in the conventional autonomous travel apparatus, since the headway information, which is the setting of the vehicle speed and the distance maintenance setting with respect to the other vehicle, differs from person to person, the speed control and the braking operation of the own vehicle and the other vehicle are not smoothly performed at the time of traveling.

Such a conventional autonomous travel apparatus has a limitation in smooth traffic flow at the time of traveling.

Therefore, in recent years, research on an improved vehicle control apparatus and its control method for smoothly flowing traffic has been continuously carried out.

In addition, in recent years, there has been proposed an improved vehicle control system capable of reducing the unnecessary braking of other vehicles while suppressing anxiety at the time of lane change or lane keeping by recognizing a lane that the driver intends to change or maintain, Studies on a vehicle control apparatus and a control method thereof have been continuously carried out.

An embodiment of the present invention is to provide a vehicle control apparatus and a control method therefor which can improve the convenience of changing lanes while smoothly flowing traffic.

Further, an embodiment of the present invention is intended to provide a vehicle control apparatus and a control method thereof capable of suppressing anxiety at the time of lane change or lane keeping.

In addition, an embodiment of the present invention is to provide a vehicle control apparatus and control method thereof capable of improving the ride comfort by reducing unnecessary braking of current vehicles while safely lane changing the present vehicle.

According to an aspect of the present invention, the current number of current vehicles located in at least three lanes within a predetermined distance sensed by the sensing device, the current speed value of each current vehicle, and the longitudinal length value of each current vehicle are input An input unit for receiving the current speed value of the current vehicle detected by the sensing device and receiving the current HeadWay information for the current vehicle for maintaining a distance to the current vehicle for a predetermined time calculated from the HeadWay computing device; A calculating unit for calculating the current congestion degree information for a predetermined time based on the number of inputted current vehicles, the current speed value for each current vehicle, the longitudinal length value for each current vehicle, and the HeadWay information for each current vehicle; Determining whether the calculated current congestion information is already set reference congestion information, comparing the current speed value of the current vehicle with the current speed value of the current vehicle for a predetermined time; And the current congestion degree information is the reference congestion degree information, a vehicle having a current speed value from a current speed value to a current speed value of the present vehicle is selected from at least three lanes And a control section for transmitting the lane change signal to the lane changing device so as to change the lane to the book.

At this time, the determination unit can determine the current speed value of the present vehicle by comparing the current speed value of the present vehicle with the average value of the current speed of the current vehicle traveling for a predetermined time in the left lane of the present vehicle.

The determination unit may determine the current speed value of the current vehicle by comparing the current speed value of the current vehicle with the average value of the current speed of the current vehicle traveling for a predetermined time in the right lane of the present vehicle.

If the current speed value of the current vehicle is greater than the average value of the current speed of the current vehicle traveling for a predetermined time in the left lane of the current vehicle, the control unit changes the current vehicle to the left lane, The lane change signal can be transmitted to the mobile station.

If the current speed value of the current vehicle is smaller than the average value of the current speed of the current vehicle traveling for a predetermined time in the right lane of the present vehicle, the control unit changes the current vehicle to a right lane The lane change signal can be transmitted to the device.

If the present speed value of the current vehicle is smaller than the average value of the current speed of the current vehicle traveling for a predetermined time in the left lane of the present vehicle, If the current lane is greater than the average value of the current speed of the current lane, the current lane can be maintained as the current lane.

If the present speed value of the current vehicle is greater than the average value of the current speed of the current vehicle traveling in the left lane of the present vehicle for a predetermined time, an identification unit for identifying the current vehicle is changed to the left lane .

If the current speed value of the current vehicle is smaller than the average value of the current speed value of the current vehicle running for a predetermined time in the right lane of the current vehicle, an identification unit for identifying the current vehicle is changed to the right lane .

If the current speed value of the current vehicle is smaller than the average value of the current speed of the current vehicle traveling for a predetermined time in the left lane of the current vehicle or the current speed value of the current vehicle is the right lane of the current vehicle, If the current value of the current vehicle is greater than the average value of the current value of the current vehicle traveling for a predetermined period of time.

When changing the lane from the left lane to the left lane among the at least three lanes, the HeadWay information of the current rides traveling in the lane to be changed is stored in the HeadWay arithmetic unit And a communication unit for transmitting a lane change entry signal to the communication devices of the current vehicles so that the present vehicle is changed into a lane in the separated space between the current vehicles.

According to another aspect of the present invention, the current number of current vehicles located in at least three lanes for a predetermined distance sensed by the sensing device, the current speed value for each current vehicle, and the longitudinal length value for each current vehicle are input A first input step of receiving HeadWay information for each current vehicle for maintaining a distance to the current target for a predetermined time calculated from the HeadWay computing device; A calculating step of calculating current congestion degree information for a predetermined time based on the input current number of current vehicles, the current speed value of each current vehicle, the longitudinal length value of each current vehicle, and HeadWay information of each current vehicle; A first determining step of determining whether the calculated current congestion information is already set reference congestion information; A second input step of receiving the current speed value of the current vehicle detected by the sensing device if the current congestion degree information is the reference congestion degree information; A second determination step of comparing the current speed value of the current current vehicle with the current speed value of the current vehicle for a predetermined period of time; And a lane change from the left lane of the at least three lanes to the lane change so that the lane change from the vehicle having the current speed value to the lane changing from the left lane to the lane changing mode is performed in accordance with the comparison result between the current speed value of the present- And a lane changing step of transmitting a lane change signal to the device.

The vehicle control apparatus and the control method thereof according to the embodiment of the present invention can improve the convenience in changing lanes while smoothly flowing traffic.

Further, the vehicle control apparatus and the control method thereof according to the embodiment of the present invention can suppress anxiety at the time of lane change or lane keeping.

Further, the vehicle control device and the control method thereof according to the embodiment of the present invention can improve the ride comfort by reducing the unnecessary braking of the current vehicles while safely lane changing the present vehicle.

1 is a block diagram showing a state in which a vehicle control device according to a first embodiment of the present invention is connected to a sensing device, a HeadWay computing device, and a lane changing device.
Fig. 2 is a block diagram showing an example of the vehicle control apparatus shown in Fig. 1. Fig.
FIG. 3 is a diagram for illustrating a process for calculating current congestion information in the calculation unit shown in FIG. 2; FIG.
FIG. 4 is a diagram illustrating a process for changing the present vehicle to a left lane in the control unit shown in FIG. 2. FIG.
FIG. 5 is a diagram illustrating a process for changing the present vehicle to a right lane in the control unit shown in FIG. 2;
FIG. 6 is a diagram illustrating a process for maintaining the current vehicle as a current lane in the control unit shown in FIG. 2. FIG.
7 is a flowchart showing a vehicle control method of the vehicle control device according to the first embodiment of the present invention.
8 is a block diagram showing an example of a vehicle control apparatus according to a second embodiment of the present invention.
9 is a flowchart showing a vehicle control method of the vehicle control device according to the second embodiment of the present invention.
10 is a block diagram showing a state in which a vehicle control apparatus according to a third embodiment of the present invention is connected to a sensing apparatus, a HeadWay computing apparatus, a lane changing apparatus, and communicating with a communication apparatus.
11 is a block diagram showing an example of the vehicle control device shown in Fig.
FIG. 12 is a diagram illustrating a process for changing lanes of a current vehicle to a current lane changing destination signal by transmitting a lane change entering signal to a communication device of the current lane by the communication unit and the control unit shown in FIG. 11;
13 is a flowchart showing a vehicle control method of the vehicle control device according to the third embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are provided to fully convey the spirit of the present invention to a person having ordinary skill in the art to which the present invention belongs. The present invention is not limited to the embodiments shown herein but may be embodied in other forms. For the sake of clarity, the drawings are not drawn to scale, and the size of the elements may be slightly exaggerated to facilitate understanding.

FIG. 1 is a block diagram showing a state in which a vehicle control apparatus according to a first embodiment of the present invention is connected to a sensing apparatus, a HeadWay computing apparatus and a lane changing apparatus, and FIG. 2 shows an example of the vehicle control apparatus shown in FIG. 1 Fig.

FIG. 3 is a diagram illustrating a process for calculating current congestion information in the calculation unit shown in FIG. 2. FIG. 4 shows a process for changing the present vehicle to a left lane in the control unit shown in FIG. FIG.

FIG. 5 is a diagram illustrating a process for changing the present vehicle to a right lane in the control unit shown in FIG. 2. FIG. 6 is a flowchart illustrating a process for maintaining the present vehicle as a current lane in the control unit shown in FIG. FIG.

1 to 6, a vehicle control apparatus 100 according to the first embodiment of the present invention includes an input unit 102, a calculation unit 104, a determination unit 106, and a control unit 108.

The input unit 102 inputs the number of the current vehicles B, C, and D located in at least three or more lanes Lane1, Lane2, and Lane3 for a predetermined distance d sensed by the sensing device 10, The longitudinal speed values L2, L3 and L4 for the current vehicles B, C and D and the current speed values V2, V3 and V4 for the vehicles B, C and D are received, The current speed value V1 of the present vehicle A detected by the HeadWay computing device 30 and the current speed value V1 of the present vehicle A detected by the HeadWay computing device 30, And receives HeadWay information (HW2, HW3, HW4) for the current vehicle (B, C, D).

At this time, although not shown, the sensing device 10 typically calculates the current speed values V2, V3, and V4 for the current vehicles B, C, and D, the number of the current vehicles B, A receiving module (not shown) for receiving communication information of another vehicle for detecting longitudinal length values L2, L3 and L4 for the other vehicles B, C and D, And a speed sensor (not shown) for detecting the value V1.

)를 제어부(108)의 제어에 따라 산출한다.The calculation unit 104 calculates the current speed values V2, V3 and V4 for the current vehicles B, C and D and the current speed values V2, V3 and V4 for the current vehicles B, C and D inputted to the input unit 102 Based on the longitudinal length values L2, L3 and L4 for each of the vehicles B, C and D and the HeadWay information HW2, HW3 and HW4 for the current vehicles B, C and D, Congestion information (

) Under the control of the control unit 108. [

)는 하기 <식 1>을 재전개한 <식 2>와 같다.For example, the current congestion information (

(2) < / RTI >

<Formula 1>

<Formula 2>

는 일정 거리 값이고,

은 차선 갯수이며,

은 현재 타차량의 갯수이고,

는 현재 타차량 속도 값이며,

는 HeadWay 정보이고,

는 현재 타차량의 종방향 길이 값일 수가 있다.At this time,

Is a constant distance value,

Is the number of lanes,

Is the number of current vehicles,

Is the current vehicle speed value,

Is HeadWay information,

May be the value of the longitudinal length of the current vehicle.

)가 이미 설정된 기준 혼잡도 정보(

)인지를 제어부(108)의 제어에 따라 판단한다.The determination unit 106 compares the current congestion degree information (&quot;

) Is already set to the reference congestion information (

) According to the control of the control unit 108. [

는 기준이 되는 기준 혼잡 계수일 수가 있고, 현재 혼잡도 정보(

)가 기준 혼잡 계수(

)보다 작을 수록 현재 타차량들이 많이 위치하고 있으므로 혼잡한 상황일 수가 있다At this time,

May be a reference reference congestion factor, and the current congestion information (

) Is the reference congestion factor (

), It may be a congested situation because there are many existing vehicles

The determination unit 106 determines the current speed value V1 of the current vehicle A based on the current speed values V2, V3, and V4 of the current vehicles B, C, and D under the control of the controller 108 ) For a predetermined period of time.

)과 비교하여 판단할 수가 있다.For example, as shown in FIG. 3, the judging unit 106 judges whether the present speed value V1 of the present vehicle A is equal to or greater than the present speed V1 of the present vehicle A traveling for a predetermined time from the left lane Lane1 The average value of the current speed value V3 of the other vehicle C

). &Lt; / RTI &gt;

At this time, an average value of the current speed value Vi of the current vehicle n traveling for a predetermined time in the left lane Lane1 of the present vehicle A can be expressed as Equation 3. &quot; (3) &quot;

<Formula 3>

)과 비교하여 판단할 수가 있다.3, the determination unit 106 determines that the present speed value V1 of the present vehicle A is traveling for a predetermined time in the right lane Lane3 of the present vehicle A The average value of the current speed value V4 of the current rider D

). &Lt; / RTI &gt;

At this time, an average value of the current speed value Vi of the current vehicle n traveling for a predetermined time in the right lane Lane3 of the present vehicle A can be expressed as shown in Equation (4).

<Formula 4>

)가 기준 혼잡도 정보(

)인 것으로 판단하면, 현재 자차량(A)의 현재 속도 값(V1)과 현재 타차량(B, C, D)의 현재 속도 값(V2, V3, V4)의 비교 결과에 따라 현재 속도 값(V1, V2, V3, V4)이 큰 차량부터 작은 차량을 적어도 3개 이상의 차선(Lane1, Lane2, Lane3)중 왼쪽 차선(Lane1)부터 순서적으로 차선 변경시키도록 차선 변경 장치(50)에 차선 변경 신호를 전달한다.The control unit 108 determines the current congestion degree information (&quot;

) Is the reference congestion information (

, The current speed value (V1, V2, V3, V4) of the current vehicle A is compared with the current speed value V1 of the current vehicle A and the current speed values V2, The lane changing device 50 changes the lane changing device 50 so that the small vehicle from the vehicle having the largest vehicle speed V1, V2, V3, V4 is changed lane sequentially from the left lane Lane1 among the at least three lanes Lane1, Lane2, Signal.

)가 기준 혼잡도 정보(

)인 것으로 판단하고, 판단부(106)에서 현재 자차량(A)의 현재 속도 값(V1)이 현재 자차량(A)의 왼쪽 차선(Lane1)에서 일정 시간 동안 주행하고 있는 현재 타차량(C)의 현재 속도 값(V3)의 평균값(

)보다 큰 것으로 판단하면, 일정 거리(d) 이후의 다른 주행 거리(d')에서 현재 자차량(A)을 왼쪽 차선(Lane1)으로 변경시키도록 차선 변경 장치(50)에 차선 변경 신호를 전달할 수가 있다.For example, as shown in FIG. 3 and FIG. 4, the controller 108 determines whether the current congestion information

) Is the reference congestion information (

The determination unit 106 determines that the current speed value V1 of the present vehicle A is equal to the current speed value C of the current vehicle A running on the left lane Lane1 of the present vehicle A for a predetermined time (V3) of the current speed value

The lane change signal is transmitted to the lane changing device 50 so as to change the current child vehicle A to the left lane Lane 1 at the other driving distance d 'after the predetermined distance d There is a number.

)가 기준 혼잡도 정보(

)인 것으로 판단하고, 판단부(106)에서 현재 자차량(A)의 현재 속도 값(V1)이 현재 자차량(A)의 오른쪽 차선(Lane3)에서 일정 시간 동안 주행하고 있는 현재 타차량(D)의 현재 속도 값(V4)의 평균값(

)보다 작은 것으로 판단하면, 일정 거리(d) 이후의 다른 주행 거리(d')에서 현재 자차량(A)을 오른쪽 차선(Lane3)으로 변경시키도록 차선 변경 장치(50)에 차선 변경 신호를 전달할 수가 있다.As another example, as shown in FIGS. 3 and 5, the control unit 108 determines whether the current congestion degree information (

) Is the reference congestion information (

The determination unit 106 determines that the present speed value V1 of the present vehicle A is equal to or greater than the present speed D (V4) of the current speed value

The lane change signal is transmitted to the lane changing device 50 so as to change the current child vehicle A to the right lane Lane 3 at another driving distance d 'after a predetermined distance d There is a number.

)가 기준 혼잡도 정보(

)인 것으로 판단하고, 판단부(106)에서 현재 자차량(A)의 현재 속도 값(V1)이 현재 자차량(A)의 왼쪽 차선(Lane1)에서 일정 시간 동안 주행하고 있는 현재 타차량(C)의 현재 속도 값(V3)의 평균값(

)보다 작은 것으로 판단하면, 일정 거리(d) 이후의 다른 주행 거리(d')에서 현재 자차량(A)을 현재 차선(Lane2)으로 유지시킬 수가 있다.3 and 6, the control unit 108 determines whether or not the current congestion degree information (for example,

) Is the reference congestion information (

The determination unit 106 determines that the current speed value V1 of the present vehicle A is equal to the current speed value C of the current vehicle A running on the left lane Lane1 of the present vehicle A for a predetermined time (V3) of the current speed value

, It is possible to maintain the current child vehicle A as the current lane Lane 2 at another driving distance d 'after a certain distance d.

)가 기준 혼잡도 정보(

)인 것으로 판단하고, 판단부(106)에서 현재 자차량(A)의 현재 속도 값(V1)이 현재 자차량(A)의 오른쪽 차선(Lane3)에서 일정 시간 동안 주행하고 있는 현재 타차량(D)의 현재 속도 값(V4)의 평균값(

)보다 큰 것으로 판단하면, 일정 거리(d) 이후의 다른 주행 거리(d')에서 현재 자차량(A)을 현재 차선(Lane2)으로 유지시킬 수가 있다.3 and 6, the control unit 108 determines whether the current congestion degree information (&quot;

) Is the reference congestion information (

The determination unit 106 determines that the present speed value V1 of the present vehicle A is equal to or greater than the present speed D (V4) of the current speed value

, It is possible to maintain the current child vehicle A as the current lane Lane 2 at another driving distance d 'after a certain distance d.

)를 산출하기 위한 통상적인 ECU(Electric Control Unit, 미도시)에 제공될 수가 있다.At this time, the input unit 102, the calculation unit 104, the determination unit 106, and the control unit 108 control the overall operation with the main computer applied to the vehicle (not shown)

(Electric Control Unit) (not shown) for calculating the fuel injection amount (fuel injection amount).

)를 산출하기 위한 통상적인 MCU(Micro Control Unit, 미도시)에 제공될 수가 있다.Although not shown, the input unit 102, the calculation unit 104, the determination unit 106, and the control unit 108 include a processor, a memory, and an input / output device in a single chip to control the overall operation, Congestion information (

(Microcontrol unit) (not shown) for calculating an output voltage of the battery.

)를 산출할 수 있는 모든 입력 수단 및 제어 수단과 판단 수단 및 산출 수단이면 가능하다.The input unit 102, the calculation unit 104, the determination unit 106, and the control unit 108 are not limited to this, and may be configured to control the overall operation of the vehicle,

And all of the input means and control means, the determination means, and the calculation means, which are capable of calculating the above-mentioned values.

Here, the input unit 102, the calculation unit 104, the determination unit 106, and the control unit 108 may be integrally provided in an ECU (not shown) or an MCU (not shown) Or an MCU (not shown).

A vehicle control method for controlling the vehicle using the vehicle control device 100 according to the first embodiment of the present invention will now be described with reference to FIG.

7 is a flowchart showing a vehicle control method of the vehicle control device according to the first embodiment of the present invention.

7, the vehicle control method 700 of the vehicle control apparatus (100 of FIG. 2) according to the first embodiment of the present invention includes a first input step S702, a calculation step S704, (S706), a second input step (S708), a second determination step (S710), and a lane change step (S712).

First, the first input step S702 is a step of inputting at least three lanes (Lane1, Lane2, Lane3 in Fig. 3) during a predetermined distance (d in Fig. 3) sensed by the sensing device (V2, V3, V4 in Fig. 3) and the current vehicle speed (Fig. 3) are calculated for each of the vehicles (B, C, D in Fig. 3) 3, B, C, and D), and calculates the current position of the current vehicle (B, C, D in FIG. 3) calculated from the HeadWay computing device (30 in FIG. HW2, HW3, and HW4 in FIG. 3) for each of the current positions (B, C, and D in FIG.

)를 제어부(도2의 108)의 제어에 따라 산출부(도2의 104)에서 산출한다.Thereafter, the calculating step S704 calculates the number of current vehicles (B, C, and D in FIG. 3) input to the input unit (102 in FIG. 2) (L2, L3, and L4 in FIG. 3) for each of the current speeds (V2, V3, and V4 in FIG. 3) (HW2, HW3, HW4 in FIG. 3) for each predetermined time (for example, B, C, D)

(104 in Fig. 2) under the control of the control unit (108 in Fig. 2).

)가 판단부(도2의 106)에 이미 설정된 기준 혼잡도 정보(

)인지를 제어부(도2의 108)의 제어에 따라 판단부(도2의 106)에서 판단한다.Thereafter, the first determination step S706 determines whether or not the current congestion degree information (&quot;

(106 in Fig. 2) already set in the reference congestion degree information (

(106 in Fig. 2) according to the control of the control unit (108 in Fig. 2).

)가 기준 혼잡도 정보(

)인 것으로 판단하면, 감지 장치(도2의 10)에서 감지한 현재 자차량(도3의 A)의 현재 속도 값(도3의 V1)을 입력부(도2의 102)에서 입력받는다.Thereafter, the second input step S708 is performed by the determination unit 106 (Fig. 2)

) Is the reference congestion information (

2), the current speed value (V1 in Fig. 3) of the current vehicle (A in Fig. 3) sensed by the sensing device (10 in Fig.

Subsequently, the second determination step (S710) determines the current speed value (V1 in Fig. 3) of the present vehicle (A in Fig. 3) input to the input unit (V2, V3, and V4 in FIG. 3) of the current vehicle (B, C, and D in FIG. 3) in the determination unit 106 in FIG.

)과 비교하여 판단할 수가 있다.For example, in the second determination step S710, the current speed value (V1 in Fig. 3) of the present vehicle (A in Fig. 3) is changed from the current lane (Lane1 in Fig. 3) The average value of the current speed value (V3 in Fig. 3) of the current vehicle (C in Fig. 3)

). &Lt; / RTI &gt;

)과 비교하여 판단할 수가 있다.3) of the current child vehicle (Lane 3 in Fig. 3) of the current child vehicle (A in Fig. 3), the second determination step S710 (V4 in Fig. 3) of the current vehicle (D in Fig. 3) traveling for a predetermined period of time

). &Lt; / RTI &gt;

Thereafter, the lane changing step S712 changes the present speed value (V1 in Fig. 3) of the present vehicle (the vehicle A in Fig. 3) and the current speed value (V4 in Fig. 3) 2) of the current speed value (V1, V2, V3, and V4 in FIG. 3) in the control section (108 in FIG. 2) among at least three lanes (Lane1, Lane2, Lane3 in FIG. 3) The lane change signal is transmitted to the lane changing device (50 in Fig. 2) so as to change lanes sequentially from the left lane (Lane1 in Fig. 3).

)보다 큰 것으로 판단하면, 일정 거리(도3의 d) 이후의 다른 주행 거리(도4의 d')에서 현재 자차량(도4의 A)을 왼쪽 차선(도4의 Lane1)으로 변경시키도록 차선 변경 장치(도2의 50)에 차선 변경 신호를 전달할 수가 있다.For example, the lane-changing step S712 may be such that the current speed value (V1 in Fig. 3) of the present vehicle (A in Fig. 3) The average value (V3 in Fig. 3) of the present speed value (C in Fig. 3) of the current vehicle running for a predetermined time in the lane (Lane1 in Fig. 3)

(Fig. 4A) to the left lane (Lane1 in Fig. 4) at another driving distance (d 'in Fig. 4) after a certain distance It is possible to transmit the lane change signal to the lane changing device (50 in Fig. 2).

)보다 작은 것으로 판단하면, 일정 거리(도3의 d) 이후의 다른 주행 거리(도5의 d')에서 현재 자차량(도5의 A)을 오른쪽 차선(도5의 Lane3)으로 변경시키도록 차선 변경 장치(도2의 50)에 차선 변경 신호를 전달할 수가 있다.In another example, the lane changing step S712 may be such that the current speed value (V1 in Fig. 3) of the present vehicle (A in Fig. 3) The average value of the current speed value (V4 in Fig. 3) of the current vehicle (D in Fig. 3) traveling for a predetermined time in the right lane (Lane3 in Fig. 3)

(FIG. 5A) to the right lane (Lane 3 in FIG. 5) at another driving distance (d 'in FIG. 5) after a certain distance It is possible to transmit the lane change signal to the lane changing device (50 in Fig. 2).

)보다 작은 것으로 판단하면, 일정 거리(도3의 d) 이후의 다른 주행 거리(도6의 d')에서 현재 자차량(도6의 A)을 제어부(도2의 108)에 의해 현재 차선(도6의 Lane2)으로 유지시킬 수가 있다.3) of the current own vehicle (A in Fig. 3) is changed to the current present vehicle (A in Fig. 3) in the judgment unit 106 (Fig. 2) 3) of the current vehicle (C in Fig. 3) traveling for a certain period of time in the left lane (Lane1 in Fig. 3)

(Fig. 6A) by the control section (108 in Fig. 2) in the current lane (d ' in Fig. 6) after a certain distance Lane2 in Fig. 6).

)보다 큰 것으로 판단하면, 일정 거리(도3의 d) 이후의 다른 주행 거리(도6의 d')에서 현재 자차량(도6의 A)을 제어부(도2의 108)에 의해 현재 차선(도6의 Lane2)으로 유지시킬 수가 있다.3) of the present vehicle (A in Fig. 3) is changed to the right lane of the present vehicle (A in Fig. 3) in the lane-changing step S712 (V4 in Fig. 3) of the current vehicle (D in Fig. 3) traveling for a predetermined period of time (Lane3 in Fig. 3)

6) of the current child vehicle (A in Fig. 6) by the control section (108 in Fig. 2) at another travel distance (d 'in Fig. 6) after a certain distance Lane2 in Fig. 6).

The vehicle control apparatus 100 and the control method 700 thereof according to the first embodiment of the present invention include the input unit 102, the calculation unit 104, the determination unit 106, and the control unit 108 The first input step S702, the calculating step S704, the first determining step S706, the second inputting step S708, the second determining step S710, and the lane changing step S712 are performed.

Therefore, the vehicle control device 100 and the control method 700 thereof according to the first embodiment of the present invention can control the vehicle from the left lane Lane1 to the vehicle with the larger speed values V1, V2, V3, It is possible to smoothly change the traffic lane so that the convenience of changing lanes can be improved.

8 is a block diagram showing an example of the vehicle control apparatus according to the second embodiment of the present invention.

8, the vehicle control apparatus 800 according to the second embodiment of the present invention includes an input unit 802 and a calculation unit 804, similar to the vehicle control apparatus 100 (FIG. 2) A determination unit 806, and a control unit 808.

The functions of the input unit 802 and the calculation unit 804, the determination unit 806 and the control unit 808 of the vehicle control device 800 according to the second embodiment of the present invention and the organic connection relationship therebetween are as follows: 2) of the vehicle control apparatus (FIG. 2) according to the first embodiment, the calculating section (104 of FIG. 2), the judging section (106 of FIG. 2) Function and the organic connection relationship therebetween, and therefore, respective further explanations thereof will be omitted below.

Here, the vehicle control device 800 according to the second embodiment of the present invention may further include an identification unit 810. [

)보다 큰 것으로 판단하면, 현재 자차량(도4의 A)을 왼쪽 차선(도4의 Lane1)으로 변경시킴을 제어부(808)의 제어에 따라 식별시킬 수가 있다.3) of the present vehicle (A in Fig. 3) is determined to be the left lane of the present vehicle (A in Fig. 3) (V3 in Fig. 3) of the present vehicle (C in Fig. 3) traveling for a predetermined period of time

), It is possible to identify that the present vehicle (A in Fig. 4) is changed to the left lane (Lane1 in Fig. 4) under the control of the control unit 808. [

)보다 작은 것으로 판단하면, 현재 자차량(도5의 A)을 오른쪽 차선(도5의 Lane3)으로 변경시킴을 제어부(808)의 제어에 따라 식별시킬 수가 있다.3) of the present vehicle (A in Fig. 3) is determined to be the right lane of the present vehicle (A in Fig. 3) (V4 in Fig. 3) of the current vehicle (D in Fig. 3) traveling for a predetermined period of time

), It is possible to identify the change of the present vehicle (A in Fig. 5) to the right lane (Lane 3 in Fig. 5) under the control of the control unit 808. [

)보다 작은 것으로 판단하면, 현재 자차량(도6의 A)을 현재 차선(도6의 Lane2)으로 유지시킴을 제어부(808)의 제어에 따라 식별시킬 수가 있다.3) of the present vehicle (A in Fig. 3) is determined to be the left lane of the present vehicle (A in Fig. 3) (V3 in Fig. 3) of the present vehicle (C in Fig. 3) traveling for a predetermined period of time

, It is possible to identify that the present vehicle (A in Fig. 6) is maintained in the current lane (Lane2 in Fig. 6) under the control of the controller 808. [

)보다 큰 것으로 판단하면, 현재 자차량(도6의 A)을 현재 차선(도6의 Lane2)으로 유지시킴을 제어부(808)의 제어에 따라 식별시킬 수가 있다.3) of the present vehicle (A in Fig. 3) is determined to be the right lane of the present vehicle (A in Fig. 3) (V4 in Fig. 3) of the current vehicle (D in Fig. 3) traveling for a predetermined period of time

, It can be discriminated under the control of the control unit 808 to keep the present vehicle (A in Fig. 6) as the current lane (Lane2 in Fig. 6).

At this time, although not shown, the identification unit 810 includes at least one of an alarm (not shown), a speaker (not shown) and a light emitting member (not shown) provided for the driver to identify the information or state of the vehicle, (FIG. 4A) through at least one of an alarm operation of a speaker (not shown), a voice operation of a speaker (not shown), and a light emitting operation of a light emitting member (Fig. 5A) to the right lane (Lane 3 in Fig. 5), and it is possible to identify the present vehicle (A in Fig. 6) as the current (Lane2 in Fig. 6).

Although not shown, the identification unit 810 may include an HMI (Human Machine Interface) module (not shown) and a HUD (Head-UP Display) module (not shown), which are installed to interface with a user and a machine (A in FIG. 4) through at least one of the HMI message display operation of the HMI module (not shown) and the HUD message display operation of the HUD module (not shown) including at least one of the HUD message It is possible to identify the situation of changing to the left lane (Lane 1 in FIG. 4), to identify the situation in which the present vehicle (FIG. 5A) is changed to the right lane (Lane 3 in FIG. 5) (Fig. 6A) is maintained in the current lane (Lane2 in Fig. 6).

A vehicle control method for controlling the vehicle using the vehicle control device 800 according to the second embodiment of the present invention will now be described with reference to FIG.

9 is a flowchart showing a vehicle control method of the vehicle control device according to the second embodiment of the present invention.

9, the vehicle control method 900 of the vehicle control apparatus (800 of FIG. 8) according to the second embodiment of the present invention is similar to the vehicle control method 900 of the vehicle control apparatus (100 of FIG. 2) The first input step S902, the calculating step S904, the first determining step S906, the second inputting step S908, the second determining step S910, and the lane change Step S912.

The first input step S902, the calculating step S904, and the first determining step S906 of the vehicle control method 900 of the vehicle control apparatus (800 of FIG. 8) according to the second embodiment of the present invention The functions of the second input step (S908), the second determination step (S910), and the lane changing step (S912) and the organic connection relationship therebetween are the same as those of the vehicle control apparatus (100 of FIG. 2) 7) and the second inputting step (S708 in Fig. 7) among the control method (S702 in Fig. 7) and the calculating step (S704 in Fig. 7) The second determination step (S710 in FIG. 7), the lane changing step (S712 in FIG. 7), and the organic connection relationship therebetween, so that respective further explanations thereof will be omitted.

Here, the vehicle control method 900 of the vehicle control device (800 of FIG. 8) according to the second embodiment of the present invention may further include the identifying step S911.

For example, the identification step S911 may be performed after the second determination step S910 and before the lane change step S912.

As another example, the identification step S911 may be performed in synchronization with the lane change step (not shown), though not shown.

)보다 큰 것으로 판단하면, 현재 자차량(도4의 A)을 왼쪽 차선(도4의 Lane1)으로 변경시킴을 제어부(도8의 808)의 제어에 따라 식별부(도8의 810)에서 식별시킬 수가 있다.That is, in the discrimination step S911, the current speed value (V1 in Fig. 3) of the present vehicle (A in Fig. 3) 3) of the present vehicle speed (C in Fig. 3) traveling for a predetermined period of time (Lane1 in Fig. 3)

8) in accordance with the control of the control unit (808 in Fig. 8) to change the present vehicle (A in Fig. 4) to the left lane (Lane1 in Fig. 4) You can.

)보다 작은 것으로 판단하면, 현재 자차량(도5의 A)을 오른쪽 차선(도5의 Lane3)으로 변경시킴을 제어부(도8의 808)의 제어에 따라 식별부(도8의 810)에서 식별시킬 수가 있다.The identification step S911 is a step in which the current speed value (V1 in Fig. 3) of the present vehicle (A in Fig. 3) is determined to be the right lane (in Fig. 3) of the current vehicle (D in Fig. 3) traveling for a predetermined period of time (Lane3 in Fig. 3)

8) in accordance with the control of the control unit (808 in Fig. 8) to change the present vehicle (A in Fig. 5) to the right lane (Lane3 in Fig. 5) You can.

)보다 작은 것으로 판단하면, 현재 자차량(도6의 A)을 현재 차선(도6의 Lane2)으로 유지시킴을 제어부(도8의 808)의 제어에 따라 식별부(도8의 810)에서 식별시킬 수가 있다.The identification step S911 is a step in which the current speed value (V1 in Fig. 3) of the present vehicle (A in Fig. 3) 3) of the present vehicle speed (C in Fig. 3) traveling for a predetermined period of time (Lane1 in Fig. 3)

8) in accordance with the control of the control section (808 in Fig. 8) to keep the present vehicle (A in Fig. 6) as the current lane (Lane2 in Fig. 6) You can.

)보다 큰 것으로 판단하면, 현재 자차량(도6의 A)을 현재 차선(도6의 Lane2)으로 유지시킴을 제어부(도8의 808)의 제어에 따라 식별부(도8의 810)에서 식별시킬 수가 있다.The identification step S911 is a step in which the current speed value (V1 in Fig. 3) of the present vehicle (A in Fig. 3) is determined to be the right lane (in Fig. 3) of the current vehicle (D in Fig. 3) traveling for a predetermined period of time (Lane3 in Fig. 3)

8) in accordance with the control of the control unit (808 in Fig. 8) to keep the present vehicle (A in Fig. 6) as the current lane (Lane2 in Fig. 6) You can.

The vehicle control apparatus 800 and the control method 900 thereof according to the second embodiment of the present invention may include an input unit 802 and a calculation unit 804, a determination unit 806, a control unit 808, The first input step S902, the calculating step S904, the first determining step S906, the second inputting step S908, the second determining step S910, the identifying step S911, The lane change step S912 is performed.

Therefore, the vehicle control device 800 and the control method 900 thereof according to the second embodiment of the present invention can control the vehicle from the left lane Lane1 to the vehicle with the larger speed values V1, V2, V3, It is possible to smoothly change the traffic lane so that the convenience of changing lanes can be improved.

The vehicle control apparatus 800 and the control method 900 thereof according to the second embodiment of the present invention can identify the situation in which the present vehicle (A in Fig. 4) is changed to the left lane (Lane1 in Fig. 4) (FIG. 5A) to the right lane (Lane 3 in FIG. 5), and the present vehicle (FIG. 6A) to the current lane (Lane 2 in FIG. 6) It is possible to identify the situation in which it is maintained.

Therefore, the vehicle control device 800 and the control method 900 thereof according to the second embodiment of the present invention can recognize the lane that the driver intends to change or maintain, thereby suppressing anxiety at the time of lane change or lane keeping .

10 is a block diagram showing a state in which a vehicle control apparatus according to a third embodiment of the present invention is connected to a sensing apparatus, a HeadWay computing apparatus, a lane changing apparatus, and communicating with a communication apparatus.

11 is a block diagram showing an example of the vehicle control apparatus shown in Fig.

FIG. 12 is a diagram illustrating a process for changing lanes of the present vehicle to a current lane changing destination signal by transmitting a lane change entering signal to a communication device of the current lane by the communication unit and the control unit shown in FIG.

10 to 12, a vehicle control apparatus 1000 according to a third embodiment of the present invention includes an input unit 1002 and an output unit 1004, similar to the vehicle control apparatus 100 (FIG. 2) (1004), a determination unit (1006), and a control unit (1008).

The functions of the input unit 1002, the calculation unit 1004, the determination unit 1006, and the control unit 1008 of the vehicle control apparatus 1000 according to the third embodiment of the present invention and the organic connection relationship therebetween are as follows: 2) of the vehicle control apparatus (FIG. 2) according to the first embodiment, the calculating section (104 of FIG. 2), the judging section (106 of FIG. 2) Function and the organic connection relationship therebetween, and therefore, respective further explanations thereof will be omitted below.

Here, the vehicle control apparatus 1000 according to the third embodiment of the present invention may further include a communication unit 1012. [

11 and 12, the communication unit 1012 controls the control unit 1008 to move the vehicle having the current speed values (V1, V2, V3, V4, V5) (Lane 1, Lane 2, Lane 3) sequentially from the left lane (Lane 1) in the other lane distance (d 'in FIG. 12) The headway information HW2 and HW5 of the current rides B and E is adjusted by the HeadWay arithmetic unit 30 of the current rides B and E so that the distance between the current rides B and E The lane change entering signal can be transmitted to the communication device 70 of the current vehicles B and E under the control of the control section 1008 so that the present vehicle A can be changed to the lane of the current lane S.

Although not shown, the communication unit 1012 includes a Bluetooth module (not shown), a Wi-Fi module (not shown), a Zigbee module (not shown), a Wibro module (not shown), a Wi-Max module (not shown) E of the current vehicles B and E including at least one of an LTE module (not shown) and an LTE Advanced module (not shown), a Li-Fi module (not shown) and a beacon module (not shown) ) Can communicate with each other.

A vehicle control method for controlling the vehicle using the vehicle control apparatus 1000 according to the third embodiment of the present invention will now be described with reference to FIG.

13 is a flowchart showing a vehicle control method of the vehicle control device according to the third embodiment of the present invention.

13, the vehicle control method 1300 of the vehicle control apparatus (1000 of FIG. 11) according to the third embodiment of the present invention is similar to the vehicle control method 1300 of the vehicle control apparatus (100 of FIG. 2) The first input step S1302, the calculating step S1304, the first determining step S1306, the second inputting step S1308, the second determining step S1310, and the lane change Step S1312.

The first inputting step S1302, the calculating step S1304 and the first judging step S1306 of the vehicle control method 1300 of the vehicle control apparatus 1000 of FIG. 11 according to the third embodiment of the present invention The functions of the second inputting step S1308, the second determining step S1310 and the lane changing step S1312 and the organic connection relationship therebetween are the same as those of the vehicle control device 100 of FIG. 2 7) and the second inputting step (S708 in Fig. 7) among the control method (S702 in Fig. 7) and the calculating step (S704 in Fig. 7) The second determination step (S710 in FIG. 7), the lane changing step (S712 in FIG. 7), and the organic connection relationship therebetween, so that respective further explanations thereof will be omitted.

11) of the vehicle control method 1300 of the vehicle control apparatus (1000 of FIG. 11) according to the third embodiment of the present invention is changed in the control section (1008 of FIG. 11) 12) in the other traveling distance (d 'in FIG. 12) after a certain distance (d in FIG. 3) from the vehicle having the largest V1, V2, V3, V4, (Fig. 12B and Fig. 12B) in the lanes to be changed (Lane 3 in Fig. 12) when changing lane sequentially from the left lane (Lane 1 in Fig. 12) (HW2 and HW5 in FIG. 12) is adjusted in the HeadWay computing device (30 in FIG. 11) of the current vehicles (B and E in FIG. 12) The lane change entering signal is transmitted to the communication device (70 in Fig. 11) of the current lane vehicles (B and E in Fig. 12) so that the current lane vehicle (Fig. 12A) 11, 1008), the communication unit In 1012) it can deliver more.

The vehicle control apparatus 1000 and the control method 1300 according to the third embodiment of the present invention may include an input unit 1002, a calculation unit 1004, a determination unit 1006, a control unit 1008, The first input step S1302, the calculating step S1304, the first determining step S1306, the second inputting step S1308, the second determining step S1310, and the lane changing step S1312, .

Therefore, the vehicle control apparatus 1000 and the control method 1300 according to the third embodiment of the present invention can control the vehicle from the left lane Lane1 to the left vehicle lane from the vehicle with the current speed values V1, V2, V3, It is possible to smoothly change the traffic lane so that the convenience of changing lanes can be improved.

The vehicle control apparatus 1000 and the control method 1300 according to the third embodiment of the present invention can be applied to the current vehicles (B and E in Fig. 12) traveling in the lane to be changed (Lane 3 in Fig. 12) 12), the HeadWay information (HW2, HW5 in Fig. 12) of the current vehicles (B, E in Fig. 12) The present vehicle (A in Fig. 12) is changed to a lane in the spacing space (S in Fig. 12).

Therefore, the vehicle control apparatus 1000 and the control method 1300 thereof according to the third embodiment of the present invention can prevent the current vehicle (B, E) can be reduced to improve ride comfort.

Claims (11)

A current speed value for each current vehicle, and a current longitudinal speed value for each of the current vehicles, the current time value being detected by the sensing device, An input unit for receiving the present speed value of the subject vehicle and receiving the current HeadWay information for the current vehicle for maintaining a distance to the current vehicle for a predetermined time calculated from the HeadWay computing device;
A calculating unit for calculating the current congestion degree information for a predetermined time based on the number of the currently input other vehicles, the present speed value for each current vehicle, the longitudinal length value for each current vehicle, and the HeadWay information for each current vehicle;
Determining whether the calculated current congestion information is already set reference congestion information, comparing the current speed value of the present vehicle with the current speed value of the current vehicle for a predetermined time, and determining the comparison; And
Wherein the current congestion degree information is the reference congestion degree information, the control unit determines whether the current speed value of the present vehicle is greater than the current speed value of the current vehicle, And a lane change signal is transmitted to the lane changing device so as to sequentially change from the left lane to the lane changing lane. The method according to claim 1,
Wherein,
And compares the current speed value of the present vehicle with an average value of the current speed values of the current vehicle traveling for a predetermined time in the left lane of the present vehicle. The method according to claim 1,
Wherein,
And compares the current speed value of the current vehicle with an average value of the current speed values of the current vehicle traveling for a predetermined time in the right lane of the present vehicle. The method according to claim 1,
Wherein,
If the current speed value of the current present vehicle is greater than the average value of the current speed value of the current vehicle traveling for a predetermined time in the left lane of the current child vehicle, And transmits a lane change signal to the device. The method according to claim 1,
Wherein,
If the current speed value of the current vehicle is smaller than the average value of the current speed value of the current vehicle traveling for a predetermined time in the right lane of the present vehicle, And transmits a lane change signal to the changing device. The method according to claim 1,
Wherein,
If the current speed value of the current vehicle is smaller than the average value of the current speed values of the current vehicle traveling for a predetermined time in the left lane of the present vehicle,
And maintains the current present vehicle as the current lane if the current speed value of the present vehicle is greater than an average value of the current speed of the current vehicle traveling for a predetermined time in the right lane of the present vehicle. 5. The method of claim 4,
If the current speed value of the present vehicle is greater than the average value of the current speed value of the current vehicle traveling in the left lane of the present vehicle for a predetermined time, Further comprising: 6. The method of claim 5,
If the current speed value of the current vehicle is smaller than the average value of the current speed value of the current vehicle traveling for a predetermined time in the right lane of the present vehicle, And an identification unit. The method according to claim 6,
If the current speed value of the current vehicle is smaller than the average value of the current speed values of the current vehicle traveling for a predetermined time in the left lane of the present vehicle,
If the current speed value of the present vehicle is greater than the average value of the current speed value of the current vehicle traveling for a predetermined time in the right lane of the present vehicle, Further comprising: The method according to claim 1,
When the lane change from the left lane of the at least three lanes to the lane changing from the vehicle having the current speed value to the lane changing from the left lane to the headway information of the current lane running on the lane to be changed, Further comprising a communication unit configured to transmit a lane change entry signal to the communication devices of the current vehicles so that the present vehicle lane changes in a spacing space between the current vehicles. The current number of current vehicles located in at least three lanes for a predetermined distance sensed by the sensing device, the current speed value for each current vehicle, and the longitudinal length value for each current vehicle are received, and the schedule calculated from the HeadWay computing device A first input step of receiving HeadWay information for each current vehicle for maintaining a distance to a current vehicle during a time;
Calculating the current congestion degree information for a predetermined time based on the number of the currently input other vehicles, the present speed value for each current vehicle, the longitudinal length value for each current vehicle, and the HeadWay information for each current vehicle;
A first determination step of determining whether the calculated current congestion information is already set reference congestion information;
A second input step of receiving a current speed value of the current vehicle detected by the sensing device if the current congestion information is the reference congestion information;
A second determination step of comparing the current speed value of the current current vehicle with the current speed value of the current vehicle for a predetermined period of time; And
The control unit changes the lane from the left lane of the at least three lanes to the lane of the at least three lanes according to a result of comparison between the current speed value of the present vehicle and the current speed value of the current lane And a lane changing step of transmitting a lane changing signal to the lane changing device.

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