KR20180056149A - Vehicle and method for controlling thereof - Google Patents

Abstract

The present invention relates to a vehicle and a method for controlling the same, and more specifically, to a technology of informing a driver of whether a right turn is possible by determining a possibility of collision with another vehicle that is traveling on a target lane when a vehicle makes a right turn and proceeds to the target lane. The vehicle according to an embodiment includes an input unit configured to receive a right turn signal of the vehicle; sensor configured to detect a target vehicle that travels a target lane on which the vehicle will travel after making a right turn; and a controller configured to determine the center line of the target lane, determine a right turn routine of the vehicle based on the determined center line, calculate a time-to-collision (TTC) of the vehicle and the target vehicle based on the determined right turn routine, and informing a driver of whether the vehicle can make a right turn if the calculated time-to-collision is a predetermined time or more.

Description

[0001] VEHICLE AND METHOD FOR CONTROLLING THEREOF [0002]

More particularly, the present invention relates to a technique of determining a possibility of a collision with a running vehicle on a target lane when a vehicle makes a right turn and advances to a target lane, thereby notifying a driver of the possibility of a right turn .

A vehicle means a device that can carry a person or an object to a destination while driving on a road or a track. The vehicle can be moved to various positions mainly by using one or more wheels installed in the vehicle body. Such a vehicle may be a two-wheeled vehicle such as a three-wheeled or four-wheeled vehicle, a motorcycle, a construction machine, a bicycle, or a train traveling on a rail arranged on a railroad.

In modern society, automobiles are the most common means of transportation and the number of people using them is increasing. Although development of automobile technology has advantages such as easy transportation of long distance and ease of living, there are frequent problems that traffic congestion becomes serious due to deterioration of road traffic in high density areas like Korea.

In recent years, there has been a demand for a vehicle equipped with an Advanced Driver Assist System (ADAS) which actively provides information on the vehicle condition, the driver condition, and the surrounding environment in order to reduce the burden on the driver and improve the convenience. Research is actively underway.

An example of a state-of-the-art driver assistance system mounted on a vehicle is a Cross Traffic Alert (CTA) and a Rear Cross Traffic Alert (RCTA). An intersection collision avoidance system is a collision avoidance system that determines the risk of collision with an opposing vehicle or an intersection vehicle in an intersection driving situation, and emergency braking in a collision situation.

Such an intersection collision preventing auxiliary system plays a role of detecting and avoiding the risk of collision of a vehicle, but in recent years, a need has arisen for determining whether or not a vehicle can be turned right before an intersection or a back road.

The object of the present invention is to determine the possibility of collision with the other vehicle in the target lane when the vehicle makes a right turn at the intersection or the back side road to advance to the target lane and notify the driver of the possibility of the right turn.

According to an embodiment of the present invention,

A detection sensor for detecting a target vehicle that travels on a target lane to be driven after the vehicle is turning right; a center line of the target lane is determined, and based on the determined center line, Calculates a time to collision (TTC) between the vehicle and the target vehicle on the basis of the determined right turn path, and if the calculated collision predicted time is equal to or greater than a predetermined time, the vehicle can be turned to the right And a control unit for transmitting a control signal.

The control unit may determine the centerline of the target lane based on at least one of map information including the target lane, navigation information, and lane identification information on the target lane.

The control unit may determine a centerline of the target vehicle based on a path that the target vehicle travels on the target vehicle.

The control unit may determine a right turn path in which the turning radius is the distance from the vehicle to the center line of the target vehicle at a position stopped before the vehicle turns to the right.

In addition, the sensing sensor may sense the traveling speed of the target vehicle.

The control unit may determine a time required for the vehicle to travel along the right turn path based on the determined distance of the right turn path and the running speed of the vehicle.

The control unit may calculate the estimated collision time between the vehicle and the target vehicle based on the detected traveling speed of the target vehicle and the determined right turn time of the vehicle.

In addition, the detection sensor may detect another vehicle located in front of the target lane on which the vehicle will travel after turning right.

In addition, the control unit may transmit a control signal indicating that the vehicle can be rotated right if the detected other vehicle is not present.

In addition, the detection sensor may include any one of a radar and a LiDAR.

The control unit may further include a display unit for indicating that the vehicle is turning right based on the transmitted control signal.

According to another aspect of the present invention, there is provided a vehicle control method,

And a control unit for receiving driving information for a target vehicle traveling on a target lane to be driven after the vehicle is turning right and determining a center line of the target lane on the basis of the right turn signal of the vehicle, Determining a path based on the determined right turn path and calculating a collision expected time of the target vehicle traveling the vehicle and the target lane based on the determined right turn path and notifying that the vehicle can be turned to right when the calculated collision expected time is longer than a predetermined time And transmits a control signal.

The determination of the centerline of the target lane can be determined based on at least one of the map information including the target lane, the navigation information, and the lane identification information of the target lane.

In addition, the determination of the centerline of the target roadway can be determined based on the route on which the target vehicle travels the target lane.

The determination of the right turn path of the vehicle can also determine a right turn path in which the turning radius is the distance from the vehicle to the center line of the target vehicle at a position stopped before the vehicle turns to the right.

The method may further include detecting a traveling speed of the target vehicle.

The method may further include determining a time taken for the vehicle to travel along the right turn path based on the determined distance of the right turn path and the running speed of the vehicle.

The calculating of the collision expected time between the vehicle and the target vehicle may include calculating a collision expected time between the vehicle and the target vehicle based on the detected traveling speed of the target vehicle and the determined right- Quot;

The method may further include sensing a vehicle located ahead of the target lane on which the vehicle will travel after turning clockwise.

The method may further include transmitting a control signal indicating that the vehicle can be rotated right if the detected other vehicle is not present.

Further, it may further include indicating that the vehicle is capable of turning to the right based on the transmitted control signal.

It is possible to determine the possibility of collision with the other vehicle in the target lane when the vehicle makes a right turn at the intersection or the back side road to advance to the target lane, thereby informing the driver of the possibility of the right turn. In addition, there is an effect of securing safety by preventing collision between vehicles.

1 is a perspective view schematically showing an appearance of a vehicle according to an embodiment.
FIG. 2 shows a vehicle equipped with a detection sensor and a rear side vehicle sensing unit according to an embodiment.
3 is a view showing an indoor structure of a vehicle according to an embodiment.
4 is a control block diagram of a vehicle according to an embodiment.
5 is a conceptual diagram showing how the center line and the right turn path of the target lane to be driven after the vehicle is turned right according to one embodiment.
Fig. 6 illustrates determining the centerline of the target vehicle based on the running route of the target vehicle according to an embodiment.
FIG. 7 is a conceptual diagram showing calculation of a collision predicted time of a vehicle and a target vehicle according to an embodiment. FIG.
FIG. 8 illustrates detection of another vehicle located in front of the target lane according to an embodiment.
FIG. 9 shows that the display unit according to an embodiment indicates that the vehicle can be rotated clockwise.
10 is a flowchart showing a vehicle control method according to an embodiment.

Like reference numerals refer to like elements throughout the specification. The present specification does not describe all elements of the embodiments, and redundant description between general contents or embodiments in the technical field of the present invention will be omitted. The term 'part, module, member, or block' used in the specification may be embodied in software or hardware, and a plurality of 'part, module, member, and block' may be embodied as one component, It is also possible that a single 'part, module, member, block' includes a plurality of components.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only the case directly connected but also the case where the connection is indirectly connected, and the indirect connection includes connection through the wireless communication network do.

Also, when an element is referred to as "comprising ", it means that it can include other elements as well, without departing from the other elements unless specifically stated otherwise.

The terms first, second, etc. are used to distinguish one element from another, and the elements are not limited by the above-mentioned terms.

The singular forms " a " include plural referents unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of explanation, and the identification code does not describe the order of the steps, and each step may be performed differently from the stated order unless clearly specified in the context. have.

Hereinafter, the working principle and embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a perspective view schematically showing an appearance of a vehicle according to an embodiment. FIG. 2 illustrates a vehicle equipped with a sensing sensor and a rear side vehicle sensing unit according to an embodiment. FIG. 3 illustrates an interior structure of a vehicle according to an embodiment of the present invention. Fig. 5 is a conceptual diagram showing how the center line and the right turn path of the target lane to be driven after the vehicle is turned right according to one embodiment.

For convenience of explanation, as shown in Fig. 1, it is generally assumed that the forward direction of the vehicle 1 is a front direction, and the left direction and the right direction are distinguished from the front direction, , The 3 o'clock direction or its periphery is defined as the right direction, and the 9 o'clock direction or its periphery is defined as the left direction. The opposite direction of the front is the rear. Further, the bottom direction is referred to as the downward direction with respect to the vehicle 1, and the opposite direction is referred to as the upward direction. One side disposed on the front side is referred to as the front side, the other side disposed on the rear side is referred to as the rear side, and the one side disposed on the side is referred to as the side. The left side surface of the side surface is defined as the left surface, and the right side surface is defined as the right side surface.

Referring to Fig. 1, a vehicle 1 may include a vehicle body 10 that forms an appearance, wheels 12 and 13 that move the vehicle 1, and the like.

The vehicle body 10 includes a hood 11a for protecting various devices necessary for driving the vehicle 1 such as an engine, a roof panel 11b for forming an interior space, a trunk lid 11c provided with a storage space, A front fender 11d and a quarter panel 11e. A plurality of doors 15 joined to the vehicle body by a white paper may be provided on the side surface of the vehicle body 11. [

A front window 19a is provided between the hood 11a and the roof panel 11b to provide a view of the front of the vehicle 1 and a rear window is provided between the roof panel 11b and the trunk lid 11c A rear window 19b may be provided. Further, on the upper side of the door 15, a side window 19c for providing a side view can be provided.

A headlamp 15 for illuminating the vehicle 1 in the traveling direction of the vehicle 1 may be provided in front of the vehicle 1. [

A turn signal lamp 16 for indicating the traveling direction of the vehicle 1 may be provided on the front and rear of the vehicle 1. [

The vehicle 1 can flicker the direction indicator lamp 16 and display it in the traveling direction thereof. Further, a tail lamp 17 may be provided at the rear of the vehicle 1. [ The tail lamp 17 is provided behind the vehicle 1 and can display the gear shift state of the vehicle 1, the brake operation state, and the like.

Referring to FIG. 1, the vehicle 1 may be provided with a sensing sensor 200 for sensing at least one other vehicle located in front of the vehicle and obtaining positional information or running speed information of the other vehicle.

The detection sensor 200 can sense whether an object, for example, a pedestrian or another vehicle exists in the front or side of the vehicle 1, or whether an object exists or approaches in a direction between the front and the side have. In addition, the detection sensor 200 can sense the traveling speed of another vehicle located around the vehicle 1. [

1, the detection sensor 200 may be installed at an appropriate position for recognizing an object on the front, side, or front side, for example, another vehicle. According to one embodiment, the detection sensor 200 detects the direction of the vehicle 1 from the front of the vehicle 1, the direction between the left side (left side) and the front side (left side) of the vehicle 1, Left and right sides of the vehicle 1 so as to recognize objects located on both sides of the vehicle 1 (right side) and in a direction between the front sides (hereinafter referred to as rightward side).

For example, the first sensing sensor 200a may be installed on a part of the radiator grille 6, for example, on the inside, and may be installed in any position of the vehicle 1 if it can sense a vehicle positioned ahead . The second sensing sensor 200b may be provided on the left side of the vehicle 1 and the third sensing sensor 200c may be provided on the right side of the vehicle 1. [

The detection sensor 200 provided in the vehicle 1 according to the embodiment is configured to detect whether the vehicle 1 driven by the driver is turning right or traveling on the main road A1 from the back road A2 It can detect other vehicles that are driving.

5, the 'back road A2' is a road joining the main road such as an alley as shown in FIG. 5, and the 'main road A1' Means a target lane to join with the rear road A2 or to make the vehicle 1 turn right.

Specifically, before the vehicle 1 turns to the right, the second sensing sensor 200b provided on the left side of the vehicle 1 is moved from the left side to the right side of the target lane A1 on the basis of the position of the vehicle 1 The third sensing sensor 200c provided on the right side of the vehicle 1 can sense the vehicle 1 from the right side of the target lane A1 on the basis of the position of the vehicle 1 (Hereinafter referred to as " another vehicle ", see Fig. 8).

That is, the second sensing sensor 200b and the third sensing sensor 200c sense the target vehicle 2 and the other vehicle 3 and detect the position information of the target vehicle 2 and the other vehicle 3, At least one of them can be obtained.

The rear side vehicle detection unit 201 detects the presence or absence of an object, for example, a pedestrian or another vehicle on the side of the vehicle 1, an object in the rear, or a direction (hereinafter referred to as " Or whether or not the < / RTI >

The rear side vehicle detection unit 201 may be installed at an appropriate position to recognize an object such as a side, a rear, or a rear side as shown in Fig. 2, for example, another vehicle.

According to one embodiment, the rear side vehicle detection unit 201 detects the direction of the vehicle 1 from the left side (the left side) and the rear side (the left side and the rear side) and the right side of the vehicle 1 The vehicle 1 may be installed on both the left and right sides of the vehicle 1 so as to recognize the object from both the direction of the rear (hereinafter referred to as " rearward " For example, the first rear side vehicle sensing unit 201a or the second rear side vehicle sensing unit 201b is provided on the left side of the vehicle 1, and the third rear side vehicle sensing unit 201c or the fourth rear The side vehicle detection unit 201d may be provided on the right side of the vehicle 1. [

Further, according to the embodiment, the rear side vehicle detection unit 201 may be installed at various positions so as to properly recognize the vehicle. For example, the first rear side vehicle sensing portion 201a and the second rear side vehicle sensing portion 201b are installed on the left side pillar of the vehicle 1 and the left rear fender of the vehicle 1, respectively, Or whether or not the other vehicle 95 is present or accessible. Likewise, the third rear side vehicle sensing portion 201c or the fourth rear side vehicle sensing portion 201d are provided on the right side filler of the vehicle 1 and the right rear fender of the vehicle 1, respectively, It is possible to recognize whether or not it exists. The installation position of the rear side vehicle sensing unit 201 is not limited to this and may be a rear side vehicle sensing unit 201 such as a rear surface of the vehicle 1 at various positions of the vehicle 1, May be installed.

The detection sensor 200 and the rear side vehicle detection unit 201 may be provided with different vehicles in the left side room, the right side room, the front side, the rear side, the left side side, the right side side, the left side side or the rear side using electromagnetic waves or laser light Or whether it is approaching or not. For example, the detection sensor 200 and the rear side vehicle detection unit 201 may be configured to detect an electromagnetic wave such as a microwave or a millimeter wave, a pulsed laser light, an ultrasonic wave, or an infrared ray from a left side room, a right side room, , And the presence or absence of an object may be determined by receiving pulsed laser light, ultrasonic waves, or infrared rays reflected or scattered by an object located in the left, right, rear, or rear side. In this case, the detection sensor 200 and the rear side vehicle detection unit 201 can judge the distance of the object or the speed of another vehicle traveling by using the time of returning the electromagnetic wave, the pulse laser light, the ultrasonic wave, You may.

In addition, the detection sensor 200 and the rear side vehicle sensing unit 201 may be configured to detect reflected or scattered visible light from an object on the left side, right side, front, rear, left side, right side, left side, It is possible to determine whether an object exists or not. As described above, depending on which one of the electromagnetic wave, the pulse laser light, the ultrasonic wave, the infrared ray and the visible light is used, the recognition distance for the other vehicle located ahead or behind can be changed, .

When the vehicle 1 travels in a predetermined direction along a predetermined lane, the control unit 100 of the vehicle 1 can control the left, right, front, rear, left, and right sides of the vehicle 1, It is possible to judge whether or not there is another car running on another lane while being present on the right side, the left side, or the rear side.

The detection sensor 200 and the rear side vehicle detection unit 201 may be implemented by a radar using millimeter waves or microwaves, a light detection and ranging (LiDAR) using pulsed laser beams, a vision using a visible ray , An infrared sensor using infrared rays, an ultrasonic sensor using ultrasonic waves, or the like. The detection sensor 200 and the rear side vehicle sensing unit 201 may be realized using only one of them, or may be implemented by a combination of both. When a plurality of detection sensors 200 and a rear side vehicle detection unit 201 are provided in one vehicle 1, each of the detection sensors 200 and the rear side vehicle detection unit 201 are implemented using the same device Or may be implemented using other devices. In addition, the detection sensor 200 and the rear side vehicle sensing unit 201 can be implemented using various devices and combinations that a designer can consider.

3, a driver's seat 301, an assistant seat 302, a dashboard 310, a steering wheel 320 and a dashboard 330 are provided in the passenger compartment 300.

The dashboard 310 refers to a panel in which the interior of the vehicle 1 and the engine room are partitioned and various components necessary for operation are installed. The dashboard 310 is provided in the front direction of the driver's seat 301 and the assistant's seat 302. The dashboard 310 may include an upper panel, a center fascia 311, a gear box 315, and the like.

The display unit 303 may be installed on the upper panel of the dashboard. The display unit 303 can provide various information to the driver or passenger of the vehicle 1 as an image. For example, the display unit 303 may visually provide various information such as a map, weather, news, various moving images or still images, various information related to the state or operation of the vehicle 1, . Also, the display unit 303 can provide a warning to the driver or passenger according to the risk. Specifically, when the vehicle 1 changes the lane, it is possible to provide different warnings to the driver or the like depending on the risk. The display unit 303 may be implemented using a commonly used navigation device.

In addition, according to the control method of the vehicle 1 according to the embodiment, the display unit 303 may indicate that the vehicle 1 operated by the driver is capable of turning to the right, thereby informing that it is possible to advance on the main road from the back road.

The display unit 303 may be provided inside the housing formed integrally with the dashboard 310, and may be provided so that only the display panel is exposed to the outside. The display unit 303 may be installed at the lower end or the lower end of the center pycia 311 or may be provided with an additional support (not shown) on the inner surface of the windshield (not shown) or the upper surface of the dashboard 310 May be installed. In addition, the display unit 303 may be installed at various positions that designers may consider.

Various types of devices such as a processor, a communication module, a satellite navigation device receiving module, a storage device, and the like may be installed inside the dashboard 310. The processor installed in the vehicle may be provided to control various electronic devices installed in the vehicle 1, and may be provided for performing the functions of the control unit 100 as described above. The above-described devices can be implemented using various components such as semiconductor chips, switches, integrated circuits, resistors, volatile or non-volatile memories or printed circuit boards.

The center fascia 311 may be installed at the center of the dashboard 310 and may include input units 318a through 318c for inputting various commands related to the vehicle. The input units 318a through 318c may be implemented using a physical button, a knob, a touch pad, a touch screen, a stick type operation device, or a trackball. The driver can control various operations of the vehicle 1 by operating the input units 318a to 318c.

The gear box 315 is provided between the driver's seat 301 and the assistant seat 302 at the lower end of the center pedal 311. The gear box 315 may be provided with a gear 316, a housing box 317, various input units 318d to 318e, and the like. The input units 318d to 318e may be implemented using a physical button, a knob, a touch pad, a touch screen, a stick type operation device, or a trackball. The storage box 317 and the input units 318d to 318e may be omitted according to the embodiment.

In the direction of the driver's seat of the dashboard 310, a steering wheel 320 and an instrument panel 330 are provided.

The front wheel or rear wheel of the vehicle 1 is rotated according to the rotational direction of the steering wheel 320 so that the vehicle 1 can be steered have. The steering wheel 320 is provided with a spoke 321 connected to the rotation shaft and a knob wheel 322 coupled with the spokes 321. The spokes 321 may be provided with input means for inputting various commands, and the input means may be implemented using a physical button, a knob, a touch pad, a touch screen, a stick type operation device, or a trackball. The handle wheel 322 may have a circular shape for the convenience of the driver, but the shape of the handle wheel 322 is not limited thereto. At least one of the spokes 321 and 322 is provided under the control of an external vibrating unit (201 in Fig. 4) provided inside at least one of the spokes 321 and the handle wheels 322, So that it can oscillate with a predetermined intensity. According to the embodiment, the vibrator can vibrate at various strengths according to an external control signal, so that at least one of the spokes 321 and the handle wheels 322 can vibrate at various strengths according to an external control signal. The vehicle 1 can use it to provide a haptic alert to the driver. For example, at least one of the spokes 321 and the handle wheel 322 can provide various warnings to the driver by vibrating to a degree corresponding to the risk determined when the vehicle 1 changes the lane. Specifically, the higher the level of risk, the more vigorously the at least one of the spokes 321 and the handle wheels 322 can provide a high level of warning to the driver.

Further, a direction indicator light input unit 318f may be provided behind the steering wheel 320. [ The user can input a signal for changing the running direction or the lane through the running direction indicator light input unit 318f of the vehicle 1. [ When the user inputs the traveling direction switching signal through the direction indicator light input unit 318f, the direction indicator lamp for indicating the direction to switch to the instrument panel 330 can be blinked, Directional or lane change signal. In general, when the direction indicator lamp 318f is raised, the control unit 100 recognizes that the running direction of the vehicle 1 is to be turned right or to the right, and an operation of lowering the turn signal lamp input unit 318f It is recognized that the running direction of the vehicle 1 is switched to the left or leftward.

The instrument panel 330 is provided to provide the driver with various information related to the vehicle such as the speed of the vehicle 1, the number of revolutions of the engine, the remaining amount of the fuel, the temperature of the engine oil, . The instrument panel 330 may be implemented using an illumination lamp, a scale plate, or the like, and may be implemented using a display panel according to an embodiment. In the case where the instrument panel 330 is implemented using the display panel, the instrument panel 330 displays various information such as fuel consumption, whether or not various functions mounted on the vehicle 1 are performed, etc., and provides the information to the driver . According to one embodiment, the dashboard 330 may output a different warning to the driver depending on the risk of the vehicle 1. Specifically, the dashboard 330 can provide different warnings to the driver depending on the determined risk when the vehicle 1 changes lanes.

Referring to FIG. 4, the vehicle 1 according to the embodiment includes a speed sensing unit 80 that senses the traveling speed of the vehicle 1 that the driver is driving, a storage unit that stores data related to the control of the vehicle 1, (90). ≪ / RTI >

The speed sensing unit 80 can sense the traveling speed of the vehicle 1 driven by the driver under the control of the controller 100. [ That is, the traveling speed can be detected using the speed at which the wheel of the vehicle 1 is rotated, etc. The unit of the traveling speed can be expressed in [kph], and the distance traveled per unit time (h) .

The storage unit 90 may store various data related to the control of the vehicle 1. [ Specifically, it may store information on the running speed, the running distance, and the running time of the vehicle 1 according to the embodiment, and may store the running information on the other vehicles sensed by the detecting sensor 200. [

The storage unit 90 may be a nonvolatile memory device such as a cache, a read only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM) But is not limited to, a volatile memory device such as a RAM (Random Access Memory) or a storage medium such as a hard disk drive (HDD) and a CD-ROM. The storage unit 90 may be a memory implemented in a chip separate from the processor described above in connection with the controller 100, and may be implemented as a single chip with the processor.

Referring again to FIGS. 1 and 4, at least one control unit 100 may be provided inside the vehicle 1. The control unit 100 may perform electronic control for each configuration related to the operation of the vehicle 1. [

The control unit 100 determines whether the vehicle 1 in the running direction is turning right or traveling on the main road A1 from the back road A2 according to an embodiment of the present invention, The center line C of the lane can be determined.

The control unit 100 also determines the right turn path P of the vehicle 1 on the basis of the determined center line C of the target lane A1 and determines the right turn path P of the vehicle 1 based on the determined right turn path P, A control signal indicating that the vehicle 1 is turning right or advancing to the main road A1 can be transmitted if the estimated collision time calculated after calculating the time to collision (TTC) of the vehicle 2 is equal to or longer than a predetermined time can do.

The control unit 100 can use the data stored in the storage unit 90 in determining the center line C of the target lane A1. Specifically, the storage unit 90 may store map information including the target lane A1, and information about various roads and maps may be stored in the map information. The map information stored in the storage unit 90 may be used as navigation information displayed on the display unit 303 in cooperation with the navigation system of the vehicle. The control unit 100 may utilize the navigation information, (C) can be determined.

That is, the map information about the road includes information about the road width or length with respect to the road on which the vehicle 1 travels, and when the vehicle 1 travels along the road, generally runs along the center line of the road, The road information generated based on the running information of the vehicle 1 may be included.

The map information on this road can be generated or updated by the driver's vehicle 1 or other traveling information accumulated while the other vehicle is traveling on the road, and the control unit 100 receives the map information from the network and stores it in the storage unit 90 The center line C of the target lane A1 can be determined through the stored map information.

The control unit 100 can also determine the center line C of the target lane A1 on the basis of the lane identification information recognized by the detection sensor 200. [ That is, the detection sensor 200 can recognize the lane of the road in which the vehicle 1 is running, and the control unit 100 can detect the lane of the road on which the vehicle 1 is traveling while the vehicle 1 is turning right or traveling on the main road A1. A1 can be predicted from the position of the current vehicle 1 or the lane information of the road on which the present vehicle 1 is running.

Fig. 6 illustrates determining the centerline of the target vehicle based on the running route of the target vehicle according to an embodiment.

6, the control unit 100 can determine the center line C of the target lane A1 on the basis of the path that the target vehicle 2 travels on the target lane A1. That is, as will be described later, when the vehicle 1 makes a right turn and stops without advancing on the main road A1, the detection sensor 200 detects the running speed of the target vehicle 2 traveling on the main road A1 And can determine the center line C of the target lane A1 on the basis of the traveling path of the detected target vehicle 2. [

The control unit 100 can use the traveling route of the target vehicle 2 to determine the center line C in addition to the map information including the target lane A1, the navigation information, and the lane identification information for the target lane A1 , The center line C is determined based on the map information, the navigation information and the lane identification information on the target lane A1 as the supplementary information for determining the center line C, Data can be used.

The travel route data obtained when the plurality of target vehicles 2 travel on the target lane A1 can be cumulatively stored in the storage unit 90 and the control unit 100 can calculate the target lane A1 ) Can be accurately determined.

The control section 100 sets the right turn path P that sets the distance S from the vehicle 1 to the center line of the target lane A1 as the turning radius R at a position stopped before the vehicle 1 turns to the right Determines the time taken for the vehicle 1 to travel along the right turn path P based on the distance of the determined right turn path P and the running speed of the vehicle 1 sensed by the speed detecting section 80 .

When the center line C of the target lane A1 is determined and the center of the vehicle 1 is positioned on the center line C when the vehicle 1 makes a right turn to drive the target lane A1, 100 determines the distance from the vehicle 1 to the center line C using the map information stored in the storage unit 90 or determines the distance from the vehicle 1 to be 1/2 of the width of the target lane A1 And the distance S to the center line C can be determined.

The control unit 100 moves the vehicle 1 from the vehicle 1 to the center line of the target lane A1 as the vehicle 1 makes a right turn and advances to the target lane A1 as shown in Fig. A right turn path P in which the distance S of the turning radius R is set as the turning radius R can be set.

5, when the vehicle 1 is at the position of (B), the turning radius R 'from which the vehicle 1 is rotatable on the rear surface road A2 is calculated from the vehicle 1 to the center line C In this case, even if the vehicle 1 makes a right turn on the path of the original trajectory, it can not advance to the target lane A1.

Therefore, when the distance S from the vehicle 1 to the center line C of the target lane A1 is determined, the control unit 100 determines whether the vehicle 1 is in a rotation It can be compared with the radius R and if the comparison result shows that the turning radius R is shorter than the distance S from the vehicle 1 to the center line C of the target lane A1, , The vehicle 1 can be moved forward to the position of (A).

When the vehicle 1 advances to the position of the position A by the control of the control unit 100 or when the driver advances the vehicle 1 to the position of the position A, The radius R and the distance S from the vehicle 1 to the center line C of the target lane A1 become equal. Therefore, the control unit 100 can determine the right turn path P that sets the distance S from the vehicle 1 to the center line of the target lane A1 as the turning radius R. [

As described above, the detection sensor 200 detects the target vehicle 2 traveling in the target lane A1 when the vehicle 1 makes a right turn or advances to the main road, and detects the running speed of the target vehicle 2 Information can be obtained.

The control unit 100 determines the time taken for the vehicle 1 to travel along the right turn path based on the distance of the right turn path P determined previously and the traveling speed of the vehicle 1 sensed by the speed sensing unit 80 .

FIG. 7 is a conceptual diagram showing calculation of a collision predicted time of a vehicle and a target vehicle according to an embodiment. FIG.

Referring to Fig. 7, the vehicle 1 can advance to the target lane A1 along the right turn path P. Fig. The time at which the vehicle 1 advances to the target lane A1 is varied depending on the traveling speed of the vehicle 1 and the distance of the right turn path P. [

For example, when the running speed of the vehicle 1 is high or the distance of the right turning path P is short, the vehicle 1 can advance to the target lane A1 within one second, which is a relatively short time, 1 is slow or the distance of the right turn path P is long, the vehicle 1 can advance to the target lane A1 within 3 seconds, which is a relatively long time.

At this time, the detection sensor 200 can sense the target vehicle 2 traveling on the target lane A1. The detection sensor 200 detects the target vehicle 2 traveling along the target lane A1 with respect to the vehicle 1 in accordance with the running speed and the running distance L of the target vehicle 2. [ The collision probability can be changed.

The target vehicle 2 can travel to the position of the vehicle 1 in a relatively short time when the running speed of the target vehicle 2 is fast or the travel distance L is short and the target vehicle 2 The target vehicle 2 can travel to the position of the vehicle 1 for a relatively long period of time when the running speed of the target vehicle 2 is slow or when the running distance L is long.

That is, the target vehicle 2 passes the position of the vehicle 1 before the vehicle 1 advances to the target lane A1 along the right turn path P, or the vehicle 1 passes the right turn path P When the target vehicle 2 travels to the position of the vehicle 1 after advancing to the target lane A1, the vehicle 1 and the target vehicle 2 do not collide.

On the other hand, when the time when the vehicle 1 advances to the target lane A1 along the right turn path P and the time when the target vehicle 2 travels to the position of the vehicle 1 are the same, The vehicle 2 may collide. That is, the vehicle 1 advances to the target lane A1 along the right turn path P, at which time the target vehicle 2 travels to the position of the vehicle 1 and the vehicle 1 and the target vehicle 2 ) May collide if they meet at the same location at the same time.

Accordingly, the control unit 100 controls the vehicle 1 and the vehicle 1 based on the traveling speed of the target vehicle 2, the traveling speed of the vehicle 1, and the rightward traveling time of the vehicle 1, The estimated collision time of the target vehicle 2 can be calculated.

The control unit 100 controls the speed of the vehicle 1 based on the traveling speed of the vehicle 1 and the traveling distance of the right turn path P sensed in real time by the speed sensing unit 80, A1, and this time information can be stored in the storage unit 90. [0050] FIG.

The control unit 100 determines whether the target vehicle 2 is positioned at the position of the vehicle 1 from the traveling speed of the target vehicle 2 sensed by the detection sensor 200 before the vehicle 1 fully advances to the target lane A1 The possibility of collision can be judged.

At this time, it is possible to determine that the vehicle 1 and the target vehicle 2 do not collide with each other if the estimated collision time calculated previously is equal to or greater than a predetermined time stored in the storage unit 90.

That is, the control unit 100 can determine that the vehicle 1 and the target vehicle 2 will not collide if the calculated collision prediction time is equal to or greater than a certain level, and conversely, if the collision prediction time is shorter than the predetermined time, can do.

FIG. 8 illustrates detection of another vehicle located in front of the target lane according to an embodiment.

8, the detection sensor 200 of the vehicle 1, specifically the third detection sensor 200c, is disposed in front of the vehicle 1 when the vehicle 1 makes a right turn and advances to the target lane A1 It is possible to detect the other vehicle 3 positioned.

In other words, when the vehicle 1 makes a right turn and advances to the target lane A1, there is a risk of collision if the distance between the other vehicle 3 and the vehicle 1 is short. The control unit 100 determines whether the vehicle 3 is detected by the third sensing sensor 200c or when the vehicle 1 has reached the target lane A1, It is possible to determine that the vehicle 1 can turn right and advance to the target lane A1.

The control unit 100 may be installed at an arbitrary position inside the vehicle 1 according to the designer's selection. For example, the control unit 100 may be installed between the engine room and the dashboard, or may be provided inside the center fascia.

The control unit 100 may include at least one processor that receives an electrical signal, processes the input electrical signal, and outputs the processed electrical signal. At least one processor may be implemented with at least one semiconductor chip and associated components. At least one semiconductor chip and related parts are installed on a printed circuit board that can be installed inside the vehicle 1. [

FIG. 9 shows that the display unit according to an embodiment indicates that the vehicle can be rotated clockwise.

The control unit 100 judges the possibility of collision between the vehicle 1 and the target vehicle 2 and the existence of the other vehicle 3 so that the vehicle 1 makes a right turn and advances to the target lane A1 If it is determined that the vehicle 1 can be rotated rightward, it is possible to send a control signal indicating that the user can turn right.

The display unit 303 can display a message informing that the vehicle 1 can be turned clockwise and advance to the target lane A1 based on the control signal transmitted from the control unit 100 as shown in Fig. The driver can recognize that the vehicle 1 can be rotated right through the moment displayed on the display unit 303. [

Specifically, the display unit 303 displays information such as whether it is possible to advance to the target lane A1 by turning right at the current position of the vehicle 1, the time required for entry, and the risk of collision with another vehicle .

Although not shown in the figure, a screen displayed on the display unit 303 may also be displayed in the cluster 330 as well. The control unit 100 may transmit a control signal indicating that the vehicle 1 can be rotated clockwise and notify the driver through the screen of the display unit 303. However, I can inform the driver whether or not.

10 is a flowchart showing a vehicle control method according to an embodiment.

10, the driver can input the right turn signal of the vehicle 1 through the turn signal lamp input unit 318f, and the control unit 100 can receive the right turn signal of the vehicle 1 (400).

The detection sensor 200 can detect the target vehicle 2 traveling on the target lane A1 to be driven after the vehicle 1 is turned to the right and transmit the detection signal to the control unit 100, (405) the position information and the traveling speed information of the target vehicle (2).

The control unit 100 can determine the center line C of the target lane A1 that the vehicle 1 will turn right and proceed to 410 and determine whether the center line C has been determined 415 and determine whether the center line C The center line C can be determined 420 based on the traveling path of the target vehicle 2 that travels on the target lane A1.

The control section 100 determines the distance S from the vehicle 1 to the center line C of the target lane A1 as the distance L from the current state to the center line C of the target lane A1, It can be compared with the turning radius that can be rotated by the path of the trajectory (425). As a result of the comparison, if the turning radius R is shorter than the distance S from the vehicle 1 to the center line C of the target lane A1, the vehicle 1 can be advanced (430).

When the vehicle 1 advances to the position of the position A by the control of the control unit 100 or when the driver advances the vehicle 1 to the position of the position A, The control section 100 determines that the distance R from the center line C of the target lane A1 to the target lane A1 is equal to the distance S from the vehicle 1 to the center line C of the target lane A1, A right turn path P may be determined (step 435), in which the distance S from the turning radius R to the right turn path P is determined.

The control unit 100 calculates the collision expected time (Time To Collision, TTC) between the vehicle 1 and the target vehicle 2 based on the determined right turn path P 440, It is possible to sense the other vehicle 3 located in front of the target lane A1 by controlling the detection sensor 200 and receive the information sensed by the sensing sensor 200 at step 455. [ .

On the other hand, if the calculated collision prediction time is shorter than the predetermined time, the control unit 100 does not transmit the control signal indicating that the right turn is possible, It is possible to determine the center line C of the road A1 (450).

The control unit 100 can determine whether the vehicle 1 can be rotated rightward based on the detection result of the other vehicle 3 located in front of the target lane A1 or not 460. As a result of the determination, It is possible to send a control signal indicating that the vehicle 1 can be turned to the right or advance to the main road A1 (465).

The display unit 303 can display a message informing that the vehicle 1 can be turned right and advance to the target lane A1 based on the control signal transmitted from the control unit 100, It is possible to recognize that the vehicle 1 is able to turn right through the indicated moment.

Meanwhile, the disclosed embodiments may be embodied in the form of a recording medium storing instructions executable by a computer. The instructions may be stored in the form of program code and, when executed by a processor, may generate a program module to perform the operations of the disclosed embodiments. The recording medium may be embodied as a computer-readable recording medium.

The computer-readable recording medium includes all kinds of recording media in which instructions that can be decoded by a computer are stored. For example, it may be a ROM (Read Only Memory), a RAM (Random Access Memory), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, or the like.

The embodiments disclosed with reference to the accompanying drawings have been described above. It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims. The disclosed embodiments are illustrative and should not be construed as limiting.

1: vehicle
2: Target vehicle
3: Other vehicles
80: speed sensing unit
90:
100:
200: Detection sensor
201: rear side vehicle detection unit
303:
318:

Claims (21)

An input unit for receiving a right turn signal of the vehicle;
A sensing sensor for sensing a target vehicle traveling on a target lane on which the vehicle will travel after turning right;
Determining a right turn path of the vehicle based on the determined center line, calculating a time to collision (TTC) between the vehicle and the target vehicle based on the determined right turn path And transmits a control signal indicating that the vehicle can be rotated rightward if the calculated collision prediction time is longer than a predetermined time. The method according to claim 1,
Wherein,
And determines the centerline of the target lane based on at least one of map information including the target lane, navigation information, and lane identification information on the target lane. The method according to claim 1,
Wherein,
Wherein the target vehicle determines a centerline of the target vehicle based on a route on which the target vehicle travels the target lane. The method according to claim 1,
Wherein,
Wherein the turning radius is a distance from the vehicle to the center line of the target vehicle at a position where the vehicle is stopped before turning right. The method according to claim 1,
The detection sensor includes:
And detects the traveling speed of the target vehicle. 6. The method of claim 5,
Wherein,
And determines the time taken for the vehicle to travel along the right turn path based on the determined distance of the right turn path and the vehicle running speed. The method according to claim 6,
Wherein,
And calculates a collision predicted time of the vehicle and the target vehicle based on the detected running speed of the target vehicle and the determined right-turn running time of the vehicle. The method according to claim 1,
The detection sensor includes:
Wherein the vehicle senses another vehicle located in front of the target vehicle to be driven after turning right. 9. The method of claim 8,
Wherein,
And transmits a control signal indicating that the vehicle can be rotated right if the detected other vehicle is not present. The method according to claim 1,
The detection sensor includes:
A vehicle comprising any one of a Radar and a LiDAR. The method according to claim 1,
And a display unit for indicating that the vehicle is rotatable right based on the transmitted control signal. Receiving a right turn signal of the vehicle;
Receiving driving information for a target vehicle traveling on a target lane on which the vehicle will travel after turning right;
Determine a centerline of the target vehicle;
Determining a right turn path of the vehicle based on the determined center line;
Calculating a collision expected time between the vehicle and the target vehicle traveling on the target lane based on the determined right turn path;
And transmits a control signal indicating that the vehicle can be turned clockwise if the calculated collision prediction time is longer than a predetermined time. 13. The method of claim 12,
The determination of the centerline of the target roadway,
Based on at least one of map information including the target lane, navigation information, and lane recognition information on the target lane. 13. The method of claim 12,
The determination of the centerline of the target roadway,
Wherein the target vehicle is determined based on a route on which the target vehicle travels on the target lane. 13. The method of claim 12,
Determining the right turn path of the vehicle,
Determining a right turn path in which the turning radius is a distance from the vehicle to a center line of the target vehicle at a position where the vehicle has stopped before turning right. 13. The method of claim 12,
And detecting a running speed of the target vehicle. 17. The method of claim 16,
Determining a time taken for the vehicle to travel along the right turn path based on the determined distance of the right turn path and the running speed of the vehicle. 18. The method of claim 17,
Calculating the estimated collision time of the vehicle and the target vehicle,
And calculates a collision expected time between the vehicle and the target vehicle based on the detected traveling speed of the target vehicle and the determined right-turn running time of the vehicle. 13. The method of claim 12,
And detecting another vehicle located in front of the target lane on which the vehicle will travel after turning clockwise. 20. The method of claim 19,
And transmitting a control signal indicating that the vehicle can be rotated right if the detected other vehicle is not present. 13. The method of claim 12,
And indicating that the vehicle is turning right based on the transmitted control signal.

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