KR20180071575A - Vehicle and controlling method for the vehicle - Google Patents

Abstract

According to an embodiment, provided are a vehicle and a control method thereof, which can lower sensitivity of a lane departure warning by moving a boundary line that is a warning standard of a lane departure warning device when changing steering of a vehicle on purpose by a driver in response to a vehicle approach of an adjacent lane. According to an embodiment, the vehicle comprises: a steering detection device detecting a change relevant to steering of the vehicle; a lane departure warning device outputting a warning signal when the vehicle is driven to be adjacent to a lane of a driving road or is left from the lane; and a control unit lowering sensitivity of a lane departure warning by moving a boundary line that is a standard of the lane departure warning when the change in steering detected by the steering sensor is intended in response to an approach of a first vehicle driven on a first lane that is next to the lane.

Description

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

The disclosed embodiment relates to a vehicle.

In general, the driving aids may assist in longitudinal driving such as adaptive cruise control (ACC), or may assist in the operation of lane departure warning systems (LDWS) or lane keeping systems (LKAs) Assist System) to assist the driver in the lateral direction.

In the disclosed embodiment, when the driver intentionally changes the steering of the vehicle in response to approaching the vehicle in the adjacent lane, a vehicle that moves the boundary line serving as a warning reference of the lane departure warning device to lower the sensitivity of the lane departure warning and a control method thereof to provide.

According to one aspect of the present invention, there is provided a vehicle including: a steering sensor for sensing a change associated with steering of a vehicle; A lane departure warning device for outputting a warning signal when the vehicle runs close to or departs from the lane of the driving lane; And when the change in the steering sensed by the steering sensor is intended to correspond to the approach of the first vehicle traveling in the first lane in the next lane, the boundary line serving as a reference of the lane departure warning is shifted, And a control unit for lowering the temperature.

The control unit calculates a first travel route for avoiding collision with the first vehicle and calculates a second travel route based on the first travel route and a second lane as another lane The boundary line can be moved.

The control unit calculates a first travel route for avoiding collision with the first vehicle, and calculates the first travel route based on the possibility of collision with the second vehicle in the second lane, which is another side lane, And the boundary between the second lane and the second lane that is the reference of the lane departure warning can be moved based on the calculated second travel route.

The control unit may calculate an interval for avoiding collision with the second vehicle in the second lane, which is another side lane, and calculate a second travel route in which the first travel route is corrected based on the calculated distance Can be calculated.

In addition, the control unit can determine whether a change in the steering sensed by the steering sensor based on the possibility of collision with the first vehicle is intended in response to approaching the first vehicle.

If the time to collision with the first vehicle is smaller than a predetermined reference value, the control unit determines that the change of the steering sensed by the steering sensor is intended to correspond to the access of the first vehicle .

The control unit may be configured to determine whether or not the driving position of the first vehicle has passed the driving lane of the own vehicle or the distance between the driving position of the first vehicle and the driving lane of the child vehicle in the first lane is equal to or less than a predetermined distance , It can be determined that the change of the steering sensed by the steering sensor is intended to correspond to the approach of the first vehicle.

If the change in the steering sensed by the steering sensor is intended to correspond to the approach of the first vehicle traveling in the first lane in the next lane, the control unit may set an interval for avoiding collision with the first vehicle And the first travel route can be calculated based on the calculated distance.

When the speed of the subject vehicle is faster than the speed of the first vehicle and the interval between the rear bumper end of the subject vehicle and the front bumper end of the first vehicle is maintained over a predetermined interval for a predetermined time, The boundary line serving as a reference for the departure warning can be returned again.

When the speed of the subject vehicle is slower than the speed of the first vehicle and the interval between the front bumper end of the subject vehicle and the rear bumper end of the first vehicle is maintained over a predetermined interval for a predetermined time, The boundary line serving as a reference for the departure warning can be returned again.

The control unit may return the boundary line serving as a reference of the lane departure warning again if the interval between the first vehicle and the driving lane of the child vehicle is greater than a predetermined distance in the first lane.

According to one aspect of the present invention, there is provided a control method of a vehicle according to one aspect, wherein a change in the steering sensed by the steering sensor corresponds to an approach of a first vehicle traveling in a first lane, Determine whether or not it is; And shifting a boundary line that is a reference of the lane departure warning to lower the sensitivity of the lane departure warning if the change of the steering is intended.

If the change of the steering is intended, lowering the sensitivity of the lane departure warning by moving a boundary line serving as a reference of the lane departure warning may include calculating an interval for avoiding collision with the first vehicle; Calculating a first travel route for avoiding collision with the first vehicle based on the calculated distance; And moving a boundary line between the second lane as a reference for the lane departure warning based on the first traveling route and the second lane as another side lane.

If the change of the steering is intended, lowering the sensitivity of the lane departure warning by moving a boundary line serving as a reference of the lane departure warning may include calculating an interval for avoiding collision with the first vehicle; Calculating a first travel route for avoiding collision with the first vehicle based on the calculated distance; Calculating a second travel route in which the first travel route is modified based on a possibility of collision with a second vehicle traveling in a second lane that is another side lane; And moving the boundary line with the second lane as a reference of the lane departure warning based on the calculated second travel route.

The calculation of the second travel route in which the first travel route is modified based on the possibility of collision with the second vehicle in the second lane, which is the other side lane, 2 calculating an interval for avoiding collision with the vehicle; And calculating a second travel route in which the first travel route is modified based on the calculated distance.

Determining whether a change in steering sensed by the steering sensor is intended to correspond to an approach of a first vehicle in motion in a first lane in a next lane is determined based on the likelihood of collision with the first vehicle, And determining whether the change in steering sensed by the sensor is intended to correspond to approaching of the first vehicle.

Determining whether the change in the steering sensed by the steering sensor is intended to correspond to approaching of the first vehicle in the first lane in the next lane is determined by the time to collision with the first vehicle ) Is less than a predetermined reference value; And determining that a change in the steering sensed by the steering sensor is intended to correspond to approach of the first vehicle if the reference value is less than the reference value.

It is also possible to determine whether the change in the steering sensed by the steering sensor is intended to correspond to approaching of the first vehicle in the first lane, which is the next lane, if the driving position of the first vehicle is & Or whether the interval between the driving position of the first vehicle and the driving lane of the subject vehicle in the first lane is less than or equal to a predetermined distance; Determining that a change in the steering sensed by the steering sensor is intended in response to approaching of the first vehicle if the vehicle has passed the driving lane of the vehicle or the distance is less than a predetermined distance .

It is also preferable that the speed of the subject vehicle is faster than the speed of the first vehicle and the interval between the rear bumper end of the subject vehicle and the front bumper end of the first vehicle is maintained over a predetermined interval for a predetermined time, If the interval between the end of the front bumper of the vehicle and the end of the rear bumper of the first vehicle is kept at a predetermined interval or more for a predetermined period of time that is slower than the speed of the first vehicle, And the like.

If the distance between the first vehicle and the driving lane of the child vehicle is greater than a predetermined distance in the first lane, the boundary line serving as a reference of the lane departure warning may be returned.

According to the vehicle and the control method thereof according to the disclosed embodiment, unnecessary lane departure warning can be prevented, and reliability of the lane departure warning can be improved.

1 is an external view of a vehicle according to an embodiment.
2 is a view showing the internal configuration of a vehicle according to an embodiment.
3 is a control block diagram of a vehicle according to an embodiment.
Figs. 4 and 5 show an example of a situation in which the driving vehicle of the adjacent lane is close to the own vehicle.
Figs. 6 and 7 are diagrams showing the intended steering changes corresponding to the situations of Figs. 4 and 5. Fig.
8 and 9 are views showing a first travel route calculated to avoid a vehicle in an adjacent lane approaching the vehicle.
10 is a graph showing the first traveling route of Figs. 8 and 9. Fig.
Figs. 11 and 12 are diagrams showing a second travel route in which the first travel route in Figs. 8 and 9 is modified in consideration of the traveling vehicle in another adjacent lane.
13 to 15 are diagrams showing conditions for returning a boundary line serving as a reference of the lane departure warning.
16 is a view showing a control method of a vehicle according to an embodiment.

The present specification discloses the principles of the present invention and discloses embodiments of the present invention so that those skilled in the art can carry out the present invention without departing from the scope of the present invention. The disclosed embodiments may be implemented in various forms.

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. As used herein, the term " part " may be embodied in software or hardware, and may be embodied as a unit, element, or section, Quot; element " includes a plurality of elements.

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 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.

FIG. 1 is an external view of a vehicle according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating an internal configuration of a vehicle according to an embodiment.

1, a vehicle 100 according to an embodiment of the present invention includes a main body 1 forming an outer appearance of a vehicle 100, wheels 51 and 52 for moving the vehicle 100, wheels 51 A door 71 for shielding the inside of the vehicle 100 from the outside, a windshield 30 for providing a driver inside the vehicle 100 with a view toward the front of the vehicle 100, And side mirrors 81 and 82 for providing the driver with a field of view behind the vehicle 100. [

The wheels 51 and 52 include a front wheel 51 provided on the front side of the vehicle 100 and a rear wheel 52 provided on the rear side of the vehicle 100. [

The driving device 80 provides a rotational force to the front wheel 51 or the rear wheel 52 so that the main body 1 moves forward or backward. The driving device 60 may include an engine for generating a rotational force by burning fossil fuel or a motor for generating a rotational force by receiving power from a capacitor (not shown).

The door 71 is rotatably provided on the left and right sides of the main body 1 so that the driver can ride inside the vehicle 100 at the time of opening and shields the inside of the vehicle 100 from the outside at the time of closing .

A front glass 30 called windshield glass is provided on the front upper side of the main body 100. The driver inside the vehicle 100 can see the front of the vehicle 100 through the windshield 30. [ The side mirrors 81 and 82 include a left side mirror 81 provided on the left side of the main body 1 and a right side mirror 82 provided on the right side. The driver inside the vehicle 100 can visually confirm the state of the side and rear of the vehicle 100 through the side mirrors 81 and 82. [

In addition, the vehicle 100 may include various sensors for sensing obstacles and the like around the vehicle 100 and helping the driver to recognize the situation around the vehicle 100. In addition, the vehicle 100 may include various sensors capable of sensing driving information of the vehicle, such as the speed of the vehicle. Further, the vehicle may include a sensor for acquiring an image of a surrounding environment of the vehicle including a lane or the like. Various sensors capable of detecting the traveling information of the vehicle 100 and the surroundings of the vehicle 100 will be described later.

2, the vehicle 100 may include a dashboard provided with a gear box 120, a center fascia 130, a steering wheel 140, and a dashboard 150. Referring to FIG.

The gear box 120 may be provided with a gear lever 121 for shifting the vehicle. In addition, as shown in the figure, the gear box includes a dial control unit (not shown) provided to allow a user to control the functions of the multimedia device including the navigation device 10 and the audio device 133 or the main function of the vehicle 100 111 and an input unit 110 including various buttons.

The center fascia 130 may be provided with an air conditioner 132, an audio device 133, a navigation system 10, and the like.

The air conditioner controls the temperature, humidity, air cleanliness, and air flow inside the vehicle 100 to comfortably maintain the interior of the vehicle 100. The air conditioner may include at least one discharge port installed in the center fascia 130 and discharging air. The center fascia 130 may be provided with a button or a dial for controlling the air conditioner or the like. A user such as a driver can control the air conditioner of the vehicle 100 using a button or a dial disposed on the center pacea 130. [ Of course, the air conditioner may be controlled through the buttons of the input unit 110 installed in the gear box 120 or the dial control unit 111.

According to the embodiment, the navigation system 10 may be installed in the center fascia 130. The navigation system 10 may be embedded in the center fascia 130 of the vehicle 100. According to one embodiment, the center fascia 130 may be provided with an input unit for controlling the navigation system 10. According to an embodiment, the input of navigation 10 may be located at a location other than the center fascia 130. For example, the input of the navigation system 10 may be formed around the display 300 of the navigation system 10. As another example, the input unit of the navigation system 10 may be installed in the gear box 120 or the like.

The steering wheel 140 is a device for adjusting the running direction of the vehicle 100. The steering wheel 140 is connected to the rim 141 gripped by the driver and the steering device of the vehicle 100 and includes a rim 141, And spokes 142 connecting hubs. According to the embodiment, the spokes 142 may be provided with operating devices 142a and 142b for controlling various devices in the vehicle 100, for example, an audio device and the like. In addition, various dashboards 150 may be installed on the dashboard to indicate the traveling speed, engine speed, fuel amount, etc. of the vehicle 100. The dashboard 150 may include a dashboard display 151 that displays vehicle status, information related to vehicle driving, information associated with the operation of the multimedia device, and the like.

The driver can operate the vehicle 100 by operating the various devices provided on the dashboard. The vehicle 100 is provided with information outside the vehicle 100 necessary for driving the vehicle 100 or information about the outside of the vehicle 100 necessary for driving the vehicle 100 in addition to the devices that the driver can operate for the operation of the vehicle 100, Various sensors capable of sensing the own running information can be provided.

When the vehicle according to the disclosed embodiment deviates from the lane in a state in which the vehicle is running or the turn signal lamp is not operated in a state where the vehicle is shifted from the boundary line in the driving lane, the vibration of the steering wheel, the output of a warning sound, And a lane departure warning device 318 for performing warning on the lane departure via the lane departure warning device 318. The driver intentionally changes the steering of the vehicle in a direction for avoiding collision with the amount of the vehicle in the case where the other vehicle traveling in the adjacent lane while the vehicle is traveling approaches the vehicle or runs across the lane.

In this case, the own vehicle may depart from the lane, and the lane departure warning device 318 outputs a warning about the lane departure regardless of the intention of the driver for the defensive operation. Frequent warnings by the lane departure warning device 318 while the defensive driving situation continues may make the driver uncomfortable and may prevent the driver from concentrating on driving.

The disclosed embodiment provides a vehicle and a control method thereof that can reduce the sensitivity of a lane departure warning when a driver's intentional steering change occurs in a defensive driving situation so that the driver can concentrate on driving and improve the reliability of the lane departure warning do.

Hereinafter, the vehicle and its control method according to the embodiment disclosed with reference to Figs. 3 to 15 will be described in more detail.

Fig. 3 is a control block diagram of a vehicle according to an embodiment. Fig. 4 and Fig. 5 show an example of a situation in which the driving vehicle of the adjacent lane is close to the own vehicle. Figs. 6 and 7 are diagrams showing intentional steering changes corresponding to the situations of Figs. 4 and 5, and Fig. 8 and Fig. 9 are diagrams showing a steering operation of the first traveling path Fig. 10 is a graph showing the first traveling route of Figs. 8 and 9. Fig. Figs. 11 and 12 are views showing a second travel route in which the first travel route in Figs. 8 and 9 is modified in consideration of the traveling vehicle in another adjacent lane. Fig. 13 to Fig. And the condition for returning the boundary line.

3, an image sensor 309 for acquiring an image outside the vehicle 100, a distance sensor 307 for detecting other vehicles or obstacles around the vehicle 100, A lane departure warning device 318 for warning the lane departure, and a control section 317 for controlling the sensitivity of the lane departure warning device 318. The lane departure warning device 318 is a device for detecting the lane departure warning device 318,

The image sensor 309 can acquire an image outside the vehicle 100, particularly an image of the vehicle running around the vehicle 100. [ The image sensor 309 includes a front camera that acquires an image in front of the vehicle 100 and includes a left camera and a right camera that acquire images on the left and right sides of the vehicle 100, And a rear camera. The camera may comprise a CCD or CMOS sensor.

The distance sensor 307 detects an object outside the vehicle 100, for example, a preceding vehicle traveling in front of the vehicle 100, a stationary object including a road, a structure installed around the road, etc., Can be detected. It is also possible to detect vehicles running around the vehicle 100. The distance sensor 307 according to the disclosed embodiment can detect a nearby vehicle and calculate a distance between the vehicle and the surrounding vehicle. The distance sensor 307 can sense not only a preceding vehicle traveling in front of the driving lane but also a vehicle traveling in a side lane of the driving lane. The distance sensor 307 of the vehicle 100 according to the disclosed embodiment may include a radar or light detection and ranging (Lidar).

The steering sensor 311 is provided on the steering shaft of the steering wheel, and can sense a steering input according to a driver's manipulation of the steering wheel, thereby detecting a change in a steering angle, a steering angular velocity, and the like.

The lane departure warning device 318 recognizes the boundary line of the lane through the image obtained by the image sensor 309 and detects whether the vehicle 100 departs the lane without operating the turn signal lamp or is below the predetermined interval When driving in close proximity, a warning about lane departure can be output. The information required to recognize the lane at the lane departure warning apparatus 318 is not limited to the image of the image sensor 309, and may also include data obtained at the distance sensor 307. [ The lane departure warning device 318 may output a warning for lane departure in various ways, such as a warning sound, a vibration of the steering wheel, or an indicator of a warning message on the display unit, as described above.

The control unit 317 controls the steering angle of the vehicle 100 such as the distance sensor 307 and the image sensor 309 by using information transmitted from various sensors capable of sensing the situation around the vehicle 100, The sensitivity of the lane departure warning device 318 can be adjusted using the related information.

The control unit 317 first determines whether or not the first vehicle C1 that is traveling in the next lane (hereinafter referred to as the first lane L1) is close to the child vehicle 100, And the first vehicle C1. The control unit 317 calculates the lateral movement speed of the first vehicle C1 based on the information sensed by the distance sensor 307 and calculates the lateral movement speed of the first vehicle C1 when the child vehicle 100 travels along the present travel route 1 time required for collision with the vehicle C1, that is, the time required for collision (TTC, Time To Collision). The control unit 317 determines that there is a risk of collision if the calculated collision time is less than or equal to a predetermined reference value.

The control unit 317 controls the first vehicle C1 to travel on the driving lane ML of the vehicle 100 as shown in Fig. 5 based on the information of the image sensor 309 and the distance sensor It is determined that there is a risk of collision with the first vehicle C1 when the vehicle is traveling while passing through the driving lane ML of the first vehicle C1.

When the control unit 317 determines that there is a risk of collision by the first vehicle C1, the control unit 317 determines whether a collision with the first vehicle C1 occurs when a change of the steering by the driver occurs, Determine whether or not it is a change of intentional steering to avoid. The control unit 317 determines whether the steering angle of the subject vehicle 100 detected by the steering sensor 311 and the steering angular velocity are larger than a predetermined reference steering angle and the reference steering angular velocity, It is determined to be intentional to avoid.

The control unit 317 is configured to prevent the change in the steering of the subject vehicle 100 from being avoided from colliding with the first vehicle C1 in a state in which there is a risk of collision due to the close running of the first vehicle C1 If it is determined intentionally, a traveling route for moving the boundary line between the lanes serving as a reference of the lane departure warning is calculated.

The control unit 317 predicts the traveling route of the first vehicle C1 based on the information obtained by the distance sensor and the image sensor 309 and calculates the traveling route of the first vehicle C1 C1 to the first vehicle C1 for avoiding collision with the first vehicle C1. The control unit 317 avoids collision with the first vehicle C1 by summing a predetermined margin to a distance at which the first vehicle C1 enters the driving lane ML of the vehicle 100 Can be calculated.

When the interval B is calculated, the control unit 317 calculates a first travel route for avoiding collision with the first vehicle C1 through the following expression (1) based on the interval (B). The traveling route calculated through the following equation (1) is shown in FIG.

&Quot; (1) "

In the equation (1), B represents the above-described interval, a represents the slope of the first travel route as shown in Fig. 10, and c represents the longitudinal travel distance for avoiding the first vehicle C1.

When the first travel route is calculated, the control unit 317 determines the risk of collision with the second vehicle C2 in the second lane L2, which is another side lane, as shown in Fig. That is, the control unit 317 estimates the locus of the second vehicle C2 and calculates the trajectory of the second vehicle C2 based on the lateral movement distance of the child vehicle 100 with respect to the time taken for the second vehicle C2 to travel in the longitudinal direction. (C2). ≪ / RTI > When the subject vehicle 100 moves toward the second lane L2 in order to avoid collision with the first vehicle C1 and there is the second vehicle C2 running in the second lane L2, There is a possibility of collision between the vehicle 100 and the second vehicle C2. Accordingly, the control unit 317 determines the risk of collision between the subject vehicle 100 and the second vehicle C2, and calculates a second travel route in which the first travel route is corrected when there is a risk of collision. As shown in Fig. 12, when there is no second vehicle C2 running in the second lane L2, the control unit 317 does not calculate the second travel route.

The control unit 317 predicts the traveling route of the second vehicle C2 based on the information obtained by the distance sensor and the image sensor 309 and calculates the traveling route of the second vehicle C2 And the second vehicle C2 for avoiding the collision of the second vehicle C2. The control unit 317 calculates the interval B with the second vehicle C2 to avoid the collision with the second vehicle C2, And calculates a second travel route based on the second travel route (B).

The control unit 317 moves the boundary line serving as a reference of the lane departure warning to the second lane L2 on the basis of the second travel route calculated through the above process. That is, if the boundary line between the driving lane ML and the second lane L2 of the subject vehicle 100 is a boundary line used as a reference for the lane departure warning, when the subject vehicle 100 performs the defensive driving, The boundary line moves toward the second lane L2 more than the boundary between the driving lane ML and the second lane L2 of the child vehicle 100. [

12 and 13, when the lane departure warning device 318 detects that the vehicle 100 is in the second lane L2, The lane departure warning is not issued even if the vehicle departs toward the second lane L2. Therefore, the driver can focus on driving more than in the defensive driving situation for avoiding collision with the first vehicle C1.

The control unit 317 determines that the speed of the subject vehicle 100 is faster than the speed of the first vehicle C1 and that the speed of the vehicle 100 is higher than the speed of the first vehicle C1, If the interval S between the ends of the bumper is maintained above a predetermined interval for a predetermined time, it is determined that the defensive driving situation has ended. That is, in this case, the control unit 317 can determine that the risk of collision with the first vehicle C1 is eliminated because the vehicle 100 can see that the vehicle 100 is running ahead of the first vehicle C1 with a certain distance difference have.

The control unit 317 determines that the speed of the subject vehicle 100 is slower than the speed of the first vehicle C1 and that the speed of the first vehicle C1 is lower than the speed of the first vehicle C1, When the distance C between the ends of the rear bumper is maintained at a predetermined interval or more for a predetermined time, it is determined that the defensive driving situation is also terminated. That is, in this case, the control unit 317 can determine that the risk of collision with the first vehicle C1 has been eliminated, because the first vehicle C1 can see that the first vehicle C1 is running ahead of the vehicle 100 with a certain distance difference have.

Alternatively, the control unit 317 determines that the defensive driving situation is terminated when the interval between the lane in which the first vehicle C1 and the child vehicle 100 are running becomes larger than the predetermined interval in the first lane L1. In this case, since the first vehicle C1 in this case can be regarded as being running without losing the driving lane ML of the child vehicle 100 within the first lane L1, You can decide that the risk of collision has been removed.

When it is determined that the above-described conditions are satisfied and the risk of collision with the first vehicle C1 is removed, the control unit 317 returns the boundary line serving as a reference of the lane departure warning again. At this time, the control unit 317 can calculate the traveling route for returning the lane departure boundary line using Equation (1). In this case, the interval B in Equation (1) may be the interval between the child vehicle 100 and the boundary between the driving lane ML and the second lane L2 of the child vehicle 100.

16 is a view showing a control method of a vehicle according to an embodiment.

16, if the control unit 317 determines that a defensive driving situation is determined (800), it is determined (810) whether the steering change of the vehicle is intended, and if the steering change of the vehicle is intended, C1 to avoid a collision with the first driving route (820).

The control unit 317 determines whether or not the first vehicle C1 in the first lane L1 is in close proximity to the first vehicle C1 and the first vehicle C1 in the vicinity of the first vehicle C1, Determine if there is a risk of collision. The control unit 317 calculates the lateral movement speed of the first vehicle C1 based on the information sensed by the distance sensor 307 and calculates the lateral movement speed of the first vehicle C1 when the child vehicle 100 travels along the present travel route 1 The time required for collision with the vehicle C1, that is, the time required for the collision is calculated. The control unit 317 determines that there is a risk of collision if the calculated collision time is less than or equal to a predetermined reference value.

The control unit 317 controls the first vehicle C1 to travel on the driving lane ML of the vehicle 100 as shown in Fig. 5 based on the information of the image sensor 309 and the distance sensor It is determined that there is a risk of collision with the first vehicle C1 when the vehicle is traveling while passing through the driving lane ML of the first vehicle C1.

When the control unit 317 determines that there is a risk of collision by the first vehicle C1, the control unit 317 determines whether a collision with the first vehicle C1 occurs when a change of the steering by the driver occurs, Determine whether or not it is a change of intentional steering to avoid. The control unit 317 determines whether the steering angle of the subject vehicle 100 detected by the steering sensor 311 and the steering angular velocity are larger than a predetermined reference steering angle and the reference steering angular velocity, It is determined to be intentional to avoid.

The control unit 317 is configured to prevent the change in the steering of the subject vehicle 100 from being avoided from colliding with the first vehicle C1 in a state in which there is a risk of collision due to the close running of the first vehicle C1 If it is determined intentionally, a traveling route for moving the boundary line between the lanes serving as a reference of the lane departure warning is calculated.

The control unit 317 predicts the traveling route of the first vehicle C1 based on the information obtained by the distance sensor and the image sensor 309 and calculates the traveling route of the first vehicle C1 C1 to avoid collision with the first vehicle C1. The control unit 317 avoids collision with the first vehicle C1 by summing a predetermined margin to a distance at which the first vehicle C1 enters the driving lane ML of the vehicle 100 Can be calculated. When the interval is calculated, the control unit 317 calculates a first travel route for avoiding collision with the first vehicle C1 through Equation (1) based on the interval.

If there is a risk of collision with the second vehicle C2 (830), the control unit 317 calculates a second travel route (840), and based on the calculated second travel route, (850).

When the first travel route is calculated, the control unit 317 determines the risk of collision with the second vehicle C2 in the second lane L2, which is another side lane, as shown in Fig. That is, the control unit 317 estimates the locus of the second vehicle C2 and calculates the trajectory of the second vehicle C2 based on the lateral movement distance of the child vehicle 100 with respect to the time taken for the second vehicle C2 to travel in the longitudinal direction. (C2). ≪ / RTI > When the subject vehicle 100 moves toward the second lane L2 in order to avoid collision with the first vehicle C1 and there is the second vehicle C2 running in the second lane L2, There is a possibility of collision between the vehicle 100 and the second vehicle C2. Accordingly, the control unit 317 determines the risk of collision between the subject vehicle 100 and the second vehicle C2, and calculates a second travel route in which the first travel route is corrected when there is a risk of collision. As shown in Fig. 12, when there is no second vehicle C2 running in the second lane L2, the control unit 317 does not calculate the second travel route.

The control unit 317 predicts the traveling route of the second vehicle C2 based on the information obtained by the distance sensor and the image sensor 309 and calculates the traveling route of the second vehicle C2 And the second vehicle C2 for avoiding the collision of the second vehicle C2. The controller 317 calculates the distance between the second vehicle C2 and the second vehicle C2 based on the distance from the second vehicle C2 to the second vehicle C2, 2 Calculate the driving route.

The control unit 317 moves the boundary line serving as a reference of the lane departure warning to the second lane L2 on the basis of the second travel route calculated through the above process. That is, if the boundary line between the driving lane ML and the second lane L2 of the subject vehicle 100 is a boundary line used as a reference for the lane departure warning, when the subject vehicle 100 performs the defensive driving, The boundary line moves toward the second lane L2 more than the boundary between the driving lane ML and the second lane L2 of the child vehicle 100. [

When the defensive driving condition is terminated (860), the control unit 317 returns the boundary line as a reference of the lane departure warning (870).

The control unit 317 determines that the speed of the subject vehicle 100 is faster than the speed of the first vehicle C1 and that the speed of the vehicle 100 is higher than the speed of the first vehicle C1, If the interval between the ends of the bumper is maintained above a predetermined interval for a predetermined time, it is determined that the defensive driving situation has ended. The control unit 317 determines that the speed of the subject vehicle 100 is slower than the speed of the first vehicle C1 and that the speed of the first vehicle C1 is lower than the speed of the first vehicle C1, If the distance between the ends of the rear bumper is maintained above a predetermined interval for a predetermined period of time, it is determined that the defensive driving situation has also ended. Alternatively, the control unit 317 determines that the defensive driving situation is terminated when the interval between the lane in which the first vehicle C1 and the child vehicle 100 are running becomes larger than the predetermined interval in the first lane L1. In this case, since the first vehicle C1 in this case can be regarded as being running without losing the driving lane ML of the child vehicle 100 within the first lane L1, You can decide that the risk of collision has been removed.

If it is determined that the above-described conditions are satisfied and the risk of collision with the first vehicle C1 is removed, the control unit 317 returns the boundary line serving as a reference for the lane departure warning again. At this time, the control unit 317 can calculate the traveling route for returning the lane departure boundary line using Equation (1). In this case, the interval B in Equation (1) may be the interval between the child vehicle 100 and the boundary line between the driving lane ML and the second lane L2 of the child vehicle 100.

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.

317:
307: Distance sensor
309: Image sensor
300: Display
311: Steering sensor
318: lane departure warning device

Claims (20)

A steering sensor for sensing a change associated with steering of the vehicle;
A lane departure warning device for outputting a warning signal when the vehicle runs close to or departs from the lane of the driving lane; And
If the change in the steering sensed by the steering sensor is intended to correspond to the approach of the first vehicle traveling in the first lane in the next lane, the boundary line serving as a reference of the lane departure warning is moved to change the sensitivity of the lane departure warning And a lowering control unit. The method according to claim 1,
Wherein,
A first traveling route for avoiding collision with the first vehicle is calculated and a boundary line between the second traveling lane and the second lane that is the reference of the lane departure warning based on the first traveling route is shifted. The method according to claim 1,
Wherein,
Calculating a first travel route for avoiding collision with the first vehicle and calculating a second travel route in which the first travel route is modified based on the possibility of collision with the second vehicle in the second lane, And a boundary line with a second lane that is a reference of the lane departure warning based on the calculated second travel route. The method of claim 3,
Wherein,
Calculates an interval for avoiding a collision with a second vehicle traveling in a second lane which is another side lane, and calculates a second travel route in which the first travel route is corrected based on the calculated distance. The method according to claim 1,
Wherein,
And determine whether a change in steering sensed by the steering sensor based on a probability of collision with the first vehicle is intended in response to approaching of the first vehicle. The method according to claim 1,
Wherein,
Wherein when the time to collision with the first vehicle is less than a predetermined reference value, it is determined that the change in the steering sensed by the steering sensor is intended to correspond to the approach of the first vehicle. The method according to claim 1,
Wherein,
If the driving position of the first vehicle has passed to the driving lane of the own vehicle or if the distance between the driving position of the first vehicle and the driving lane of the child vehicle in the first lane is equal to or less than a predetermined distance, And determines that a change in the sensed steering is intended in response to the approach of the first vehicle. The method according to claim 1,
Wherein,
If the change in the steering sensed by the steering sensor is intended to correspond to approaching of the first vehicle in the first lane in the next lane, an interval for avoiding collision with the first vehicle is calculated, To calculate the first traveling route. The method according to claim 1,
Wherein,
When the speed of the subject vehicle is faster than the speed of the first vehicle and the interval between the rear bumper end of the subject vehicle and the front bumper end of the first vehicle is maintained over a predetermined interval for a predetermined time, A vehicle that returns the border again. The method according to claim 1,
Wherein,
When the speed of the subject vehicle is slower than the speed of the first vehicle and the interval between the front bumper end of the subject vehicle and the rear bumper end of the first vehicle is maintained over a predetermined interval for a predetermined time, A vehicle that returns the border again. The method according to claim 1,
Wherein,
And when the interval between the first vehicle and the driving lane of the child vehicle is greater than a predetermined distance in the first lane, the boundary line serving as a reference of the lane departure warning is returned again. Determining whether a change in the steering sensed by the steering sensor is intended in response to an approach of a first vehicle in motion in a first lane in a next lane;
And shifting a boundary line that is a reference of the lane departure warning to lower the sensitivity of the lane departure warning if the change of the steering is intended. 13. The method of claim 12,
If the change of the steering is intended, lowering the sensitivity of the lane departure warning by moving a boundary line serving as a reference of the lane departure warning,
Calculating an interval for avoiding collision with the first vehicle;
Calculating a first travel route for avoiding collision with the first vehicle based on the calculated distance;
And moving a boundary line between the second lane as a reference for the lane departure warning based on the first traveling route and the second lane as another side lane. 13. The method of claim 12,
If the change of the steering is intended, lowering the sensitivity of the lane departure warning by moving a boundary line serving as a reference of the lane departure warning,
Calculating an interval for avoiding collision with the first vehicle;
Calculating a first travel route for avoiding collision with the first vehicle based on the calculated distance;
Calculating a second travel route in which the first travel route is modified based on a possibility of collision with a second vehicle traveling in a second lane that is another side lane;
And moving the boundary line with the second lane that is a reference of the lane departure warning based on the calculated second travel route. 15. The method of claim 14,
Calculating the second travel route in which the first travel route is modified based on the possibility of collision with the second vehicle traveling in the second lane that is the other side lane,
Calculating an interval for avoiding collision with a second vehicle traveling in a second lane that is another side lane;
And calculating a second travel route in which the first travel route is modified based on the calculated distance. 13. The method of claim 12,
Determining whether a change in the steering sensed by the steering sensor is intended in response to an approach of a first vehicle in motion in a first lane in a side lane,
And determining whether a change in the steering sensed by the steering sensor based on the probability of collision with the first vehicle is intended in response to approaching of the first vehicle. 13. The method of claim 12,
Determining whether a change in the steering sensed by the steering sensor is intended in response to an approach of a first vehicle in motion in a first lane in a side lane,
Determining whether a time to collision with the first vehicle is less than a predetermined reference value;
And determining that a change in the steering sensed by the steering sensor is intended to correspond to approach of the first vehicle if the reference value is less than the reference value. 13. The method of claim 12,
Determining whether a change in the steering sensed by the steering sensor is intended in response to an approach of a first vehicle in motion in a first lane in a side lane,
Determining whether a distance between the driving position of the first vehicle and the driving lane of the subject vehicle in the first lane is equal to or less than a predetermined distance, if the driving position of the first vehicle has passed to the driving lane of the own vehicle;
Determining that a change in the steering sensed by the steering sensor is intended in response to approaching of the first vehicle if the vehicle has passed the driving lane of the vehicle or the distance is less than a predetermined distance Control method. 13. The method of claim 12,
The speed of the subject vehicle is faster than the speed of the first vehicle and the interval between the rear bumper end of the subject vehicle and the front bumper end of the first vehicle is maintained over a predetermined interval for a predetermined time, If the distance between the end of the front bumper of the vehicle and the end of the rear bumper of the first vehicle is slower than the speed of the first vehicle and maintains a predetermined interval or longer for a predetermined time, ≪ / RTI > 13. The method of claim 12,
And returning the boundary line serving as a reference of the lane departure warning again when the distance between the first vehicle and the driving lane of the child vehicle is greater than a predetermined distance in the first lane.

Images