KR20180084463A - Lane changing apparatus and method of an autonomous vehicle using vehicle-to-vehicle communication - Google Patents

Lane changing apparatus and method of an autonomous vehicle using vehicle-to-vehicle communication Download PDF

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Publication number
KR20180084463A
KR20180084463A KR1020170008100A KR20170008100A KR20180084463A KR 20180084463 A KR20180084463 A KR 20180084463A KR 1020170008100 A KR1020170008100 A KR 1020170008100A KR 20170008100 A KR20170008100 A KR 20170008100A KR 20180084463 A KR20180084463 A KR 20180084463A
Authority
KR
South Korea
Prior art keywords
vehicle
autonomous vehicle
driving information
autonomous
communication
Prior art date
Application number
KR1020170008100A
Other languages
Korean (ko)
Inventor
이상우
Original Assignee
한국전자통신연구원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 한국전자통신연구원 filed Critical 한국전자통신연구원
Priority to KR1020170008100A priority Critical patent/KR20180084463A/en
Publication of KR20180084463A publication Critical patent/KR20180084463A/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0063—Manual parameter input, manual setting means, manual initialising or calibrating means
    • B60W2050/0064—Manual parameter input, manual setting means, manual initialising or calibrating means using a remote, e.g. cordless, transmitter or receiver unit, e.g. remote keypad or mobile phone
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/14—Cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/18—Propelling the vehicle
    • B60Y2300/18008—Propelling the vehicle related to particular drive situations
    • B60Y2300/18166—Overtaking, changing lanes

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

An object of the present invention is to provide an apparatus and a method for changing lanes of an autonomous vehicle by performing communication between autonomous vehicles. To this end, the apparatus for changing lanes of an autonomous vehicle includes: a sensing unit for sensing driving information of an autonomous vehicle; a communication unit periodically outputting the driving information through a wireless communication network and receiving driving information of another autonomous vehicle; and a controller outputting a lane change request message through the communication unit using the driving information when the lane change is required, and determining whether to change the lane according to reception of a lane change approval message.
KR1020170008100A 2017-01-17 2017-01-17 Lane changing apparatus and method of an autonomous vehicle using vehicle-to-vehicle communication KR20180084463A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020170008100A KR20180084463A (en) 2017-01-17 2017-01-17 Lane changing apparatus and method of an autonomous vehicle using vehicle-to-vehicle communication

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020170008100A KR20180084463A (en) 2017-01-17 2017-01-17 Lane changing apparatus and method of an autonomous vehicle using vehicle-to-vehicle communication

Publications (1)

Publication Number Publication Date
KR20180084463A true KR20180084463A (en) 2018-07-25

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Family Applications (1)

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KR1020170008100A KR20180084463A (en) 2017-01-17 2017-01-17 Lane changing apparatus and method of an autonomous vehicle using vehicle-to-vehicle communication

Country Status (1)

Country Link
KR (1) KR20180084463A (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101998298B1 (en) 2018-12-14 2019-07-09 위고코리아 주식회사 Vehicle Autonomous Driving Method Using Camera and LiDAR Sensor
KR20200040640A (en) * 2018-10-10 2020-04-20 한양대학교 산학협력단 Lane change method in v2v communication system
CN112172819A (en) * 2020-09-30 2021-01-05 中国第一汽车股份有限公司 Vehicle lane changing method, device, equipment and storage medium
KR20210049561A (en) 2019-10-25 2021-05-06 현대모비스 주식회사 Sensor cluster device and vehicle comprising the same
KR20210050053A (en) 2019-10-25 2021-05-07 현대모비스 주식회사 Sensor cluster device and vehicle comprising the same
KR20220085507A (en) * 2020-12-15 2022-06-22 현대오토에버 주식회사 Autonomous driving method of vehicle
KR102412276B1 (en) * 2021-11-10 2022-06-24 펜타시큐리티시스템 주식회사 Driving negotiation method and apparatus
US11940814B2 (en) 2021-08-19 2024-03-26 Electronics And Telecommunications Research Institute Cooperative driving method based on driving negotiation and apparatus for the same

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20200040640A (en) * 2018-10-10 2020-04-20 한양대학교 산학협력단 Lane change method in v2v communication system
KR101998298B1 (en) 2018-12-14 2019-07-09 위고코리아 주식회사 Vehicle Autonomous Driving Method Using Camera and LiDAR Sensor
KR20210049561A (en) 2019-10-25 2021-05-06 현대모비스 주식회사 Sensor cluster device and vehicle comprising the same
KR20210050053A (en) 2019-10-25 2021-05-07 현대모비스 주식회사 Sensor cluster device and vehicle comprising the same
US11448750B2 (en) 2019-10-25 2022-09-20 Hyundai Mobis Co., Ltd. Sensor cluster device and vehicle including the same
US11513210B2 (en) 2019-10-25 2022-11-29 Hyundai Mobis Co., Ltd. Sensor cluster device and vehicle including the same
US11867797B2 (en) 2019-10-25 2024-01-09 Hyundai Mobis Co., Ltd. Sensor cluster device and vehicle including the same
CN112172819A (en) * 2020-09-30 2021-01-05 中国第一汽车股份有限公司 Vehicle lane changing method, device, equipment and storage medium
KR20220085507A (en) * 2020-12-15 2022-06-22 현대오토에버 주식회사 Autonomous driving method of vehicle
US11940814B2 (en) 2021-08-19 2024-03-26 Electronics And Telecommunications Research Institute Cooperative driving method based on driving negotiation and apparatus for the same
KR102412276B1 (en) * 2021-11-10 2022-06-24 펜타시큐리티시스템 주식회사 Driving negotiation method and apparatus

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