KR20180128670A - Method and apparatus for driving control of vihicle - Google Patents

Abstract

Provided are a method and an apparatus for controlling traveling of a vehicle. The method for controlling traveling of a vehicle according to an embodiment of the present invention includes the steps of: (a) detecting a preceding vehicle by using traveling information including a turning curvature from a nearby vehicle of the vehicle when the vehicle is traveling; (b) calculating a curvature of a traveling lane based on the turning curvature of the preceding vehicle, and calculating a turning curvature with respect to a traveling direction of the vehicle by using sensing information obtained from a sensor installed in the vehicle; (c) extracting a first tangent to a position of the vehicle at a first circle corresponding to the curvature of the traveling lane, and extracting a second tangent to the position of the vehicle at a second circle corresponding to the turning curvature of the vehicle; and (d) predicting that the vehicle can deviate from the traveling lane, when an angle between the extracted first tangent and the second tangent exceeds a predetermined threshold value. Accordingly, the vehicle is prevented from being deviated from the traveling lane.

Description

TECHNICAL FIELD [0001] The present invention relates to a vehicle driving control method,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a method and an apparatus for controlling a running of a vehicle,

With the recent development of technology, interest in smart cars has been increasing, and studies on integrating and using sensors, which are indispensable for smart car implementation, and the information sensed therefrom have been actively conducted.

As an example, a plurality of sensors such as a camera sensor, a radar sensor, a lidar sensor, an ultrasonic sensor, an acceleration sensor, a gyro sensor and the like are mounted, and the information obtained from the sensors is used to keep the distance from the vehicle ahead And to control the vehicle so as not to depart from the lane, such as an autonomous driving system and a driver assistance system.

In such a technology using a plurality of sensors, information obtained from each sensor is closely related to each other, and when an error occurs in any one of the sensors, it may have a large effect on the entire system.

Among these technologies, the role of the radar sensor, the RDA sensor, and the camera sensor is very important in preventing the vehicle from departing from the vehicle. However, when the radar sensor, the RDA sensor, and the camera sensor can not operate due to an error, , There is a demand for a method of predicting a departure of a vehicle from a lane by replacing these.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems of the prior art, and it is an object of the present invention to provide a method for predicting departure of a vehicle by using traveling information of a nearby vehicle and preventing the vehicle from departing from the vehicle.

In order to achieve the above object, a vehicle running control apparatus according to an embodiment of the present invention includes: a communication unit for receiving traveling information including a turning curvature from a surrounding vehicle of the vehicle when the vehicle is traveling; A preceding vehicle detecting unit that detects a preceding vehicle by using the traveling information of the nearby vehicle; A lane curvature calculation unit for calculating a curvature of the running lane based on the rotational curvature of the preceding vehicle; A running curvature calculating unit for calculating a turning curvature with respect to a running direction of the vehicle by using sensing information obtained from a sensor installed in the vehicle; A tangent line for extracting a second tangent line to the position of the vehicle in a second circle corresponding to the rotational curvature of the vehicle, An extraction unit; And a lane departure prediction unit for predicting that the vehicle leaves the lane of travel if an angle formed by the extracted first tangent line and the second tangent line exceeds a predetermined threshold value.

According to another aspect of the present invention, there is provided a method for controlling a lane travel, the method comprising: (a) detecting a preceding vehicle using traveling information including a curvature of curvature from a nearby vehicle of the vehicle when the vehicle is traveling step; (b) calculating a curvature of the driving lane on the basis of the rotational curvature of the preceding vehicle, and calculating a curvature of rotation with respect to the running direction of the vehicle using sensing information obtained from a sensor installed in the vehicle; (c) extracting a first tangent to the position of the vehicle at a first circle corresponding to the curvature of the running lane, and extracting a second tangent to the position of the vehicle from a second circle corresponding to the rotational curvature of the vehicle Extracting; And (d) predicting that the vehicle leaves the traveling lane when the angle formed by the extracted first tangent line and the second tangent line exceeds a predetermined threshold value.

According to an embodiment of the present invention, it is possible to prevent departure of a vehicle into a lane by using travel information of the nearby lane.

In addition, even if the radar sensor, the rider sensor, the image sensor, and the like are disabled, it is possible to prevent the vehicle from departing from the vehicle by using the traveling information of the nearby vehicle.

It should be understood that the effects of the present invention are not limited to the above effects and include all effects that can be deduced from the detailed description of the present invention or the configuration of the invention described in the claims.

1 is a diagram showing a configuration of a vehicle drive control apparatus according to an embodiment of the present invention.
2A and 2B are diagrams showing a preceding vehicle detection method according to an embodiment of the present invention.
3 is a diagram illustrating a method of calculating a running curvature of a vehicle according to an embodiment of the present invention.
FIGS. 4A and 4B are diagrams showing tangents of a circle corresponding to the curvature of the road and the curvature of the vehicle according to an embodiment of the present invention. FIG.
FIGS. 5A and 5B are diagrams illustrating a method of predicting lane departure of a vehicle according to an embodiment of the present invention.
6 is a flowchart illustrating a process of preventing a vehicle from departing from a lane according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "indirectly connected" .

Also, when an element is referred to as "comprising ", it means that it can include other elements, not excluding other elements unless specifically stated otherwise.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram showing a configuration of a vehicle drive control apparatus according to an embodiment of the present invention.

A vehicle curvature calculation unit 130, a traveling curvature calculation unit 140, a tangential line extraction unit 150, and a tangent line extraction unit 150. The vehicle traveling control apparatus 100 includes a communication unit 110, a lead vehicle detection unit 120, a lane curvature calculation unit 130, A departure prediction unit 160, a travel control unit 170, a control unit 180, and a storage unit 190.

The present invention prevents a departure of a vehicle from a vehicle based on a curvature of a traveling lane calculated using traveling information received from a nearby vehicle and a traveling curvature of the vehicle calculated using sensing information received from a plurality of sensors installed in the vehicle It is an invention.

For reference, the 'vehicle' of the present invention includes an autonomous driving vehicle in which a driver does not intervene in driving, a semi-autonomous driving vehicle in which a driver performs driving of the vehicle and performs control by intervention of the system under certain conditions, The system may include a vehicle that provides information about the situation and that the driver performs control related to the overall driving of the vehicle.

The communication unit 110 can receive the driving information from one or more nearby vehicles existing on the driving road including the driving lane of the vehicle, Information can also be transmitted to nearby vehicles.

The traveling information may include position information of the nearby vehicle, steering angle information, yaw rate information, vehicle speed information, acceleration information, traveling curvature, and the like. to Vehicle (V2V) can be used, and the information of the road such as the width of the lane can be received from the communication terminal installed on the road using Vehicle to Infrastructure (V2I).

On the other hand, the preceding vehicle detection unit 120 can detect one or more preceding vehicles existing in the same driving lane as the vehicle using the traveling information of the nearby vehicle received by the communication unit 110. [

Specifically, when the trajectory of the neighboring vehicles passes through the predicted position according to the current position, the previous position, and the predicted trajectory of the vehicle, the preceding vehicle detection unit 120 uses the positional information of the nearby vehicles as the preceding vehicle Can be detected. For this, the leading vehicle detection unit 120 may be connected to a position information sensor capable of obtaining position information of the vehicle. For reference, the preceding vehicle detection unit 120 may detect a case where the position (distance) of the detected preceding vehicle is within a predetermined threshold value from the vehicle as a final preceding vehicle.

Hereinafter, the detection method of the preceding vehicle will be described with reference to Figs. 2A and 2B. 2A, a traveling road composed of a secondary road and a tertiary road as primary roads from the left side is shown, and the current position P and the previous position P of the vehicle 210 are set in the driving lane, And the expected position (+ P) is displayed. When the running locus 220 of each vehicle passes through both the current position P, the previous position -P and the predicted position + P of the vehicle in the running information received from the nearby vehicles, Can be detected. When the detected preceding vehicle 230 is located within a predetermined distance (50 m) from the vehicle, the surrounding vehicle may be detected as the last preceding vehicle 230. Here, the predetermined distance between the vehicle and the preceding vehicle can be set according to the embodiment.

For reference, if the predetermined distance is not taken into account or if a too long distance is set, the curvatures at the present position of the vehicle and the present position of the preceding vehicle may be different from each other. Therefore, in order to increase the accuracy of the curvature calculation, Distance setting is necessary.

Referring to FIG. 2B, the preceding vehicle detection unit 120 detects a preceding vehicle (not shown) that has passed the predicted position (+ P) even though the current position P of the vehicle and the previous position As shown in FIG. In the case where the preceding vehicle P is interrupted in the vicinity of the vehicle 250, that is, the vehicle passing through only the expected position (+ P) without passing through the current position P and the previous position P of the vehicle, . If the driving locus passes the present position P, the previous position -P and the predicted position + P of the vehicle after a predetermined time in the case of the surrounding vehicle 250 interrupting the vehicle, have. Of course, depending on the embodiment, the nearby vehicle 250 passing through only the expected position (+ P) may be detected as the preceding vehicle.

The preceding vehicle detection unit 120 can select the surrounding vehicles satisfying the conditions described above in detecting the preceding vehicle so that the accuracy of calculating the curvature of the running vehicle can be further increased.

On the other hand, the curvature calculator 130 can calculate the curvature of the running lane on the basis of the running information received from one or more preceding vehicles.

Specifically, when the driving information is received from one or more preceding vehicles, the lane curvature calculation unit 130 may extract the driving curvature of the vehicle from the received driving information and use the curvature as the curvature of the driving lane. At this time, the lane curvature calculating unit 130 may calculate an average value of a plurality of traveling curvatures, and may use the calculated average value as a curvature of the lane of travel. For reference, the largest running curvature value among a plurality of running curvature values may be excluded when calculating the average value.

Meanwhile, the traveling curvature calculation unit 140 may calculate the traveling curvature of the vehicle using sensing information obtained from at least one of a steering angle sensor and a yaw rate sensor installed in the vehicle.

Hereinafter, the traveling curvature calculation method of the traveling curvature calculation unit 140 will be described with reference to FIG.

3, the traveling curvature calculation unit 140 calculates a curvature of curvature of each of the two front wheels, that is, a point O at which the extension line 310 of the center axis of the rear wheel and the vertical extension line 320 of the two front wheels intersect each other, (The curvature is the inverse of the radius of curvature) R (330). Here, the traveling curvature calculation unit 140 calculates steering angles 340 (i, j) using the sensing information obtained from at least one of the steering angle sensor and the yaw rate sensor in calculating the point O where the vertical extension lines 320 of the two front wheels cross each other ).

The reason for forming the circles 350 in which the centers of the trajectories of the front wheels and the rear wheels coincide with each other is to reduce the slippage of the wheels when the vehicle rotates or the resistance generated when steering the steering wheel.

On the other hand, the tangential line extraction unit 150 selects the first circle 410 corresponding to the curvature calculated by the lane curvature calculation unit 130, extracts the first tangent line 420 with respect to the vehicle position in the first circle can do. The contents of the extraction of the first tangent line 420 in the first circle 410 are shown in FIG. 4A.

The tangential line extracting unit 150 may extract the second tangent line 430 for the vehicle position from the second circle 350 corresponding to the calculated curvature of curvature in the traveling curvature calculation unit 140, The second tangent line 430 indicates the running direction of the vehicle. The content of the extraction of the second tangent line 430 in the second circle 350 is shown in FIG. 4B.

Further, the tangential line extracting unit 150 may calculate the predicted position (+ P) of the vehicle after a predetermined time using information on the running direction of the vehicle, the current vehicle speed and the acceleration. The predicted position (+ P) of the vehicle calculated here can be used for the preceding vehicle detecting section 120 to detect the preceding vehicle among the nearby vehicles.

If the angle formed by the first tangent line and the second tangent line extracted by the tangent extraction unit 150 exceeds a predetermined threshold value, the lane departure prediction unit 160 can predict that the vehicle leaves the lane.

Hereinafter, a method of predicting a departure from a lane of a vehicle will be described with reference to Figs. 5A and 5B.

5A, the lane departure prediction unit 160 may include an angle 530 formed by a first tangent line 510 corresponding to the curvature of the lane and a second tangent line 520 corresponding to the running direction of the vehicle, It can be predicted that the vehicle leaves the driving lane.

5B, the lane departure prediction unit 160 estimates the lane departure prediction unit 160 to calculate the lane departure predicted time lag from the distance corresponding to the lane width 540 when the vehicle travels in the present lane and direction, And it can be predicted that the vehicle leaves the driving lane if the calculated time exceeds a predetermined threshold value. Here, the lane departure prediction unit 160 may calculate the time by further reflecting the acceleration information of the vehicle obtained from the acceleration sensor. For reference, the width 540 of the lane may be obtained from the peripheral information of the preceding vehicle or the surrounding vehicle, or may be acquired from the communication terminal which is an infrastructure device installed around the road.

On the other hand, if it is predicted that the vehicle leaves the driving lane in the lane departure prediction section 160, the travel control section 170 determines that the first tangent line corresponding to the curvature of the lane and the second tangent line corresponding to the traveling direction of the vehicle It is possible to control the steering direction of the steering wheel so that the angle is at a predetermined angle or to control the brake so that the speed is reduced. Of course, the speed of the brake may be controlled by controlling the steering direction of the steering wheel.

Here, the travel control unit 170 may calculate the steering torque according to the vehicle speed, and may control the steering direction of the steering wheel with the calculated steering torque. That is, as the vehicle speed is higher, the steering direction of the steering wheel is controlled using a larger steering torque. For reference, the steering direction control and the brake control of the steering wheel can be performed by controlling the respective actuators.

For reference, the steering direction control or the brake control of the above-described steering wheel can be applied to an autonomous traveling vehicle, and in the case of a semi-autonomous driving vehicle or a general automobile, it is possible to output a warning sound I can inform the danger. Of course, the steering direction control or the brake control of the steering wheel may also be applied to the semi-autonomous traveling vehicle according to the embodiment.

The control unit 180 controls the components of the vehicle running control apparatus 100 such as the communication unit 110, the preceding vehicle detecting unit 120, the lane curvature calculating unit 130, the traveling curvature calculating unit 140, The tangential line extraction unit 150, the lane departure prediction unit 160, and the travel control unit 170 may be controlled to perform the above-described operations, and the storage unit 190 may also be controlled.

Meanwhile, the storage unit 190 may store various data required or derived in the course of performing the control according to the algorithm and the algorithm for allowing the controller 180 to control the components of the vehicle driving control system 100.

6 is a flowchart illustrating a vehicle departure-avoidance process according to an exemplary embodiment of the present invention.

The flowchart of FIG. 6 can be performed by a vehicle running control apparatus 100 mounted on a vehicle, and various sensors such as a steering angle sensor, a vehicle speed sensor, a GPS sensor, a yaw rate sensor, and an acceleration sensor are installed in the vehicle.

6, the vehicle-running control apparatus 100 receives driving information from nearby vehicles existing on the road on which the vehicle is traveling, detects a preceding vehicle traveling on the same lane based on the received running information (S601).

Here, the preceding vehicle can detect the vehicle passing through at least one of the current position and the previous position of the vehicle and the predicted position according to the predicted driving trajectory among the surrounding vehicles, and detects the vehicle positioned within a predetermined distance from the vehicle among the detected preceding vehicles It can be detected as a final preceding vehicle.

After S601, the vehicle-travel control device 100 receives the travel information from the detected one or more preceding vehicles, calculates the average curvature of travel of the received travel information as the curvature of the travel lane, The running curvature of the vehicle is calculated using the sensing information obtained from the above (S602).

Here, the vehicle drive control apparatus 100 may form a circle whose trajectory centers of the front wheels and the rear wheels coincide with each other in order to reduce the slippage of each wheel or the resistance generated when the steering wheel is steered when the vehicle rotates.

After S602, the vehicle running control apparatus 100 extracts a first tangent line with respect to the position of the vehicle at a first circle corresponding to the curvature of the lane, calculates a first tangent to the position of the vehicle from the second circle corresponding to the running curvature of the vehicle 2 tangent line is extracted (S603).

After S603, the vehicle-travel control apparatus 100 confirms whether the angle formed by one tangent line corresponding to the curvature of the vehicle and the second tangent line corresponding to the running curvature of the vehicle deviates from a predetermined angle (S604).

As a result of the determination in S604, the vehicle running control apparatus 100 predicts that the vehicle will depart from the driving lane if it deviates from a predetermined angle, and if the first tangent line corresponding to the curvature of the lane and the second tangent line corresponding to the running curvature of the vehicle (S605) so that at least one of the steering control of the steering wheel and the brake control for deceleration is performed so that the angle forms within a predetermined angle.

The above-described technical features may be embodied in the form of program instructions that can be executed on various computer means and recorded on a computer-readable medium, which may include program instructions, data files, data structures, .

100: Vehicle running control device
110:
120:
130: Curvature calculation unit
140: running curvature calculation unit
150: tangent extraction unit
160:
170:
180:
190:

Claims (10)

A communication unit for receiving traveling information including a curvature of curvature from a surrounding vehicle of the vehicle when the vehicle is traveling;
A preceding vehicle detecting unit that detects a preceding vehicle by using the traveling information of the nearby vehicle;
A lane curvature calculation unit for calculating a curvature of the running lane based on the rotational curvature of the preceding vehicle;
A running curvature calculating unit for calculating a turning curvature with respect to a running direction of the vehicle by using sensing information obtained from a sensor installed in the vehicle;
A tangent line for extracting a second tangent line to the position of the vehicle in a second circle corresponding to the rotational curvature of the vehicle, An extraction unit; And
And a lane departure prediction unit for predicting that the vehicle leaves the lane of travel if the angle formed by the extracted first tangent line and the second tangent line exceeds a predetermined threshold value.
The method according to claim 1,
And a brake control for decreasing a steering speed of the steering wheel and a steering speed of the steering wheel so that the first tangent line and the second tangent line form a predetermined angle or less if the vehicle is predicted to depart from the driving lane And a control unit for controlling the operation of the vehicle.
The method according to claim 1,
Wherein the preceding vehicle detection unit detects, as the preceding vehicle, a vehicle passing through at least one of a current position, a previous position, and a predicted position of the vehicle, the running locus of the nearby vehicle.
The method of claim 3,
Wherein the preceding vehicle detection unit detects a case where the present position of the preceding vehicle and the present position of the vehicle are within a predetermined distance as a final preceding vehicle.
The method according to claim 1,
Wherein the lane curvature calculation unit calculates an average value of the rotational curvatures included in the running information of the preceding vehicles and uses the average value as the curvature value of the running lane.
The method according to claim 1,
Wherein the communication unit transmits driving information including the calculated curvature of curvature in the traveling direction of the vehicle to the nearby vehicle.
(a) detecting a preceding vehicle using traveling information including a turning curvature from a nearby vehicle of the vehicle when the vehicle is traveling;
(b) calculating a curvature of the driving lane on the basis of the rotational curvature of the preceding vehicle, and calculating a curvature of rotation with respect to the running direction of the vehicle using sensing information obtained from a sensor installed in the vehicle;
(c) extracting a first tangent to the position of the vehicle at a first circle corresponding to the curvature of the running lane, and extracting a second tangent to the position of the vehicle from a second circle corresponding to the rotational curvature of the vehicle Extracting; And
(d) predicting that the vehicle leaves the traveling lane when the angle formed by the extracted first tangent line and the second tangent line exceeds a predetermined threshold value.
8. The method of claim 7,
Performing at least one of a steering direction control of the steering wheel and a brake control for reducing the traveling speed so that the first tangent line and the second tangent line form a predetermined angle or less if the vehicle is predicted to depart from the driving lane Further comprising the steps of:
8. The method of claim 7,
Wherein the step (a) comprises detecting, by the preceding vehicle, a vehicle passing through at least one of a current position, a previous position, and an expected position of the vehicle, the trajectory of the nearby vehicle.
10. The method of claim 9,
Wherein the step (a) detects a case where the current position of the preceding vehicle and the current position of the vehicle are within a predetermined distance as a final preceding vehicle.

Images