KR20190049009A - Vehicle and controlling method thereof - Google Patents

Abstract

The present invention relates to a vehicle and a control method thereof, wherein the vehicle comprises: a vehicle sensor mounted on both sides of a tractor to obtain detection data by sensing surroundings; and a control unit detecting a lane by using a reflection intensity value of the lane and a linear equation of the lane in the detection data, calculates an angle with the lane and a traveling direction of the tractor, calculates a refraction angle between the tractor and a trailer, and displays a warning with respect to a lane intrusion or controls driving of the vehicle by estimating a lane intrusion area of the trailer.

Description

VEHICLE AND CONTROLLING METHOD THEREOF

And a control method thereof.

The vehicle is developing and installing various vehicle additional service devices considering the convenience and safety of the driver.

Some of the above-mentioned vehicles, such as passenger cars, are mainly intended to carry a small number of people, such as six or less. However, another type of vehicle is also provided with a trailer capable of loading tractors and goods.

The above-described large-sized vehicle composed of the tractor and the trailer has a structure in which the body of the vehicle is longer than the passenger car and is divided into several parts, so that the lane of the trailer may occur when the vehicle is traveling on an ordinary road.

As a system to calculate the refraction angle between the tractor and the trailer through the measurement data instead of directly measuring the refraction angle of the trailer, a technique of mounting a GPS on the vehicle and estimating the refraction angle based on the distance between the GPS positions was applied . Since GPS has an error of about 0m to 20m, performance may be degraded in terms of accuracy in estimating the refraction angle using only GPS information.

A dangerous situation such as a jackknife phenomenon may occur due to the refraction between the tractor and the trailer. Therefore, in addition to the above-described method, a technique for accurately determining the refraction angle between the tractor and the trailer is required.

The disclosed embodiment is intended to provide a vehicle and a control method thereof for accurately grasping an angle of refraction and a lane-invading state that may occur between a tractor and a trailer.

As a technical means for achieving the above technical object, a vehicle according to one aspect includes: a vehicle sensor mounted on both sides of a tractor for sensing the periphery to acquire sensed data; And calculating an angle between the lane and the traveling direction of the tractor, calculating a refraction angle between the tractor and the trailer, and calculating the angle of refraction between the trailer and the trailer based on the reflection intensity value of the lane and the linear equation of the lane, And a control unit for estimating a lane inclination area of the lane, and controlling a warning display or lane travel of the vehicle.

Further, the vehicle sensor may be a 3D ray sensor.

Also, the control unit extracts the adjacent area lane points using the intensity value of the lane pointer information reflected on the road surface from the sensed data, and calculates the lane line equations using the extracted lane points to detect lanes .

The control unit may detect a refraction angle between the tractor and the trailer on the basis of the contour information of the tractor and the side surface of the trailer obtained from the sensed data.

The control unit may extract an angle between the lane and the trailer by using a refraction angle between the tractor and the trailer, an inclination of the lane and the tractor, The angle of the trailer rotated from the center line of the trailer can be calculated.

In addition, the controller may calculate an equation of a first lane straight line on one side and an equation of a second lane straight line on the other side using the side lanes obtained from the sensed data.

Further, the controller may calculate the lateral lane by applying the road width to the one side lane using one lateral lane obtained from the sensing data, and calculate the lateral lane by using the equation of the first lane straight line of the one side, The equation of the second lane straight line can be calculated.

The control unit may calculate the trailer corner coordinates based on the length and width of the trailer based on the origin coordinates of the vehicle, and calculate the corner coordinates of the trailer based on one straight line from the center line of the tractor, The coordinates rotated by the angle of the trailer can be derived to derive one side straight line and one side straight line corresponding to both side surfaces of the trailer and the one side straight line and the width direction straight line of the trailer connected to the other straight line.

The control unit may calculate an intersection of the second lane straight line, the other side straight line, the second lane straight line, the one side straight line, the second lane straight line, and the width direction straight line, Two points of intersection between two lanes can be extracted to determine an intersection between the trailer and the second lane and an area where the trailer crosses the second lane.

The second lane may be a lane in a direction in which the trailer crosses the lane of the lane on both sides of the traveling road of the vehicle.

In addition, when the intersection points are extracted, the control unit may extract two points in the order of the adjacent points in the origin coordinates of the vehicle.

A method of controlling a vehicle according to an aspect of the present invention includes detecting a lane by using a reflection intensity value of a lane and a linear equation of a lane in the sensed data by sensing the periphery through a vehicle sensor mounted on both sides of the tractor , Calculates the angle between the lane and the traveling direction of the tractor, calculates the angle of refraction between the tractor and the trailer, estimates the lane departure area of the trailer, and controls the warning display or the running of the vehicle ≪ / RTI >

The detecting of the lane is performed by extracting the adjacent area lane point using the intensity value of the lane pointer information reflected on the road surface from the sensing data, calculating the lane line equations using the extracted lane point, Can be detected.

The calculation of the refraction angle between the tractor and the trailer may detect the refraction angle between the tractor and the trailer on the basis of the contour information of the tractor and the side surface of the trailer obtained from the sensed data.

The calculation of the angle of refraction between the tractor and the trailer may be performed by extracting an angle between the lane and the trailer using a refraction angle between the tractor and the trailer and a slope of the lane and the tractor, And calculating an angle of the trailer rotated from a centerline of the tractor as a turning point of the tractor.

The estimating of the lane inclination area of the trailer may include calculating an equation of a first lane straight line on one side and an equation of a second lane straight line on the other side using both side lanes obtained from the sensed data have.

The estimation of the lane-entering area of the trailer may be performed by deriving another lateral lane by applying the road width to the one lateral lane using one lateral lane obtained from the sensing data, And the equation of the second lane straight line on the other side can be calculated.

In order to estimate the lane boundary area of the trailer, the trailer corner coordinates are calculated using the length and width of the trailer on the basis of the origin coordinates of the vehicle, and the coordinates of one straight trailer corner of the tractor and the trailer Deriving the coordinates rotated by the angle of the trailer rotated from the centerline of the tractor to derive one lateral line and the other lateral line corresponding to both sides of the trailer and a lateral directional line of the trailer connected to the one lateral line and the other lateral line .

The estimating of the lane inclination area of the trailer may include calculating an intersection point between the second lane straight line and the other side straight line, the second lane straight line, the one side straight line, the second lane straight line and the width direction straight line, And extracting two points of intersection between the trailer and the second lane of the intersection to determine an intersection between the trailer and the second lane and an area where the trailer crosses the second lane.

The second lane may be a lane in a direction in which the trailer crosses the lane of the lane on both sides of the traveling road of the vehicle.

Further, when extracting the intersection points, two points can be extracted from the origin coordinates of the vehicle in the order of the adjacent points.

According to the above-mentioned problem solving means, since the degree of refraction between the tractor and the trailer and the invasion state of the surrounding lane can be accurately grasped, it is possible to inform the driver of various dangerous situations that may occur due to the refraction between the tractor and the trailer, So that the driving stability can be improved.

In addition, the disclosed invention is capable of predicting the risk of collision between an external obstacle and a trailer in an autonomous running control by determining whether the trailer is deflected during an autonomous trailer trajectory.

1 is a view showing the appearance of a vehicle.
2 is a view showing the interior of the vehicle.
3 is a control block diagram showing the configuration of the vehicle in detail.
Fig. 4 is an example of lane detection using a Lidar sensor. Fig.
5 to 8 are diagrams for explaining a method of detecting a lane involvement of a trailer.
9 and 10 are flowcharts for explaining a control method of a vehicle.

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 view showing the appearance of a vehicle.

1, an appearance of a vehicle 1 includes a body 10 forming an outer appearance of the vehicle 1, a door 13 shielding the interior of the vehicle 1 from the outside, A front wheel 17 positioned in the tractor 11 in front of the vehicle and a rear wheel 18 positioned in the trailer 12 rearward of the vehicle, And wheels 17,18 for moving the wheels 17,18.

The body 10 may include a tractor 11 and a trailer 12 connected to the tractor. The tractor 11 is a driving force vehicle that trains a trailer 12, a construction machine, an agricultural machine, etc., and is composed of a power unit and a cockpit. The wheels 17 are made of a rubber tire and a caterpillar (endless track) And the like. The trailer 12 means a vehicle that is connected to a powered vehicle without power and carries luggage or people.

The door 13 is rotatably provided on the left and right sides of the main body 10 so that the driver can ride on the inside of the vehicle 1 at the time of opening the door and the inside of the vehicle 1 is shielded from the outside .

The west coast mirror 14 is a mirror fixed outside the passenger compartment so that the driver can see the rear and side of the vehicle 1 without turning his or her head.

The vehicle 1 includes a power unit (not shown) for rotating the wheels 17 and 18, a steering unit (not shown) for changing the moving direction of the vehicle 1, a brake unit (Not shown), a mud flap 15, and a step 16.

The power unit (not shown) provides rotational force to the front wheel 17 or the rear wheel 18 so that the body moves forward or backward. Such a power unit may include an engine for generating a rotational force by burning the fossil fuel, or a motor for generating a rotational force by receiving power from a capacitor (not shown).

The steering device includes a steering wheel 27 (see FIG. 2) receiving a driving direction from a driver, a steering gear (not shown) for converting the rotational motion of the steering wheel 27 into a reciprocating motion, a steering gear (Not shown) that transmits the reciprocating motion of the front wheel 17 to the front wheel 17. Such a steering apparatus can change the running direction of the vehicle 1 by changing the direction of the rotation axis of the wheel.

The braking device includes a braking pedal (not shown) for receiving a braking operation from a driver, a brake drum (not shown) coupled to the wheels 17 and 18, a brake shoe (not shown) for braking the rotation of the brake drum (Not shown), and the like. Such a braking device can brak the running of the vehicle 1 by stopping the rotation of the wheels 17 and 18. [

The fenders 15 are attached to the rear of the wheel 17 so that the soil does not splash, and may be made of rubber or plastic.

The stairs 16 are provided in the main body 10 to assist in raising and lowering the seat including the driver's seat, and may be realized in the form of a tread or a stepped staircase.

Further, the vehicle 1 may be provided with a sensor 19 such as a rear side sensing device, a camera (for example, an Around View Monitor (AVM) camera) to detect a pedestrian, a motorcycle, can do. At this time, the mounting position of the sensor 19 is not limited to that shown in Fig. 1, and any position of the vehicle 1 can be installed if it is possible to detect an object located at an intersection.

2 is a view showing the interior of the vehicle.

The interior of the vehicle 1 includes a windscreen 21 for providing a driver with a field of view ahead of the vehicle 1, a dashboard 23 for installing various devices for the driver to operate the vehicle 1 ), A driver's seat 25 for the driver of the vehicle 1 to sit on, a steering wheel 27 for receiving the driving direction from the driver, a cluster display portion 29 for displaying operation information of the vehicle 1, 31), and a navigation 70 for providing audio and video functions as well as a route guidance function for providing route guidance information according to an operation command of a driver.

The windscreen 21 is provided on the upper side of the main body (10 in Fig. 1) so that a driver inside the vehicle 1 can acquire time information in front of the vehicle 1. [

The dashboard 23 protrudes from the lower portion of the windscreen 21 toward the driver so that the driver can operate various devices installed on the dashboard 23 while looking forward.

The driver's seat 25 is provided behind the dashboard 23 so that the driver can watch the vehicle 1 in front of the vehicle 1 and various devices of the dashboard 23 in a stable posture so that the driver can operate the vehicle 1. [

The cluster display units 29 and 31 are provided on the driver's seat side of the dashboard 23 and are provided with a running speed gauge 29 indicating the running speed of the vehicle 1 and rpm indicating the rotational speed of the power unit Gauge < / RTI >

The navigation 70 may include a display that displays information on the road on which the vehicle 1 travels or a route to a destination that the driver desires to reach and a speaker 33 that outputs sound in response to a driver's operation command. In recent years, an AVN (Audio Video Navigation) device in which an audio device, a video device, and a navigation device are integrated is installed in a vehicle.

The navigation 70 may be installed in a center fascia. The center fascia means a portion of the dashboard 23 located between the driver's seat and the passenger's seat. The center fascia 23 is an area where the dashboard 23 and the shift lever meet vertically. The center fascia 23 includes a navigation unit 70, Controller of heater, tuyere, cigar jack and ashtray, cup holder can be installed. The center fascia can also be used to distinguish between the driver's seat and the passenger's seat with the center console.

3 is a control block diagram showing the configuration of the vehicle in detail.

The following description will be made with reference to FIG. 4, which is an example of extracting a lane using a Lidar sensor, and FIGS. 5 to 8, which illustrate a method of detecting a lane involvement of a trailer.

Referring to FIG. 3, the vehicle 100 may include a communication unit 110, an input unit 120, a storage unit 130, a display 140, a vehicle sensor 150, and a control unit 160.

In more detail, the communication unit 110 may include one or more components that enable communication with an external device, and may include at least one of a short-range communication module, a wired communication module, and a wireless communication module .

The short-range communication module uses a wireless communication network, such as a Bluetooth module, an infrared communication module, an RFID (Radio Frequency Identification) communication module, a WLAN (Wireless Local Access Network) communication module, an NFC communication module, and a Zigbee communication module, And may include various short range communication modules for transmitting and receiving.

The wired communication module may be a wired communication module such as a CAN (Controller Area Network) communication module, a local area network (LAN) module, a wide area network (WAN) module, or a value added network Communication module, various cable communication such as USB (Universal Serial Bus), HDMI (High Definition Multimedia Interface), DVI (Digital Visual Interface), RS-232 (recommended standard232), power line communication or POTS Modules.

The wireless communication module may be a GSM (Global System for Mobile) module, a GSM (Global System for Mobile Communications) module, a Radio Data System-Traffic Message Channel (RDS-TMC), a Digital Multimedia Broadcasting (DMB) module, a WiFi module, Mobile communication, CDMA (Code Division Multiple Access), WCDMA (universal mobile telecommunications system), TDMA (Time Division Multiple Access), LTE (Long Term Evolution) And a wireless communication module.

The wireless communication module may include a wireless communication interface including an antenna and a receiver for receiving traffic information signals. The wireless communication module may further include a traffic information signal conversion module for demodulating the analog type wireless signal received through the wireless communication interface into a digital control signal.

Meanwhile, the communication unit 110 may further include an internal communication module (not shown) for communication between the electronic devices in the vehicle 100. A CAN (Controller Area Network), a LIN (Local Interconnection Network), a FlexRay, an Ethernet, or the like can be used as an internal communication protocol of the vehicle 100.

The input unit 120 may include various buttons or switches such as a button, a switch, a pedal, a keyboard, a mouse, a track-ball, various levers, a handle, a stick, Device.

In addition, the input unit 120 may include a graphical user interface (GUI), such as a touch pad, for software input. The touch pad may be implemented as a touch screen panel (TSP) to form a mutual layer structure with the display 140.

The storage unit 130 may be a configuration for storing information related to the vehicle 100, including the degree of refraction between the tractor (11 in FIG. 1) and the trailer (12 in FIG. 1) and criteria for detecting lane involvement.

The storage unit 130 may be a non-volatile 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) (Random Access Memory), or a storage medium such as a hard disk drive (HDD) and a CD-ROM. However, the present invention is not limited thereto. The storage unit 130 may be a memory implemented as a separate chip from the processor described above in connection with the controller 170, and may be implemented as a single chip with the processor.

The display 140 may be configured to display various information related to the vehicle 100, including displaying a warning for lane involvement. At this time, it is possible to output the warning about the lane incidence not only in the character form but also in the voice form so that the user can confirm it.

The display 140 may be a cathode ray tube (CRT), a digital light processing (DLP) panel, a plasma display panel (LCD) panel, a liquid crystal display A light emitting diode (OLED) panel, an electrophoretic display (EPD) panel, an electrochromic display (ECD) panel, a light emitting diode (LED) panel or an organic light emitting diode ) Panel, but the present invention is not limited thereto.

The vehicle sensor 150 may be mounted on both sides of the tractor (11 in Fig. 1) and configured to sense the environment to acquire sensed data. At this time, the vehicle sensor 150 may be a 3D LiDAR sensor, but the present invention is not limited thereto, and it is possible to change or add a sensor to detect a lane or the like by sensing the periphery of the vehicle according to the need of the operator. I will do it.

The control unit 160 detects the lane by using the reflection intensity value of the lane and the linear equation of the lane in the sensed data, calculates the angle between the lane and the traveling direction of the tractor 11, calculates the angle of refraction between the tractor and the trailer And a warning display for the lane incidence or a driving of the vehicle may be controlled by estimating a lane inclination area of the trailer.

The control unit 160 may extract the adjacent area lane point using the intensity value of the lane pointer information reflected on the road surface from the sensed data and calculate the lane line equation by using the extracted lane point to detect the lane .

4, the vehicle sensors 150 may be mounted on both sides of the tractor 11, respectively, to obtain sensed data such as S1 and S2. The control unit 160 can extract a lane point and a trailer pointer from the obtained sensed data, calculate a lane equilibrium of the lane using the detected lane point and trailer pointer, and detect a lane.

Referring to FIG. 5, the controller 160 may extract an angle value? Between the lane L2 and the traveling direction of the tractor 11. At this time, the angle between the lane L2 and the traveling direction of the tractor 11 may be the same as the angle between the center of the lanes L1 and L2 and the traveling direction of the tractor 11.

The control unit 160 can detect the refraction angle between the tractor 11 and the trailer 12 based on the information of the contour of the tractor 11 and the side surface of the trailer 12 acquired from the sensed data.

6, the control unit 160 can detect the angle of refraction b between the tractor 11 and the trailer 12 based on the contour information of the tractor 11 and the side portions of the trailer 12. At this time, the refraction angle b may be 180 -?. Represents the angle of the trailer rotated from the center line of the tractor 11 by holding the reference point of the origin P1 of the vehicle as the rotation point of the trailer 12. [

The control unit 160 extracts the angle between the lane and the trailer using the angle of refraction between the tractor 11 and the trailer 12 and the slope of the tractor 11 and calculates the origin coordinate reference of the vehicle 100 from the trailer 12, The angle of the trailer rotated from the center line of the tractor 11 can be calculated. At this time, the origin coordinate of the vehicle may mean the center coordinates of one side of the trailer connected to the tractor.

6, the controller 160 can extract the angle a between the lane and the trailer using the angle of refraction b between the tractor 11 and the trailer 12, the lane of the lane, and the inclination? Of the tractor 11. At this time, a = b -?

The control unit 160 can calculate the angle of the trailer rotated from the center line of the tractor 11 by holding the reference point of the origin P1 of the vehicle at the rotation point of the trailer 12, b. < / RTI >

6) and the second lane (L2 in Fig. 6) of the other side of the vehicle, using the both side lanes obtained from the sensed data, Can be calculated.

As another example, the controller 160 may derive the other side lane by applying the road width to one side lane using one side lane obtained from the sensed data, and calculate the side lane by using the equation of the first lane of one side, The equation of the lane straight line can be calculated. As shown in FIG. 5, the road width between L 1 and L 2 may be 3.5 m, and another side lane can be derived by applying 3.5 m of road width to one side lane. At this time, the road width is not limited to 3.5 m but may be changed depending on the width of the road on which the operator or the vehicle 100 travels.

In order to calculate the equation of the straight line described above, three or more lane points can be extracted from the sensed data.

Referring to Fig. 6, the equations of straight line A and straight line B can be derived from the lanes on both sides.

At this time, the equation of the straight line A is y = cx + d, and the equation of the straight line B may be y = c (x-road width / sin?) + D.

The control unit 160 calculates the trailer corner coordinates using the length (I in Fig. 6) and the width (W in Fig. 6) of the trailer 12 on the basis of the origin coordinates (P1 in Fig. 6) And the trailer 12 are rotated at an angle of the trailer 12 rotated from the center line of the tractor 11 to obtain one straight line corresponding to both sides of the trailer 12 6) of the trailer connected to the other straight line (straight line D in FIG. 6) and the other straight line (straight line C in FIG. 6) Can be derived.

In this case, one straight line reference between the tractor and the trailer means that the trailer is not refracted based on the tractor having the angle of refraction of 180 degrees between the tractor and the trailer.

Referring to FIG. 6, the controller 160 may derive a straight line C, a straight line D, and a straight line E by deriving a coordinate value obtained by rotating the corner coordinates of the trailer-trailer 1 straight line based on the angle φ.

6), the second lane straight line and the one straight line (the straight line D in Fig. 6), the second lane straight line and the width direction straight line (the straight line C in Fig. 6) 6) of the intersection between the trailer 12 and the second lane is extracted and the intersection between the trailer 12 and the second lane is calculated The area where the trailer 12 has crossed the second lane can be determined. The second lane may be a lane in a direction in which the trailer 12 crosses the lane of the lane on both sides of the traveling road of the vehicle.

When extracting the intersection points, the control unit 160 can extract two points in the order of the origin in the origin coordinates (P1 in Fig. 6) of the vehicle 100. [

The control unit 160 includes a memory (not shown) for storing data for a program reproducing an algorithm or algorithm for controlling the operation of components in the vehicle 100, and a memory (Not shown) for performing the above-described operations. At this time, the memory and the processor may be implemented as separate chips. Alternatively, the memory and the processor may be implemented on a single chip.

FIG. 9 and FIG. 10 are flowcharts for explaining a control method of a vehicle, and FIG. 10 is a flowchart for explaining in detail the step of estimating a lane-touching area of a trailer in the procedure of FIG.

Referring to FIG. 9, the vehicle 100 may sense the periphery through a vehicle sensor (19 in FIG. 1) mounted on both sides of the tractor (11 in FIG. 1) to obtain sensed data (210).

The vehicle 100 may sense point information reflected on an obstacle or a road surface on both sides of the trailer 12 from a vehicle sensor (for example, a three-dimensional ray sensor) 150 mounted on the side of the tractor 11 .

The lane can be detected from the points detected from the vehicle sensor 150 using the road surface area and the point information divided into the obstacle.

Next, the vehicle 100 can detect the lane by using the reflection intensity value of the lane and the linear equation of the lane in the sensed data (220, 230).

The vehicle 100 extracts the points of the lateral lane by extracting points having intensity higher than a predetermined threshold value at each of the divided points from the road surface for each layer and derives a linear equation of the lane using three or more points .

That is, the vehicle 100 extracts the adjacent area lane points using the intensity value of the lane pointer information reflected on the road surface from the sensing data, calculates the lane line equations using the extracted lane points, and detects the lane .

Next, the vehicle 100 can calculate the angle between the lane and the traveling direction of the tractor 11 (240).

Next, the vehicle 100 can calculate the refraction angle between the tractor 11 and the trailer 12 (250).

The vehicle 100 derives the angle between the tractor 11 and the trailer 12 using the ladder points reflected from the tractor 11 and the trailer 12 among the points determined as obstacles .

That is, the vehicle 100 can detect the angle of refraction between the tractor 11 and the trailer 12 based on the information of the contour of the tractor 11 and the side surface of the trailer 12 obtained from the sensed data

The vehicle 100 extracts the angle between the lane and the trailer using the angle of refraction between the tractor 11 and the trailer 12 and the slope of the tractor 11 and calculates the origin coordinates The angle of the trailer 12 rotated from the center line of the tractor 11 can be calculated using the reference point P1 as the rotation point of the trailer 12. [ At this time, the origin coordinate of the vehicle may mean the center coordinates of one side of the trailer connected to the tractor.

Next, the vehicle 100 may estimate the lane-facing area of the trailer 12 (260).

Referring to FIG. 10, the vehicle 100 can confirm whether both side lanes have been detected from the sensed data (261).

As a result of the check, if both side lanes are detected, the vehicle 100 can calculate the equation of the first lane straight line on one side and the equation of the second lane straight line on the other side using the side lane obtained from the sensed data ( 262).

Next, the vehicle 100 calculates the corner coordinates of the trailer 12 by using the length and the width of the trailer 12 based on the origin coordinates of the vehicle, and calculates the corner coordinates of the trailer 12 based on one straight line trailer corner coordinates of the tractor 11 and the trailer 12 Can be derived from the centerline of the tractor 11 rotated at the angle of the trailer 12 (263).

Next, the vehicle 100 can derive a straight line in the width direction of the trailer connected to one side straight line, the other straight line, one straight line and the other straight line corresponding to both side surfaces of the trailer 12 by using the corner coordinates of the derived trailer ).

The vehicle 100 can derive an equation of a straight line on the XY coordinate, excluding the height information, with respect to the left side, back side, and right side of the trailer 12 (straight line D, straight line E, straight line C in Fig.

Next, the vehicle 100 can calculate the intersection of the second lane straight line and the other straight line, the second lane straight line, the one straight line, the second lane straight line and the width direction straight line (265).

Next, the vehicle 100 extracts two intersection points (P2 and P3 in Fig. 6) between the trailer 12 and the second lane among the calculated intersections, and calculates the intersection between the trailer 12 and the second lane and the trailer 12 May cross the second lane (266).

Referring to Fig. 7, P4 may be the intersection of the straight line B and the straight line C in Fig. 6, and P5 may be the intersection of the straight line B and the straight line C or the straight line B and the straight line D in Fig.

The second lane may be a lane in a direction in which the trailer 12 crosses the lane of the lanes on both sides of the traveling road of the vehicle 100. [

When the intersection is extracted in step 266, the vehicle 100 can extract two points in the order of the adjacent points in the origin coordinates of the vehicle.

On the other hand, if it is determined in step 261 that only one side lane has been detected, the vehicle 100 uses the one side lane obtained from the sensed data to derive the other side lane by applying the road width to one side lane, The equation of the first lane straight line of the other side and the equation of the second lane straight line of the other side can be calculated (267). Thereafter, the vehicle 100 may perform step 263. [

Next, the vehicle 100 can control a warning display or a running of the vehicle for lane-based invasion.

Specifically, when the vehicle 100 is in the autonomous running state, the lane inclination state of the trailer 12 calculated through the above-described process is reflected in the autonomous running lateral control of the trailer 12 to control the vehicle 100 (270, 280). At this time, the vehicle 100 judges the lane departure area at the time of the autonomous running mode operation and controls the trailer 12 to be maintained in the lane.

At step 280, the vehicle 100 will also be capable of outputting a warning in the form of a voice or character in the lane of the trailer 12.

If the vehicle 100 is not in the autonomous driving state, the vehicle 100 may output a warning about the lane incursion of the trailer 12 in a voice or character form so that the user can recognize the warning.

The vehicle 100 displays the area of the trailer that has invaded the lane L2 as shown in FIG. 8, and displays an area of how much the trailer has infiltrated the lane so that the user can recognize the lane of the trailer. At this time, it is natural that the user can recognize the lane invasion state more quickly by adding a warning sound for notifying the lane of the trailer, an emphasis display on the screen, and the like.

It is also possible for the vehicle 100 to display the tilting between the tractor 11 and the lane when displaying a warning about lane involvement.

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, 100: vehicle
110:
120: Input unit
130:
140: Display
19, 150: vehicle sensor
160:

Claims (21)

A vehicle sensor mounted on both sides of the tractor for sensing the periphery to obtain sensed data; And
Detecting a lane by using a reflection intensity value of a lane and a linear equation of a lane in the sensed data, calculating an angle between the lane and a traveling direction of the tractor, calculating a refraction angle between the tractor and the trailer, A control unit for estimating a lane inclination area and controlling a warning display or lane travel of the vehicle;
≪ / RTI > The method according to claim 1,
Wherein the vehicle sensor is a 3D ray sensor. The method according to claim 1,
Wherein,
Extracting a neighboring area lane point using the intensity value of the lane marker information reflected on the road surface from the sensed data, and calculating a lane equilibrium using the extracted lane point to detect a lane. The method according to claim 1,
Wherein,
And detects the refraction angle between the tractor and the trailer based on the tractor information obtained from the sensed data and the contour information of the side portion of the trailer. 5. The method of claim 4,
Wherein,
The angle between the lane and the trailer is extracted using the angle of refraction between the tractor and the trailer, the slope of the lane and the tractor, and the angle of rotation between the lane and the trailer is calculated using the reference point reference of the vehicle as the turning point of the trailer, Vehicle that calculates the angle of the trailer. The method according to claim 1,
Wherein,
And calculating the equation of the first lane straight line of one side and the equation of the second lane straight line of the other side using the both side lanes obtained from the sensing data. The method according to claim 1,
Wherein,
And calculating a lateral lane by applying a road width to the one lateral lane using one side lane obtained from the sensing data, and calculating an equation of a first lane of the one side and an equation of a second lane of the other side ≪ / RTI > 8. The method according to claim 6 or 7,
Wherein,
Calculating the coordinates of the trailer using the length and width of the trailer based on the origin coordinates of the vehicle and rotating the corner coordinates of one of the tractor and the trailer based on the trailer angle rotated from the center line of the tractor And derives a rectilinear line and a straight line corresponding to both side surfaces of the trailer and a straight line in the width direction of the trailer connected to the one straight line and the other straight line. 9. The method of claim 8,
Wherein,
Calculating a point of intersection between the second lane straight line and the other side straight line, the second lane straight line and the one side straight line, the second lane straight line and the width direction straight line, and calculating the intersection point between the trailer and the second lane And determining an intersection between the trailer and the second lane and an area where the trailer crosses the second lane. 10. The method of claim 9,
And the second lane is a lane in a direction in which the trailer crosses the lane of the lanes on both sides of the road of the vehicle. 10. The method of claim 9,
Wherein,
And when extracting the intersection, extracting two points from the origin coordinates of the vehicle in the order of adjacency. The vehicle sensor mounted on both sides of the tractor senses the surroundings to acquire the sensed data,
Detecting a lane by using a reflection intensity value of the lane and a linear equation of the lane in the sensing data,
Calculating an angle between the lane and a traveling direction of the tractor,
Calculating a refraction angle between the tractor and the trailer,
Estimating a lane-attack area of the trailer,
And a warning display for the lane incursion or a running of the vehicle. 13. The method of claim 12,
To detect the lane,
Extracting a neighboring area lane point using the intensity value of the lane pointer information reflected on the road surface from the sensing data, and calculating a lane line equation by using the extracted lane point to detect a lane. 13. The method of claim 12,
Calculating a refraction angle between the tractor and the trailer,
And detecting a refraction angle between the tractor and the trailer based on the contour information of the tractor and the side portion of the trailer obtained from the sensed data. 15. The method of claim 14,
Calculating a refraction angle between the tractor and the trailer,
The angle between the lane and the trailer is extracted using the angle of refraction between the tractor and the trailer, the slope of the lane and the tractor, and the angle of rotation between the lane and the trailer is calculated using the reference point reference of the vehicle as the turning point of the trailer, Further comprising calculating an angle of the trailer. 13. The method of claim 12,
Estimating the lane-attack area of the trailer,
Calculating an equation of a first lane straight line on one side and an equation of a second lane straight line on the other side using both side lanes obtained from the sensed data. 13. The method of claim 12,
Estimating the lane-attack area of the trailer,
And calculating a lateral lane by applying a road width to the one lateral lane using one side lane obtained from the sensing data, and calculating an equation of a first lane of the one side and an equation of a second lane of the other side Of the vehicle. 18. The method according to claim 16 or 17,
Estimating the lane-attack area of the trailer,
Calculating the coordinates of the trailer using the length and width of the trailer based on the origin coordinates of the vehicle and rotating the corner coordinates of one of the tractor and the trailer based on the trailer angle rotated from the center line of the tractor Deriving a coordinate to derive one side straight line and another side straight line corresponding to both side surfaces of the trailer and a width direction straight line of the trailer connected to the one side straight line and the other side straight line. 19. The method of claim 18,
Estimating the lane-attack area of the trailer,
Calculating a point of intersection between the second lane straight line and the other side straight line, the second lane straight line and the one side straight line, the second lane straight line and the width direction straight line, and calculating the intersection point between the trailer and the second lane And determining an intersection between the trailer and the second lane and an area where the trailer has crossed the second lane. 20. The method of claim 19,
Wherein the second lane is a lane in a direction in which the trailer crosses a lane among lanes on both sides of the traveling road of the vehicle. 20. The method of claim 19,
And when extracting the intersection points, extracting two points from the origin coordinates of the vehicle in the order of adjacency.

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