KR20190123654A - Vehicle apparatus, system having the same and method for changing automatically operable range thereof - Google Patents

Abstract

The present invention relates to a vehicle apparatus, a system having the same and a method for automatically changing an operable range thereof. According to an embodiment of the present invention, the vehicle apparatus configured to perform a driving assistance function or an autonomous driving function comprises: a processor configured to vary and apply an operable range of the driving assistance function or the autonomous driving function in each country when the vehicle enters into a country while traveling; and a storage unit configured to store information calculated by the processor.

Description

Vehicle apparatus, system including the same and method for automatically changing the range of operation

The present invention relates to a vehicle apparatus, a system including the same, and a method for automatically changing an operable range thereof, and more particularly, to a technology capable of performing a safe lane change by varying and applying a country-specific operable range.

The vehicle is a machine that drives the wheels and moves up the road. The vehicle is equipped with various devices for occupant protection, driving assistance, and improved ride comfort.

Recently, a vehicle has an autonomous driving control system that enables the driver to drive safely to a destination by automatically recognizing the road environment, judging the driving situation, and controlling the driving of the vehicle according to a planned driving route. A vehicle driving assistance system that performs cruise control, lane keeping control, lane change control, and distance control between vehicles is provided, and research on such a technology is being actively conducted.

Such vehicle driving assistance or autonomous driving systems set and use an operable range, and set such an operable range in consideration of the speed or road requirements of the vehicle.

Such an operable range may vary from country to country, and when the vehicle moves to another country while crossing the border during vehicle driving assistance or autonomous driving, it is necessary to stably change the operable range for the country.

The embodiment of the present invention automatically meets the country's driving requirements by automatically changing the operating range to the operable range of the driving country when a movement between countries occurs during vehicle driving assistance or autonomous driving, and safely changing lanes. A vehicle apparatus capable of performing the present invention, a system including the same, and a method of automatically changing an operable range thereof are provided.

Technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following descriptions.

A vehicle apparatus according to an embodiment of the present invention is a vehicle apparatus that performs a vehicle driving assistance function or an autonomous driving function, and when a vehicle moves a country while driving, a processor for varying and applying an operable range of the function for each country. ; And a storage unit for storing the information calculated by the processor.

In one embodiment, the operable range of the function includes a value between an operable minimum speed and an operable maximum speed, wherein the operable maximum speed may be set using a speed limit of the country or higher. Can be.

In one embodiment, the processor is configured to maintain the maximum rearward sensing distance, the maximum deceleration of the approaching vehicle, the margin time before the approach vehicle decelerates after the lane change operation starts, and the clearance distance between the vehicles after the approach vehicle decelerates. And calculating the minimum operational speed using at least one or more of the times.

The processor may include determining whether the maximum speed limit of the previous driving country and the maximum speed limit of the current driving country are different when the country in which the vehicle is driven is changed.

In an embodiment, the processor may include controlling to output a notification of the change of the maximum speed limit through the display device when a difference between the maximum speed limit of the previous driving country and the maximum speed limit of the current driving country occurs. can do.

In an embodiment, the processor may be configured to change the function operating range according to the maximum speed limit of the current driving country when a difference between the maximum speed limit of the previous driving country and the maximum speed limit of the current driving country occurs. It may include.

In one embodiment, the processor may include controlling to output the changed function operable range through a display device.

The processor may include determining whether a current lane change function is in operation and determining whether a current driving speed of the vehicle satisfies the changed operable range when the lane change function is in operation. have.

The processor may include continuing to perform a lane change function in the changed operable range when the current driving speed of the vehicle satisfies the changed operable range.

In an embodiment, the processor may include discontinuing a lane change function in operation when the current driving speed of the vehicle does not satisfy the changed operable range.

In an embodiment, the processor may include determining whether the lane change is possible at the current driving speed of the vehicle when the current driving speed of the vehicle does not satisfy the changed operating range. .

In one embodiment, if the lane change can be completed at the current traveling speed of the vehicle, the processor continues to perform the lane change function to the changed operable range and changes the lane at the current traveling speed of the vehicle. If it is impossible to complete the operation, it may include stopping the lane change function in operation.

In a vehicle system according to an embodiment of the present invention, in a vehicle system that performs a vehicle driving assistance function or an autonomous driving function, when a vehicle moves a country while driving, a vehicle that varies the operation range of the function for each country Device; And a display device for outputting a notification of a range of operable ranges changed by the vehicle device.

In the method for automatically changing an operable range of a vehicle apparatus according to an embodiment of the present invention, when the vehicle moves a country while the vehicle is driving, varying and applying an operable range for performing a vehicle driving assistance function or an autonomous driving function for each country. ; And outputting a notification upon application by varying the operable range for each country.

In one embodiment, the operable range of the function includes a value between an operable minimum speed and an operable maximum speed, wherein the operable maximum speed is set using the country's highest speed limit or higher. The minimum operating speed may include a maximum rearward sensing distance, a maximum deceleration of the approaching vehicle, a margin time before the approaching vehicle decelerates after the lane change operation starts, and a time for maintaining the clearance distance between the vehicles after the approaching vehicle decelerates. It may include the calculation using at least one of the.

In one embodiment, the step of applying the operation range by country variable, if the country in which the vehicle is running, changing whether the maximum speed limit of the previous driving country and the maximum speed limit of the current driving country is determined; step; And changing the function operable range according to the highest speed limit of the current driving country.

According to an embodiment, the step of applying the operation range by country may include determining whether a lane change function is currently in operation; And determining whether the current driving speed of the vehicle satisfies the changed operable range when the lane changing function is in operation.

In one embodiment, the step of applying the operation range by the variable country, if the current driving speed of the vehicle satisfies the changed operating range, continuing to perform the lane change function to the changed operable range step; And stopping the lane change function in operation when the current traveling speed of the vehicle does not satisfy the changed operable range.

In one embodiment, the step of applying the operation range by country variable, if the current running speed of the vehicle does not satisfy the changed operating range, the completion of the lane change to the current running speed of the vehicle The method may further include determining whether it is possible.

According to an embodiment of the present disclosure, the applying of the operating range to a variable country may include: continuously performing a lane change function with the changed operable range when the lane change is possible at the current driving speed of the vehicle. ; And stopping the lane change function in operation when the lane change is impossible to be completed at the current driving speed of the vehicle.

This technology automatically meets the country's driving requirements by automatically changing the operating range to the operating range of the driving country when the movement between countries occurs during vehicle driving assistance or autonomous driving. Make it work.

In addition, the present technology continues to change lanes when the vehicle's current driving speed satisfies the changed operating range when the lane change function is in operation, but changes lanes when the current driving speed does not satisfy the changed operating range. Safe operation can be attained by controlling to stop the operation.

 Through this document, various effects which can be identified directly or indirectly can be provided.

1 is a block diagram illustrating a configuration of a vehicle apparatus according to an exemplary embodiment.
2 is a diagram for describing a vehicle control method when a driving state is changed while driving, according to an exemplary embodiment.
FIG. 3 is a diagram for describing a vehicle control method when a lane is changed when a driving state is changed while driving, according to an exemplary embodiment.
4 is a diagram for describing a vehicle control method when a lane change is stopped when a driving state is changed while driving, according to an exemplary embodiment.
5 is a flowchart illustrating a method for automatically changing an operable range of a vehicle apparatus according to an exemplary embodiment.
6 is a flowchart illustrating a vehicle control method according to automatic change of an operable range of a vehicle apparatus according to an exemplary embodiment.
7 is a flowchart illustrating a vehicle control method according to automatic change of an operable range of a vehicle apparatus according to another exemplary embodiment.
8 illustrates a computing system according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In addition, in describing the embodiments of the present invention, if it is determined that the detailed description of the related well-known configuration or function disturbs the understanding of the embodiments of the present invention, the detailed description thereof will be omitted.

In describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art, and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 8.

1 is a block diagram illustrating a configuration of a vehicle apparatus according to an exemplary embodiment.

Referring to FIG. 1, a vehicle system for driving assistance or autonomous driving according to an embodiment may include a sensor module 210, a GPS receiving module 220, a navigation device 230, a display device 240, and a vehicle device 100. ) May be included. The vehicle device 100 of FIG. 1 may be mounted in a vehicle.

The sensor module 210 may include at least one sensor for detecting an object around the vehicle, the position of the external object, the speed of the external object, the moving direction of the external object, and / or the type of the external object (eg, the vehicle). , Pedestrians, bicycles or motorcycles, road signs, etc.) may be obtained and transmitted to the vehicle device 100.

The sensor module 210 may include a yaw rate sensor, a wheel speed sensor, a torque measurement sensor, an acceleration sensor, and the like to measure dynamic information of the vehicle, and use a laser, a radar, a camera, a lidar, etc. to recognize the surrounding environment. It may include. In this case, at least one camera may be provided in front, rear, side, etc.,

The GPS receiving module 220 may receive location information from the GPS and transmit the location information to the vehicle device 100 to estimate the location of the own vehicle.

The navigation device 230 may provide the processor 130 with the driving route and the driving position information by using the position information of the vehicle received by the GPS receiving module 120 and the map information stored therein.

The display device 240 may display the operable range of the current driving country, the changed operable range, the maximum speed limit of the changed driving country, and the like. The display device 240 may visually display information to be recognized by the driver according to the driving environment and the control situation. For example, the display device 240 may display a graphic, an icon, or a text. Guidance may also be possible.

When the vehicle moves a country while the vehicle is driving, the vehicle apparatus 100 may apply an operation range of the vehicle driving assistance function or the autonomous driving function to vary by country.

The vehicle device 100 may be electrically connected to the sensor module 210, the GPS receiving module 220, and the navigation device 230. The vehicle device 100 may include a communication unit 110, a storage unit 120, and a processor 130.

The communication unit 110 may communicate with the in-vehicle sensor module 210, the GPS receiving module 220, the navigation device 230, the display device 240, and the like.

The storage unit 120 may store information transmitted / received through the communication unit 110, and may store in advance a country-specific maximum speed limit table and a country-specific operation range table calculated based on an experimental value in advance.

The processor 130 may be an electrical circuit that executes instructions of software, thereby performing various data processing and calculations described below.

The processor 130 interoperates with the sensor module 210 to obtain dynamic information and surrounding environment information of the vehicle, and interlocks with the GPS receiving module 220 and the navigation device 230 to obtain information about the location and route of the vehicle itself. Can be obtained.

The processor 130 sets a function operating range so that the vehicle driving assistance function or the autonomous driving function can be operated safely for each country according to the maximum road speed limit of the country in which the vehicle is currently traveling, and changes the operating range for each country when the country moves. Can be.

When the vehicle moves a country while the vehicle is driving, the processor 130 may apply the operation range of the function when the vehicle driving assistance function or the autonomous driving function is performed by country.

When the vehicle moves a country while the vehicle is driving, the processor 130 may apply an operation range such as a vehicle driving assistance function or an autonomous driving function to vary by country. In this case, the operable range includes a value between the minimum operable speed and the maximum operable speed, and the maximum operable speed may be set using the maximum speed limit of the country or more.

The processor 130 may include at least one of a maximum rear-side sensing distance, a maximum deceleration of the approaching vehicle, a margin time before the approaching vehicle decelerates after the start of a lane change operation, and a time for maintaining the clearance distance between the vehicles after the approaching vehicle decelerates. One or more may be used to calculate the lowest possible speed.

The processor 130 may define the maximum operational speed in consideration of the risk of collision with the surrounding vehicle when the lane is changed, and determine the maximum operational speed using the national maximum speed limit or more. In this case, the maximum operable speed may be set to a maximum speed limit or higher for each country for convenience of description, but is not limited thereto and may be changed in a range allowed by a sensor, a processor, and a controller of the vehicle.

In addition, the processor 130 may calculate the minimum operable speed through Equation 1 below.

Where Vsmin is the minimum operational speed, a is the maximum deceleration of the approaching vehicle, tB is the margin time until the approaching vehicle decelerates after the start of lane change operation, and tG is the marginal distance between vehicles after the approaching vehicle decelerates. It's time for. Vapp is the country's highest speed limit, and Srear is the sensor's rear maximum sensing distance.

In Equation 1, the maximum deceleration (a) of the approach vehicle, the margin time (tB) before the approach vehicle decelerates after the lane change operation starts, and the time (tG) for maintaining the clearance distance between the vehicles after the approach vehicle decelerates Can be fixed at 3 m / s ² , 0.4 s and 1 s so that the driver does not feel a great threat during deceleration. In addition, the rear side maximum sensing distance Srear of the sensor may be predetermined according to the performance of the sensor, and is assumed to be 55 m for convenience.

Applying the above-described assumptions to Equation 1 to calculate the minimum operational speed (Vsmin), as shown in Table 1 below, the minimum operational speed (Vsmin) of country A is 60 kph and the minimum operational speed (Vsmin) of country B ) Is 85 kph, and the maximum speed limit of the driving country as well as the minimum speed of operation may be changed, and thus the range of operation may be changed.

The processor 130 may calculate the minimum speed limit of the corresponding country every time through Equation 1, but may calculate the preliminary speed limit and store it in the storage unit 120 as a table of operable ranges for each country. You can also change the operational range by using the country-specific operational range table.

When the country in which the vehicle is driven changes, the processor 130 may determine whether a difference between the maximum speed limit of the previous driving country and the maximum speed limit of the current driving country is determined. In addition, when a difference between the maximum speed limit of the previous driving country and the maximum speed limit of the current driving country occurs, the processor 130 may control to output a notification of the change of the maximum speed limit through the display device 240. When a difference between the maximum speed limit of the previous driving country and the maximum speed limit of the current driving country occurs, the processor 130 may change the function operable range according to the maximum speed limit of the current driving country.

The processor 130 may control to output the changed function operable range through the display device 240. In addition, the processor 130 may determine whether the current lane change function is in operation, and determine whether the current driving speed of the vehicle satisfies the changed operable range when the lane change function is in operation. In addition, when the current driving speed of the vehicle satisfies the changed operable range, the processor 130 may continue to perform the lane change function in the changed operable range.

When the current driving speed of the vehicle does not satisfy the changed operating range, the processor 130 stops the lane change function in operation and when the current traveling speed of the vehicle does not satisfy the changed operating range, It is possible to determine whether the lane change can be completed at the traveling speed. In addition, when the lane change is completed at the current driving speed of the vehicle, the processor 130 continues to perform the lane change function in the changed operation range, and when the lane change is impossible to be completed at the current driving speed of the vehicle, The active lane change function can be interrupted.

In addition, the processor 130 acquires route information through interworking with the navigation device 130 and the like, so as to detect a change in the driving state in advance so as to control the driving speed to satisfy the operable range or limit the function at the time of changing the country. Can be controlled.

In addition, the processor 130 may notify in advance of the change of the operable range according to the change of the driving country before crossing the border.

In addition, the processor 130 may change the operable range for each road when the driving road is changed as well as the change of the operable range for each country. That is, the processor 130 may change the operable range by calculating the minimum operable speed according to the maximum speed limit for each road.

The function of the processor 130 may be integrated into the navigation device 230 and implemented as a single device.

As described above, the present invention allows the operating range of the vehicle system that provides the lane changing function to be changed according to the driving country, so that even if the driving country is changed while driving, the traffic laws of the corresponding country may be observed and prepared for a dangerous situation.

In addition, it is possible to increase the usability of the system function by automatically applying by varying only the operable range for each country without diversifying the system by country.

In addition, it is possible to further increase the efficiency of safe driving by outputting a change in the operating range of the system according to the movement between countries to the display device so that the user can recognize in real time.

2 is a diagram for describing a vehicle control method when a driving state is changed while driving, according to an exemplary embodiment.

Referring to FIG. 2, a vehicle 1 travels on a road near a border of country A, crosses a border, and enters a road of country B. Assume that the maximum speed limit of country A is 110 kph and the maximum speed limit of country B is 130 kph.

When the vehicle 10 travels on the one-way secondary road in the country A and then travels the country B across the border to change the country of travel, the operating range of the vehicle device 100 is changed in accordance with the general maximum speed limit of the changed country. And the vehicle apparatus 100 of the vehicle 20 traveling on the road of the country B outputs the changed operation range of the country B through the display device 240 so that the user can recognize it.

In FIG. 2, since the lane change operation is not performed when the driving country is changed, a change in the operable range may be immediately performed and applied to the display device 240.

3 is a view illustrating a vehicle control method when a lane is changed when a driving state is changed while driving according to an embodiment of the present invention, and FIG. 4 is a change in driving state when a driving state is changed according to an embodiment of the present invention. A diagram for describing a vehicle control method when stopping a lane change.

Referring to FIG. 3, an example is described in which the vehicle 30 changes lanes while traveling on a road around a border of country A and then travels on a road of country B across a border.

That is, when the vehicle 30 starts the lane change function operation immediately before reaching the border between the A and B countries, the turn signal starts to operate, and the vehicle 40 is normally completed without completing the border and performing the lane change. Will travel to the position of.

In this case, when the driving country is changed according to the current driving speed, the vehicle apparatus 100 continuously performs the lane changing function in consideration of the current driving speed, the operable range of the changed country, and the remaining time until the lane change is completed. You can decide whether or not to stop. That is, when the operable range of the country A and the operable range of the country B overlap, the lane change function is not possible in the country A, but the vehicle device 100 may perform the lane change function when it is possible in the country B.

Referring to FIG. 4, when the vehicle 50 moves from the country A to the country C, when the lane change is impossible due to the change of the minimum operating speed Vsmin and the maximum operating speed limit Vsmax of the country C, the vehicle apparatus 100 may be changed. Stops the lane change function and outputs the changed operation range through the display device 240 so that the user can know.

Hereinafter, a method for automatically changing an operable range of a vehicle apparatus according to an embodiment of the present disclosure will be described with reference to FIG. 5. 5 is a flowchart illustrating a method for automatically changing an operable range of a vehicle apparatus according to an exemplary embodiment.

Hereinafter, it is assumed that the vehicle apparatus 100 of FIG. 1 performs the process of FIG. 5. In addition, in the description of FIG. 5, it can be understood that the operations described as being performed by the apparatus are controlled by the processor 130 of the vehicle apparatus 100.

Referring to FIG. 5, the vehicle apparatus 100 determines whether the country in which the vehicle is currently driven is changed (S110). In this case, the vehicle apparatus 100 may determine its own location from its location information received from the GPS reception module 220 or the map information of the navigation device 230 to determine whether the driving country is changed.

When the driving state of the position at which the vehicle is currently traveling is not changed, the vehicle apparatus 100 maintains the existing operable range (S140), and when the driving state at the position at which the vehicle is currently traveling is changed, the vehicle apparatus ( 100 compares the maximum speed limit of the previous driving country with the maximum speed limit of the current driving country (S120).

When the maximum speed limit of the previous driving country is different from the maximum speed limit of the current driving country, that is, when the maximum speed limit of the driving country is changed, the vehicle apparatus 100 outputs the change of the maximum speed limit to the display device 240. Notify the user, and adjusts the operable range according to the maximum speed limit of the current driving country (S130).

On the other hand, when the maximum speed limit of the previous driving country is the same as the maximum speed limit of the current driving country, that is, the maximum speed limit of the driving country is not changed, the vehicle apparatus 100 maintains the existing operable range (S140). ). Subsequently, the process S110 is continuously performed to monitor whether the driving country is changed and the processes S120 to S140 are repeatedly performed until the driving of the vehicle is stopped. In this case, the vehicle apparatus 100 may determine whether the driving country is changed at a predetermined cycle, or may predict in advance whether the driving country is changed based on the route information and the map information of the navigation device 130.

Hereinafter, the vehicle control method according to the automatic change of the operable range of the vehicle apparatus according to an embodiment of the present invention will be described in detail with reference to FIG. 6. 6 is a flowchart illustrating a vehicle control method according to automatic change of an operable range of a vehicle apparatus according to an exemplary embodiment. Hereinafter, it is assumed that the vehicle apparatus 100 of FIG. 1 performs the process of FIG. 6. In addition, in the description of FIG. 6, it can be understood that the operations described as being performed by the apparatus are controlled by the processor 130 of the vehicle apparatus 100.

Referring to FIG. 6, when the driving state is changed and the maximum speed limit is changed in FIG. 5, the operation range for the lane changing function of the changed country is changed (S210). In this case, as described above, the operable range includes a range between the minimum operable speed and the maximum operable speed, and the maximum operable speed may include a value exceeding or higher than the maximum speed limit of the current driving country. Can be. In addition, the vehicle apparatus 100 includes a maximum speed limit (Vapp), a maximum deceleration (a) of the approaching vehicle, a margin time (tB) before the approaching vehicle decelerates after the lane change operation starts, and between the vehicles after the approaching vehicle decelerates. The minimum operating speed may be calculated using a time tG for maintaining the clearance distance, a maximum rearward sensing distance Srear of the sensor, and the like, and may be calculated through Equation 1 described above.

Thereafter, the vehicle apparatus 100 notifies the user of the changed operable range through the display device 240 (S220), so that the user can recognize a change in the operable range. Subsequently, the vehicle apparatus 100 determines whether the lane change function is currently in operation (S230). In this case, the vehicle apparatus 100 may determine whether the current lane change function is operated according to communication with an in-vehicle device supporting the lane change function or on / off information of a direction indicator.

If the lane change function is not in operation, the vehicle apparatus 100 may maintain the lane change function in the changed operable range (S240).

Meanwhile, when the lane change function is in operation, the vehicle apparatus 100 determines whether the current driving speed satisfies the changed operable range (S250).

When the current driving speed satisfies the changed operable range, the vehicle apparatus 100 continues to perform the lane change function in the changed operable range (S240).

On the other hand, if the current driving speed does not satisfy the changed operation range, the vehicle device 100 stops the lane change function according to the lane change stop procedure (S260).

Hereinafter, referring to FIG. 7, a vehicle control method according to automatic change of an operable range of a vehicle apparatus according to another exemplary embodiment will be described in detail. 7 is a flowchart illustrating a vehicle control method according to automatic change of an operable range of a vehicle apparatus according to another exemplary embodiment.

Hereinafter, it is assumed that the vehicle apparatus 100 of FIG. 1 performs the process of FIG. 7. In addition, in the description of FIG. 7, the operations described as being performed by the apparatus may be understood to be controlled by the processor 130 of the vehicle apparatus 100.

Referring to FIG. 7, when the driving country is changed and the maximum speed limit is changed in FIG. 5, the operation range for the lane changing function of the changed country is changed (S310). In this case, as described above, the operable range includes a range between the minimum operable speed and the maximum operable speed, and the maximum operable speed may include a value exceeding or higher than the maximum speed limit of the current driving country. Can be. In addition, the vehicle apparatus 100 includes a maximum speed limit (Vapp), a maximum deceleration (a) of the approaching vehicle, a margin time (tB) before the approaching vehicle decelerates after the lane change operation starts, and between the vehicles after the approaching vehicle decelerates. The minimum operating speed may be calculated using a time tG for maintaining the clearance distance, a maximum rearward sensing distance Srear of the sensor, and the like, and may be calculated through Equation 1 described above.

Thereafter, the vehicle apparatus 100 notifies the user of the changed operable range through the display device 240 (S320), so that the user can recognize a change in the operable range. Next, the vehicle apparatus 100 determines whether the lane change function is currently in operation (S330). In this case, the vehicle apparatus 100 may determine whether the current lane change function is operated according to communication with an in-vehicle device supporting the lane change function or on / off information of a direction indicator.

When the lane change function is not in operation, the vehicle apparatus 100 may maintain the lane change function in the changed operable range (S340).

Meanwhile, when the lane change function is in operation, the vehicle apparatus 100 determines whether the current driving speed satisfies the changed operable range (S350).

When the current driving speed satisfies the changed operable range, the vehicle apparatus 100 continues to perform the lane change function in the changed operable range (S340).

On the other hand, when the current driving speed does not satisfy the changed operable range, the vehicle apparatus 100 determines whether the lane change can be completed if the vehicle continues to run at the current driving speed (S360).

In this case, the vehicle apparatus 100 may complete the lane change when the surrounding environment recognized by the sensor module 210 is suitable for the lane change, and the speed may be adjusted within the changed operation range for the remaining time until the lane change is completed. Judging by the case. That is, when the surrounding environment is suitable for lane change, the rear side vehicle existing in the target lane for the lane change exists within the sensor rear side detection distance (Srear) but there is no danger of collision (for example, Speed is lower than the host vehicle). In order to determine a case in which speed adjustment is possible within the changed operation range for the remaining time until the lane change is completed, the vehicle device 100 automatically releases the lane change operation if the lane change operation is not completed after the lane change operation starts. When tC is reached, it is possible to determine whether or not the driving speed can be changed by accelerating and decelerating with an acceleration a such that the driver does not feel heterogeneous feeling greatly within the range of operation possible until reaching tC after starting the lane change operation. That is, when the driving speed can be changed by acceleration and deceleration at an acceleration a such that the driver does not feel heterogeneous feeling greatly within the operable range while reaching up to tC after the start of the lane change operation, the vehicle apparatus 100 may not complete the lane change. It can be judged as possible.

When the lane change is completed in step S360, the vehicle apparatus 100 continues to perform the lane change function in the changed operable range (S340).

On the other hand, if it is impossible to complete the lane change, the vehicle apparatus 100 stops the lane change function according to the lane change stop procedure (S370).

As described above, the present invention changes the operating range safely in preparation for the rear side dangerous situation according to the maximum speed limit of the driving country even if the vehicle crosses the border while the vehicle is traveling, and assists the driving or autonomous driving system for each country. It is possible to increase the usability of the driving assistance or autonomous driving function without having to diversify.

In addition, when movement between countries occurs while driving, information about a change setting of an operable range may be provided to the user in real time so that the user may perform safe driving.

8 illustrates a computing system according to an embodiment of the present invention.

Referring to FIG. 8, the computing system 1000 may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, and storage connected through a bus 1200. 1600, and network interface 1700.

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that executes processing for instructions stored in the memory 1300 and / or the storage 1600. The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include a read only memory (ROM) and a random access memory (RAM).

Thus, the steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, software module, or a combination of the two executed by the processor 1100. The software module resides in a storage medium (ie, memory 1300 and / or storage 1600), such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs. You may.

An exemplary storage medium is coupled to the processor 1100, which can read information from and write information to the storage medium. In the alternative, the storage medium may be integral to the processor 1100. The processor and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

Claims (20)

In a vehicle apparatus that performs a vehicle driving assistance function or an autonomous driving function,
A processor configured to vary an operation range of the function for each country when the vehicle moves a country while the vehicle is driving; And
A storage unit for storing the information calculated by the processor
Vehicle device comprising a. The method according to claim 1,
The operational range of the function includes a value between the minimum operational speed and the maximum operational speed,
And said maximum operable speed is set using the maximum speed limit of said country or more. The method according to claim 2,
The processor,
By using at least one of the maximum rear-side sensing distance, the maximum deceleration of the approaching vehicle, the margin time before the approaching vehicle decelerates after the lane change operation starts, and the time for the approaching vehicle to maintain the clearance distance between the vehicles after deceleration. Calculating the operable minimum speed. The method according to claim 1,
The processor,
And determining whether the maximum speed limit of the previous driving country and the maximum speed limit of the current driving country are different from each other when the country in which the vehicle is driven changes. The method according to claim 4,
The processor,
And when a difference between the maximum speed limit of the previous driving state and the maximum speed limit of the current driving country occurs, outputting a notification of the change of the maximum speed limit through the display device. The method according to claim 4,
The processor,
And when the difference between the maximum speed limit of the previous driving state and the maximum speed limit of the current driving country occurs, changing the function operable range according to the maximum speed limit of the current driving country. The method according to claim 6,
The processor,
And output the changed function operable range through a display device. The method according to claim 7,
The processor,
And determining whether the current lane change function is in operation, and whether the current driving speed of the vehicle satisfies the changed operable range when the lane change function is in operation. The method according to claim 8,
The processor,
And when the current driving speed of the vehicle satisfies the changed operable range, continuously performing a lane change function to the changed operable range. The method according to claim 8,
The processor,
And stop the lane change function in operation when the current traveling speed of the vehicle does not satisfy the changed operable range. The method according to claim 8,
The processor,
And determining that lane change is possible at the current traveling speed of the vehicle when the current traveling speed of the vehicle does not satisfy the changed operating range. The method according to claim 8,
The processor,
If the lane change can be completed at the current traveling speed of the vehicle, the lane change function is continuously performed in the changed operable range,
And stopping the lane change function in operation when it is impossible to complete the lane change at the current traveling speed of the vehicle. In a vehicle system that performs a vehicle driving assistance function or an autonomous driving function,
When the vehicle moves the country while driving, the vehicle device for applying a variable range of operation of the function for each country; And
A display device for outputting a notification of an operable range varied by the vehicle device
Vehicle system comprising a. If the vehicle moves a country while driving, varying an applicable range for each country to perform a vehicle driving assistance function or an autonomous driving function; And
Outputting a notification when the operating range is changed for each country;
Method for automatically changing the operational range of the vehicle device comprising a. The method according to claim 14,
The operational range of the function includes a value between the minimum operational speed and the maximum operational speed,
The maximum operational speed is set using the speed limit of the country or higher speed,
The minimum operating speed may include a maximum rearward sensing distance, a maximum deceleration of the approaching vehicle, a margin time before the approaching vehicle decelerates after the lane change operation starts, and a time for maintaining the clearance distance between the vehicles after the approaching vehicle decelerates. Method for automatically changing the operational range of the vehicle device, characterized in that calculated using at least one or more. The method according to claim 14,
The step of applying the operation range by country variable,
Determining whether a difference between the maximum speed limit of the previous driving country and the maximum speed limit of the current driving country is changed when the country in which the vehicle is driven changes;
Changing the function operable range according to the highest speed limit of the current driving country;
Method for automatically changing the operational range of the vehicle device comprising a. The method according to claim 16,
The step of applying the operation range by country variable,

Determining whether a current lane change function is in operation; And
Determining whether the current traveling speed of the vehicle satisfies the changed operable range when the lane changing function is in operation;
Method for automatically changing the operational range of the vehicle device further comprising a. The method according to claim 17,
The step of applying the operation range by country variable,
If the current driving speed of the vehicle satisfies the changed operable range, continuing to perform a lane change function to the changed operable range; And
If the current driving speed of the vehicle does not satisfy the changed operating range, stopping the lane change function in operation;
Method for automatically changing the operational range of the vehicle device further comprising a. The method according to claim 18,
The step of applying the operation range by country variable,
Determining whether lane change is possible at the current traveling speed of the vehicle when the current traveling speed of the vehicle does not satisfy the changed operating range;
Method for automatically changing the operational range of the vehicle device further comprising a. The method according to claim 19,
The step of applying the operation range by country variable,
If the lane change is possible to be completed at the current driving speed of the vehicle, continuing the lane change function to the changed operable range; And
Stopping a lane change function in operation when it is impossible to complete the lane change at the current driving speed of the vehicle;
Method for automatically changing the operational range of the vehicle device further comprising a.

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