KR20220052429A - Vehicle driving control system and method - Google Patents

Abstract

Introduced is a vehicle traveling control system. The vehicle traveling control system according to the present invention comprises: a sensing unit for detecting a lane of a carriageway in which a vehicle travels; a recognizing unit recognizing a change in a lateral distance between the lane and the vehicle detected by the sensing unit; a determining unit which determines an intention to change the lane based on a change in the lateral distance between the lane and the vehicle recognized by the recognition unit; and a setting unit which sets a movement path for changing the lane of the vehicle based on the intention to change the lane determined by the determining unit. An objective of the present invention is to assist driver's driving by displaying the movement path of a general vehicle on a display apparatus.

Description

Vehicle driving control system and method {VEHICLE DRIVING CONTROL SYSTEM AND METHOD}

The present invention relates to a vehicle driving control system and method, and more particularly, to a system for assisting lane change in a general vehicle or changing a driving lane of a vehicle in an autonomous vehicle.

The conventional lane changing system of an autonomous vehicle can be implemented in three main ways.

The first is a camera (vision sensor)-based method that generates steering to some extent with open-loop control, and then performs a closed-loop lane keeping system when the camera sensor recognizes the next lane to reduce the lateral distance error. It is a method of controlling by converging to 0. The second is also a method based on a camera sensor, which can change lanes with continuous closed-loop control by recognizing the driving lane and predicting and generating a virtual next lane. The third method is to change lanes by pre-creating two or more separate lane-changing routes measured in advance using GPS and selecting the routes.

But. The image-based methods like the first and second methods are fatal if the reliability of the camera sensor deteriorates or failure occurs. There was a possible problem.

In addition, the third method is much less affected by curvature, lane shape, climate, day and night conditions, etc. than the former method, but if the GPS reception sensitivity is weakened, it is dangerous to set an inaccurate lane change movement route.

The matters described as the background art above are only for improving the understanding of the background of the present invention, and should not be accepted as acknowledging that they correspond to the prior art already known to those of ordinary skill in the art.

KR 10-1439017 B1

The present invention has been proposed to solve this problem, recognizes the driver's intention to change lanes, detects the driving lane of the vehicle to determine whether a lane can be changed, and sets a lane change movement path when changing lanes is possible. In the case of a driving vehicle, a vehicle lane is changed, and in the case of a general vehicle, a movement path is displayed on a display device to assist a driver in driving.

A driving control system for a vehicle according to the present invention includes: a sensing unit for detecting a lane of a lane in which the vehicle travels; a recognition unit for recognizing a change in a lateral distance between the lane and the vehicle detected by the sensing unit; a determination unit configured to determine a lane change intention based on a change in a lateral distance between the lane and the vehicle recognized by the recognition unit; and a setting unit configured to set a movement path for changing the vehicle lane based on the lane change intention determined by the determination unit.

The sensing unit may be mounted on the vehicle and connected to a camera that captures images around the vehicle, and may detect lanes on both sides of the vehicle by using the image captured by the camera.

The sensing unit may classify and detect lanes by color and type, and the determination unit may determine whether a vehicle lane can be changed based on the color and type of the lane detected by the sensing unit.

The sensing unit may detect an external obstacle adjacent to the vehicle, and the determining unit may determine whether the vehicle lane can be changed based on the external obstacle detected by the sensing unit adjacent to the vehicle.

The determination unit may deep-learning a distance change according to time between the lane and the vehicle recognized by the recognition unit when there is an intention to change lanes.

The controller may further include a control unit for controlling the driving of the vehicle along the virtual lane set by the setting unit or generating a warning signal when the vehicle departs from the lane detected by the sensing unit.

When the recognition unit recognizes a change in the lateral distance between the lane and the vehicle in a state in which the intention to change lanes is not determined by the determination unit, the control unit generates a lane keeping warning signal or maintains the lane detected by the detection unit. can control the steering of

The determination unit determines whether a lane change is possible of the vehicle based on the lane detected by the detection unit, and the control unit determines whether the vehicle lane change intention exists in the determination unit, and when it is determined that the lane change is impossible It is possible to send a lane keeping warning signal or control the steering of the vehicle based on the lane detected by the sensor.

The determination unit is connected to the angular velocity sensor, steering torque sensor, steering angle sensor or turn signal device mounted on the vehicle, and determines the intention to change lanes based on the steering information received from the angular velocity sensor, steering torque sensor, steering angle sensor or turn signal device. can

The setting unit may be connected to the speed sensor of the vehicle to set the longitudinal length or curvature of the extended movement path to change the lane based on the speed of the vehicle.

The display unit may further include a display unit for displaying the movement path set by the setting unit through a display device mounted on the vehicle.

A driving control method of a vehicle according to the present invention includes a sensing step of detecting a lane of a lane in which the vehicle travels; a recognition step of recognizing a change in a lateral distance between the lane and the vehicle detected in the detection step; a determination step of determining an intention to change lanes based on a change in the lateral distance between the lane and the vehicle recognized in the recognition step; and a setting step of setting a movement route for changing the lane of the vehicle based on the lane change intention determined in the determination step.

In the detection step, lanes are classified by color and type to be detected, and in the determination step, it may be determined whether the vehicle can be changed to a lane based on the color and type of the lane detected in the detection step.

In the determination step, when there is an intention to change a lane, a distance change according to time between the lane and the vehicle recognized in the recognition step may be deep-learned.

The method may further include a first control step of controlling the driving of the vehicle along the virtual lane set in the setting step.

a second control step of generating a lane keeping warning signal; and a third control step of controlling the steering of the vehicle to maintain the lane detected in the detection step; in a state in which the intention to change lanes is not determined in the determination step, the lateral distance between the lane and the vehicle in the recognition step Upon recognizing the change, a second control step or a third control step may be executed.

a second control step of generating a lane keeping warning signal; and a third control step of controlling the steering of the vehicle to maintain the lane detected in the detection step, wherein the determination step determines whether a lane change is possible based on the lane detected in the detection step, and the determination step If it is determined that there is an intention to change the lane of the vehicle and it is determined that it is impossible to change the lane, the second control step or the third control step may be executed.

Further comprising; receiving steering information from an angular velocity sensor, a steering torque sensor, a steering angle sensor, or a turn signal device mounted on the vehicle before the determining step;

In the determination step, the intention to change lanes may be determined based on the steering information.

In the setting step, the longitudinal length or curvature of the extended movement path may be set in connection with the vehicle speed sensor to change the lane based on the vehicle speed.

The method may further include a display step of displaying the movement path set in the setting step through a display device mounted on the vehicle.

The driving control system of the vehicle according to the present invention recognizes the intention to change lanes, detects the driving lane or obstacles of the vehicle, determines whether the vehicle can change lanes, and sets a lane change movement path when the vehicle lane change is possible, autonomously In the case of a driving vehicle, there is an effect that the vehicle can be safely changed to a vehicle.

In addition, in the case of a general vehicle, a lane change movement route is displayed on the display device to assist the driver in lane change.

In addition, when it is detected that a lane change is impossible, a warning signal is generated when the driver indicates an intention to change lanes to assist the driver in driving, thereby reducing the occurrence of accidents.

1 is a configuration diagram of a vehicle driving control system according to an embodiment of the present invention;
2 is a view showing a detection range of a vehicle driving control system according to an embodiment of the present invention;
3 is a view showing a movement path when changing a lane in a vehicle driving control system according to an embodiment of the present invention;
4 is a view showing a recognition unit of a vehicle driving control system according to an embodiment of the present invention recognizes a lane change through a lane movement detected by a sensing unit;
5 is a view showing a movement path through a display device in a vehicle driving control system according to an embodiment of the present invention;
6 is a flowchart of a driving control method of a vehicle according to an exemplary embodiment of the present invention.

Specific structural or functional descriptions of the embodiments of the present invention disclosed in the present specification or application are only exemplified for the purpose of describing the embodiments according to the present invention, and the embodiments according to the present invention are implemented in various forms. and should not be construed as being limited to the embodiments described in the present specification or application.

Since the embodiment according to the present invention may have various changes and may have various forms, specific embodiments will be illustrated in the drawings and described in detail in the present specification or application. However, this is not intended to limit the embodiment according to the concept of the present invention to a specific disclosed form, and should be understood to include all changes, equivalents, or substitutes included in the spirit and scope of the present invention.

Terms such as first and/or second may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one element from another element, for example, without departing from the scope of the present invention, a first element may be called a second element, and similarly The second component may also be referred to as the first component.

When an element is referred to as being “connected” or “connected” to another element, it is understood that it may be directly connected or connected to the other element, but other elements may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle. Other expressions describing the relationship between elements, such as "between" and "immediately between" or "neighboring to" and "directly adjacent to", etc., should be interpreted similarly.

The terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present specification, terms such as "comprise" or "have" are intended to designate the existence of an embodied feature, number, step, operation, component, part, or combination thereof, but one or more other features or numbers , it should be understood that it does not preclude the existence or addition of steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having meanings consistent with the context of the related art, and unless explicitly defined in the present specification, they are not to be interpreted in an ideal or excessively formal meaning. .

Hereinafter, the present invention will be described in detail by describing preferred embodiments of the present invention with reference to the accompanying drawings. Like reference numerals in each figure indicate like elements.

The sensing unit 10 , the recognition unit 20 , the determination unit 30 , the setting unit 40 , the control unit 50 , and the display unit 60 according to an exemplary embodiment of the present invention operate the various components of the vehicle. A non-volatile memory (not shown) configured to store data relating to an algorithm configured to control the algorithm or software instructions for reproducing the algorithm, and a processor (not shown) configured to perform the operations described below using the data stored in the memory. not) can be implemented. Here, the memory and the processor may be implemented as separate chips. Alternatively, the memory and processor may be implemented as a single chip integrated with each other. A processor may take the form of one or more processors.

1 is a configuration diagram of a driving control system for a vehicle according to an embodiment of the present invention, FIG. 2 is a view showing a detection range of a driving control system for a vehicle according to an embodiment of the present invention, and FIG. 3 is an embodiment of the present invention It is a diagram illustrating a movement path when a lane is changed in a vehicle driving control system according to FIG.

The vehicle driving control system according to the present invention may assist in lane change when a vehicle changes into a lane, or may control the vehicle to change lanes.

The driving control system for a vehicle according to the present invention can be applied to a general vehicle or an autonomous driving vehicle, and when applied to a general vehicle, it guides the driver with a movement route, and in the case of an autonomous vehicle, it can control the driving of the vehicle according to the movement route. there is.

A driving control system for a vehicle according to the present invention includes a sensing unit 10 for detecting a lane of a lane in which the vehicle travels; a recognition unit 20 for recognizing a change in a lateral distance between the lane and the vehicle detected by the sensing unit 10; a determination unit 30 for determining an intention to change lanes based on a change in a lateral distance between the lane and the vehicle recognized by the recognition unit 20; and a setting unit 40 for setting a movement route for changing a vehicle's lane based on the lane change intention determined by the determination unit 30 .

1 to 3 , the sensing unit 10 may detect a lane in which the vehicle travels by sensing the surroundings of the vehicle.

The recognition unit 20 may recognize a change in the lateral distance between the lane and the vehicle by calculating the lateral distance between the lane and the vehicle detected by the sensing unit 10 .

The determination unit 30 may determine the lane change intention in which the vehicle moves to the left or right to change the lane based on the lateral distance between the lane and the vehicle recognized by the recognition unit 20 .

The determination unit 30 determines that the vehicle changes to a left lane when the recognition unit 20 recognizes that the distance between the left lane of the vehicle and the vehicle approaches, and the recognition unit 20 determines between the vehicle's right lane and the vehicle When it is recognized that the distance of , it can be determined that the vehicle changes to a right lane.

The setting unit 40 may set the movement path in the lane change direction of the vehicle based on whether the lane is changed as determined by the determination unit 30 .

Through this, it is possible to safely change the vehicle to a lane or assist in lane change by setting a lane change movement route of the vehicle.

The sensing unit 10 is mounted on the vehicle and connected to a camera 11 that captures the surroundings of the vehicle, and can detect lanes on both sides of the vehicle by using the image captured by the camera 11 .

As shown in FIG. 2 , the detection unit 10 is connected to the sensor of the camera 11 mounted on the vehicle to photograph the surroundings of the vehicle in real time, and detects a lane based on the association information captured by the sensor of the camera 11 . can do.

Also, the detector 10 may detect an obstacle adjacent to the vehicle based on image information captured by the sensor of the camera 11 .

The sensing unit 10 classifies and detects lanes by color and type, and the determination unit 30 may determine whether the vehicle lane can be changed based on the color and type of the lane detected by the sensing unit 10 . .

The detection unit 10 may detect the color or type of the lane based on image information captured by the sensor of the camera 11 . Depending on the color and type of the lane, the vehicle may change into a lane, and based on this, the determination unit 30 may determine whether to change the vehicle's lane.

Accordingly, when a lane is detected as a solid line, a double solid line, or a yellow line, lane change is impossible, and lane change is possible only when the lane is a white broken line.

The sensing unit 10 may detect an external obstacle adjacent to the vehicle, and the determining unit 30 may determine whether the vehicle lane can be changed based on the external obstacle detected by the sensing unit 10 adjacent to the vehicle.

The sensing unit 10 may detect an external obstacle adjacent to the vehicle through the camera 11 mounted on the vehicle. The external obstacle may be an external vehicle located adjacent to the own vehicle, an object that makes it impossible to change the vehicle's lane, such as a curb or a street tree.

The determination unit 30 may determine that it is impossible to change the lane of the vehicle when the external obstacle detected by the detection unit 10 is located adjacent to the vehicle.

4 is a diagram illustrating that the recognition unit 20 of the vehicle driving control system according to an embodiment of the present invention recognizes a lane change through the movement of the lane detected by the detection unit 10 .

A diagram illustrating a lane in FIG. 4 is a diagram illustrating a situation in which a lane is located in the detection range illustrated in FIG. 2 .

The determination unit 30 may deep-learning a distance change according to time between the lane and the vehicle recognized by the recognition unit 20 when there is an intention to change the lane.

Referring further to FIG. 4 , the determination unit 30 may perform deep learning on the lateral distance between the vehicle and the lane recognized by the recognition unit 20 according to time sequence. Through this, the determination unit 30 has an effect of quickly determining whether to change the lane of the vehicle.

The controller 50 may further include; controlling the driving of the vehicle along the virtual lane set by the setting unit 40 or generating a warning signal when the vehicle departs from the lane detected by the sensing unit 10 .

In the case of an autonomous driving vehicle, the controller 50 may change the vehicle into a lane by controlling the driving of the vehicle according to the lane change movement path set by the setting unit 40 .

In addition, in the case of a general vehicle, when a lane change is detected due to a lane curve when the driver does not intend to change lanes, a warning signal is generated to the driver so that the driver can focus on driving.

This has the effect of reducing the probability of a vehicle collision accident.

In a state in which the lane change intention is not determined by the determination unit 30 , when the recognition unit 20 recognizes a change in the lateral distance between the lane and the vehicle, the control unit 50 generates or detects a lane keeping warning signal The steering of the vehicle may be controlled to maintain the lane detected by the unit 10 .

When the lane is curved, the lateral distance between the lane and the vehicle approaches due to the driver's carelessness, and when the recognition unit 20 recognizes the change in the lateral distance between the lane and the vehicle, in the case of a general vehicle, the control unit 50 It alerts the driver to a lane keeping warning, allowing the driver to focus more on driving. Also, in the case of an autonomous vehicle, the controller 50 may control the driving of the vehicle to maintain the current lane detected by the sensor 10 .

In this way, the probability of occurrence of a vehicle collision accident may be reduced.

The determination unit 30 determines whether the vehicle lane can be changed based on the lane detected by the detection unit 10 , and the determination unit 30 determines that there is an intention to change the vehicle lane, and whether the vehicle lane change is possible When it is determined that .

In a state in which the driver recognizes the lane change in the determination unit 30 , the determination unit 30 determines whether the vehicle can change lanes based on the type or color of the lane detected by the detection unit 10 , If it is impossible to change, the controller 50 may control to maintain the current lane detected by the detector 10 or send a warning signal to the driver.

In addition, the sensing unit 10 may recognize obstacles around the vehicle, and the determination unit 30 may determine whether it is possible to change the vehicle's lane based on this.

In this way, the probability of occurrence of a vehicle collision accident may be reduced.

The determination unit 30 is connected to the angular velocity sensor 31 , the steering torque sensor 32 , the steering angle sensor 33 or the turn signal device 34 mounted on the vehicle, and the angular velocity sensor 31 , the steering torque sensor 32 . ), the steering angle sensor 33 or the steering information input from the turn signal device 34 may determine the intention to change the lane based on the steering information.

The determination unit 30 includes an angular velocity sensor 31 , a steering torque sensor 32 , a steering angle sensor 33 , or a turn signal device 34 mounted on the vehicle separately from recognizing whether the lane is changed by the recognition unit 20 . It is connected to and based on the steering information detected by the angular velocity sensor 31, the steering torque sensor 32, or the steering angle sensor 33 or the steering information input from the turn signal device 34, the lane change of the vehicle can be recognized. .

The angular velocity sensor 31 measures the yaw angular velocity, and the determination unit 30 detects the yaw angular velocity by the angular velocity sensor 31 because it is not in a state that can make a normal turn when under steer or over steer occurs in the vehicle. When is adjacent to or equal to the preset yaw angular velocity, it is determined whether the vehicle is turning normally and whether to change lanes can be recognized.

The steering torque sensor 32 or the steering angle sensor 33 is connected to the vehicle's steering apparatus to detect that the driver rotates the steering wheel, and the determination unit 30 may recognize whether to change the lane based on this.

The setting unit 40 may be connected to the vehicle speed sensor 41 to set the longitudinal length or curvature of the extended virtual lane to change a lane based on the vehicle speed.

As shown in FIG. 3 , the setting unit 40 sets a movement path and is connected to the speed sensor 41 mounted on the vehicle to set the longitudinal length of the movement path or the curvature of the movement path.

When the vehicle speed is high, the setting unit 40 may set the longitudinal distance to be relatively long or set the curvature of the moving path to be relatively small.

Also, when the vehicle speed is low, the setting unit 40 may set the longitudinal distance to be relatively short or the curvature of the movement path to be relatively large.

Through this, the setting unit 40 can safely change the vehicle into a lane by setting a movement route when changing a lane.

The display unit 60 may further include; the display unit 60 for displaying the movement path set by the setting unit 40 through the display device 61 mounted on the vehicle.

5 is a diagram illustrating a movement path through a display device in a vehicle driving control system according to an embodiment of the present invention.

5 , the vehicle may be equipped with a display device 61 such as a head up display (HUD) or monitor for displaying vehicle information, and in the case of a general vehicle, the display unit 60 may include a setting unit 40 . As shown in FIG. 5 , the lane change movement path set in may be displayed on the display device 61 .

This has the effect of assisting the driver in driving.

6 is a flowchart of a driving control method of a vehicle according to an exemplary embodiment of the present invention.

With reference to FIG. 6, a preferred embodiment of the method for controlling the driving of a vehicle according to the present invention will be described.

A driving control method of a vehicle according to the present invention includes a sensing step (S100) of detecting a lane of a lane in which the vehicle travels; a recognition step 200 of recognizing a change in the lateral distance between the lane and the vehicle detected in the detection step; A determination step (S400) of determining an intention to change lanes based on the change in the lateral distance between the lane and the vehicle recognized in the recognition step; and a setting step (S500) of setting a movement route for changing the lane of the vehicle based on the lane change intention determined in the determination step (S500).

In the detection step ( S100 ), lanes on both sides of the vehicle may be detected using an image captured by the camera 11 mounted on the vehicle and photographing the surroundings of the vehicle.

In the detection step (S100), lanes are classified by color and type and detected, and in the determination step, it may be determined whether the vehicle lane can be changed based on the color and type of the lane detected in the detection step.

In the determination step S400 , a change in the distance between the lane and the vehicle recognized in the recognition step when there is an intention to change the lane according to time may be deep-learned.

It may further include; a first control step (S630) of controlling the driving of the vehicle along the virtual lane set in the setting step (S500).

a second control step of generating a lane keeping warning signal (S610); and a third control step (S620) of controlling the steering of the vehicle to maintain the lane detected in the detection step (S100); in a state where the intention to change lanes is not determined in the determination step (S410), the detection step When a lane change is detected in ( S100 ), a third control step or a third control step may be executed.

a second control step of generating a lane keeping warning signal (S610); and a third control step (S620) of controlling the steering of the vehicle to maintain the lane detected in the detection step (S100); and, in the determination step (S500), based on the lane detected in the detection step (S100) It is determined whether the vehicle can change lanes, and when it is determined that there is an intention to change lanes of the vehicle in the determination step S400 (S410), and it is determined that it is impossible to change the lanes (S420), the second control step (S610) Alternatively, the third control step S620 may be executed.

Step (S300) of receiving steering information from the angular velocity sensor 31, the steering torque sensor 32, the steering angle sensor 33, or the turn signal device 34 mounted on the vehicle before the determination step (S400); including,

In the determination step (S400), it is possible to determine the intention to change the lane based on the steering information (S410).

In the setting step S500, the longitudinal length or curvature of the extended virtual lane may be set in connection with the vehicle speed sensor 41 to change a lane based on the vehicle speed.

A display step (S640) of displaying the movement path set in the setting step (S500) through the display device 61 mounted on the vehicle; may be further included.

Although shown and described in relation to specific embodiments of the invention, it is common in the art that the present invention can be variously improved and changed without departing from the spirit of the invention provided by the following claims. It will be obvious to those who have the knowledge of

10: sensing unit
11: Camera
20: recognition unit
30: judgment unit
31: angular velocity sensor
32: steering torque sensor
33: steering angle sensor
34: turn signal device
40: setting unit
41: speed sensor
50: control unit
60: display
61: display device

Claims (20)

a sensing unit for detecting a lane of a lane in which the vehicle travels;
a recognition unit for recognizing a change in a lateral distance between the lane and the vehicle detected by the sensing unit;
a determination unit configured to determine a lane change intention based on a change in a lateral distance between the lane and the vehicle recognized by the recognition unit; and
A vehicle driving control system comprising a; a setting unit for setting a movement route for changing the lane of the vehicle based on the lane change intention determined by the determination unit. The method according to claim 1
A driving control system for a vehicle, characterized in that the sensing unit is mounted on the vehicle and connected to a camera that captures the surroundings of the vehicle, and detects lanes on both sides of the vehicle by using the image captured by the camera. The method according to claim 1,
The detection unit detects lanes by classifying them by color and type,
The driving control system of the vehicle, characterized in that the determining unit determines whether the vehicle can be changed to a lane based on the color and type of the lane detected by the sensing unit. The method according to claim 1,
The sensing unit detects an external obstacle adjacent to the vehicle,
The determining unit is a driving control system for a vehicle, characterized in that it determines whether the vehicle can be changed to a lane based on an external obstacle adjacent to the vehicle detected by the sensing unit. The method according to claim 1,
The determining unit deep-learning a distance change according to time between the lane and the vehicle recognized by the recognition unit when there is an intention to change lanes. The method according to claim 1,
The driving control system of the vehicle further comprising: a control unit for controlling the driving of the vehicle along the virtual lane set by the setting unit or generating a warning signal when the vehicle departs from the lane detected by the sensing unit. 7. The method of claim 6,
When the recognition unit recognizes a change in the lateral distance between the lane and the vehicle in a state in which the intention to change lanes is not determined by the determination unit, the control unit generates a lane keeping warning signal or maintains the lane detected by the detection unit. A driving control system for a vehicle, characterized in that it controls the steering of the vehicle. 7. The method of claim 6,
The determination unit determines whether it is possible to change the lane of the vehicle based on the lane detected by the detection unit,
When it is determined by the determination unit that the intention to change the vehicle's lane exists and it is determined that the lane change is not possible, the control unit sends a lane keeping warning signal to the driver or controls the steering of the vehicle based on the lane detected by the sensing unit. A driving control system for a vehicle, characterized in that it controls. The method according to claim 1,
The determination unit is connected to the angular velocity sensor, steering torque sensor, steering angle sensor or turn signal device mounted on the vehicle, and determines the intention to change lanes based on the steering information received from the angular velocity sensor, steering torque sensor, steering angle sensor or turn signal device. A vehicle driving control system, characterized in that. The method according to claim 1,
The setting unit is connected to the speed sensor of the vehicle to set the longitudinal length or curvature of the extended movement path to change the lane based on the speed of the vehicle. The method according to claim 1,
The driving control system of the vehicle further comprising a; a display unit for displaying the movement path set by the setting unit through a display device mounted on the vehicle. a sensing step of detecting a lane of a lane in which the vehicle travels;
a recognition step of recognizing a change in a lateral distance between the lane and the vehicle detected in the detection step;
a determination step of determining an intention to change lanes based on a change in the lateral distance between the lane and the vehicle recognized in the recognition step; and
A driving control method of a vehicle comprising a; setting step of setting a movement route for changing the lane of the vehicle based on the lane change intention determined in the determination step. 13. The method of claim 12,
In the detection stage, lanes are detected by classifying them by color and type,
In the determination step, the driving control method of a vehicle, characterized in that it is determined whether the vehicle can be changed to a lane based on the color and type of the lane detected in the detection step. 13. The method of claim 12,
In the detection stage, an external obstacle adjacent to the vehicle is detected,
In the determination step, the driving control method of a vehicle, characterized in that it is determined whether the vehicle can change into a lane based on an external obstacle adjacent to the vehicle detected in the detection step. 13. The method of claim 12,
The driving control method of the vehicle further comprising a; a first control step of controlling the driving of the vehicle along the virtual lane set in the setting step. 13. The method of claim 12,
a second control step of generating a lane keeping warning signal; and
Further comprising; a third control step of controlling the steering of the vehicle to maintain the lane detected in the detection step;
In a state where the intention to change lanes is not determined in the determination step, the second control step or the third control step is executed when a change in the lateral distance between the lane and the vehicle is recognized in the recognition step. 13. The method of claim 12,
a second control step of generating a lane keeping warning signal; and
Further comprising; a third control step of controlling the steering of the vehicle to maintain the lane detected in the detection step;
In the judgment step, based on the lane detected in the detection step, it is determined whether it is possible to change the vehicle's lane,
In the determining step, when it is determined that there is an intention to change the lane of the vehicle and it is determined that it is impossible to change the lane, the second control step or the third control step is executed. 13. The method of claim 12,
Further comprising; receiving steering information from an angular velocity sensor, a steering torque sensor, a steering angle sensor or a turn signal device mounted on the vehicle before the determination step;
In the determining step, the driving control method of a vehicle, characterized in that determining the intention to change the lane based on the steering information. 13. The method of claim 12,
In the setting step, the longitudinal length or curvature of the extended movement path is set in connection with the vehicle speed sensor to change the lane based on the vehicle speed. 13. The method of claim 12,
A display step of displaying the movement path set in the setting step through a display device mounted on the vehicle; the driving control method of the vehicle further comprising a.

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