KR20230123539A - Method and Apparatus for controlling Vehicle by using traffic sign - Google Patents

Abstract

A method for controlling a vehicle using sign information according to an embodiment of the present invention includes starting a following driving mode for a preceding vehicle, recognizing a sign indicating a curve section using a front camera, and determining whether the preceding vehicle exists at the time of recognition; and if the preceding vehicle does not exist as a result of the determination, controlling the following driving mode by a first algorithm, and as a result of the determination, the preceding vehicle exists If so, controlling the following driving mode by a second algorithm.

Description

Method and apparatus for controlling vehicle using sign information {Method and Apparatus for controlling Vehicle by using traffic sign}

The present embodiments are applicable to vehicles in all fields, and more specifically, to various systems for controlling vehicles using sign information, for example.

Smart Cruise Control (SCC), which has recently been introduced, is a driver convenience technology that maintains a constant distance from the vehicle in front to partially autonomously drive at a speed set by the driver or at a preset speed. It is one of the main technologies of ADAS (Driver Assistance Systems).

However, in autonomous driving systems known so far, there is a problem in that the SCC function is released while missing a preceding vehicle in a curve/sudden curve section, or the vehicle accelerates rapidly to forcibly track the preceding vehicle.

In addition, there is still a problem in controlling the vehicle at high speed to maintain the SCC function in a curve / sharp curve section.

In order to solve the above problems, one of the embodiments of the present invention seeks to improve the recognition and control performance of a preceding vehicle and road curvature based on sign information recognized from a front camera installed in a vehicle. .

In addition, one of the embodiments of the present invention proposes a new solution in which different algorithms are applied according to whether or not a preceding vehicle exists in a curve/straight curve section during execution of the SCC function.

The problems to be solved in 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 description below. You will be able to.

A method for controlling a vehicle using sign information according to any one of the embodiments of the present invention for solving the above problems includes starting a driving mode for following a preceding vehicle, and using a front camera. recognizing a sign indicating that it is a curve section, determining whether the preceding vehicle exists at the time of recognition, and if the preceding vehicle does not exist as a result of the determination, a following driving mode is set by a first algorithm and controlling the following driving mode by a second algorithm when the preceding vehicle exists as a result of the determination.

Furthermore, a vehicle controlling a driving mode for following a preceding vehicle using sign information according to any one of the embodiments of the present invention includes a sensor recognizing a sign indicating a curve section, and at the recognition time and a controller that determines whether the preceding vehicle exists. For example, the controller controls the following driving mode by a first algorithm when the preceding vehicle does not exist as a result of the determination, and controls the following driving mode by a second algorithm when the preceding vehicle exists as a result of the determination. It is characterized by doing.

In addition, the computer-readable recording medium according to any one of the embodiments of the present invention includes a first command for instructing to start a following driving mode for a preceding vehicle, and in an image obtained using a front camera, a curve A second command for instructing to recognize a sign indicating that it is a section, a third command for instructing to determine whether the preceding vehicle exists at the time of recognition, and a first algorithm when the preceding vehicle does not exist as a result of the determination and a fifth command instructing to control the following driving mode according to the second algorithm when the preceding vehicle exists as a result of the determination.

According to any one of the embodiments of the present invention, there is a technical effect of improving vehicle and road curvature recognition performance in a curve / sharp curve section during execution of the SCC function.

According to any one of the embodiments of the present invention, it will be said that the advantage of further improving driving stability while maintaining the SCC function in a curve / sharp curve section is expected.

The effects obtainable in the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description below. will be.

1 is an overall block configuration diagram of an autonomous driving control system to which an autonomous driving device according to one of the embodiments of the present invention can be applied.
2 is an exemplary view showing an example in which an autonomous driving device according to any one of the embodiments of the present invention is applied to a vehicle.
FIG. 3 is a flow chart in which a vehicle according to one embodiment of the present invention applies another algorithm to an SCC function in a specific section.
4 illustrates a group of specific signs targeted by a vehicle according to one of the embodiments of the present invention.
And, FIG. 5 illustrates a view range recognized from the front based on a vehicle according to one of the embodiments of the present invention.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily carry out the present invention. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a certain component is said to "include", it means that it may further include other components without excluding other components unless otherwise stated.

1 is an overall block configuration diagram of an autonomous driving control system to which an autonomous driving device according to one of the embodiments of the present invention can be applied. 2 is an exemplary view showing an example in which an autonomous driving device according to any one of the embodiments of the present invention is applied to a vehicle.

First, with reference to FIGS. 1 and 2 , the structure and function of an autonomous driving control system (eg, an autonomous vehicle) to which the autonomous driving device according to the present embodiments can be applied will be described.

As shown in FIG. 1 , the self-driving vehicle 1000 provides information about the vehicle through a driving information input interface 101, a driving information input interface 201, a passenger output interface 301, and a vehicle control output interface 401. It may be implemented around the autonomous driving integrated control unit 600 that transmits and receives data necessary for autonomous driving control. However, the autonomous driving integrated controller 600 may also be referred to as a controller, a processor, or simply a controller in this specification.

The autonomous driving integrated control unit 600 may obtain driving information according to a driver's manipulation of the user input unit 100 in the autonomous driving mode or the manual driving mode of the vehicle through the driving information input interface 101 . As shown in FIG. 1 , the user input unit 100 includes a driving mode switch 110 and a control panel 120 (eg, a navigation terminal mounted on a vehicle, a smartphone or tablet PC owned by a passenger, etc.) Accordingly, the driving information may include driving mode information and navigation information of the vehicle.

For example, the driving mode of the vehicle determined according to the driver's manipulation of the driving mode switch 110 (ie, autonomous driving mode/manual driving mode or sports mode/eco mode/safety mode) (Safe Mode/Normal Mode) may be transmitted to the autonomous driving integrated control unit 600 through the driving information input interface 101 as the driving information.

In addition, navigation information such as the passenger's destination input by the passenger through the control panel 120 and the route to the destination (the shortest route or preferred route selected by the passenger among the candidate routes to the destination) is driving information. It can be transmitted to the autonomous driving integrated control unit 600 through the input interface 101 .

Meanwhile, the control panel 120 may be implemented as a touch screen panel that provides a user interface (UI) for a driver to input or modify information for autonomous driving control of a vehicle. In this case, the aforementioned driving mode switch 110 ) may be implemented as a touch button on the control panel 120.

In addition, the autonomous driving integrated control unit 600 may obtain driving information representing a driving state of the vehicle through the driving information input interface 201 . The driving information includes the steering angle formed by the occupant operating the steering wheel, the stroke of the accelerator pedal or the brake pedal formed by depressing the accelerator or brake pedal, and vehicle speed, acceleration, yaw, pitch, and behavior formed in the vehicle. and roll, etc., and may include various types of information representing the driving state and behavior of the vehicle. As shown in FIG. ) 220, vehicle speed sensor 230, acceleration sensor 240, and yaw/pitch/roll sensor 250.

Furthermore, vehicle driving information may include vehicle location information, and vehicle location information may be acquired through a Global Positioning System (GPS) receiver 260 applied to the vehicle. Such driving information may be transmitted to the autonomous driving integrated control unit 600 through the driving information input interface 201 and used to control driving of the vehicle in the autonomous driving mode or the manual driving mode.

In addition, the autonomous driving integrated control unit 600 may transmit driving state information provided to the occupant in the autonomous driving mode or the manual driving mode of the vehicle to the output unit 300 through the occupant output interface 301 . That is, the autonomous driving integrated control unit 600 transmits driving state information of the vehicle to the output unit 300 so that the driver can drive the vehicle autonomously or manually based on the driving state information output through the output unit 300. The driving state information may include various information indicating the driving state of the vehicle, such as a current driving mode, a shift range, and a vehicle speed.

In addition, when it is determined that a driver needs to be warned in the autonomous driving mode or manual driving mode of the vehicle along with the driving state information, the autonomous driving integrated control unit 600 outputs warning information through the occupant output interface 301 to the output unit. 300 so that the output unit 300 outputs a warning to the driver. In order to audibly and visually output such driving state information and warning information, the output unit 300 may include a speaker 310 and a display device 320 as shown in FIG. 1 . At this time, the display device 320 may be implemented as the same device as the aforementioned control panel 120 or may be implemented as a separate and independent device.

In addition, the autonomous driving integrated control unit 600 may transmit control information for driving control of the vehicle in the autonomous driving mode or the manual driving mode of the vehicle to the lower control system 400 applied to the vehicle through the vehicle control output interface 401. there is. As shown in FIG. 1 , the sub-control system 400 for vehicle driving control may include an engine control system 410, a braking control system 420, and a steering control system 430, and an autonomous driving integrated control unit. 600 may transmit engine control information, braking control information, and steering control information as the control information to each lower control system 410 , 420 , and 430 through the vehicle control output interface 401 . Accordingly, the engine control system 410 may increase or decrease fuel supplied to the engine to control the vehicle speed and acceleration, and the braking control system 420 may control braking of the vehicle by adjusting the braking force of the vehicle. The steering control system 430 may control steering of the vehicle through a steering device applied to the vehicle (eg, a Motor Driven Power Steering (MDPS) system).

As described above, the autonomous driving integrated control unit 600 according to the present embodiment transmits driving information according to the driver's manipulation and driving information indicating the driving state of the vehicle through the driving information input interface 101 and the driving information input interface 201, respectively. obtained, driving state information and warning information generated according to the autonomous driving algorithm may be transmitted to the output unit 300 through the occupant output interface 301, and control information generated according to the autonomous driving algorithm may be transmitted to the vehicle control output interface. It can be transmitted to the lower control system 400 through 401 and operated to control the driving of the vehicle.

On the other hand, in order to ensure stable autonomous driving of the vehicle, it is necessary to continuously monitor the driving state by accurately measuring the driving environment of the vehicle and control the driving according to the measured driving environment. To this end, the autonomous driving device of the present embodiment As shown in FIG. 1 , a sensor unit 500 may be included to detect objects around the vehicle, such as surrounding vehicles, pedestrians, roads, or fixed facilities (eg, traffic lights, milestones, traffic signs, construction fences, etc.).

As shown in FIG. 1 , the sensor unit 500 may include one or more of a lidar sensor 510 , a radar sensor 520 , and a camera sensor 530 to detect surrounding objects outside the vehicle.

The lidar sensor 510 may detect surrounding objects outside the vehicle by transmitting a laser signal to the surroundings of the vehicle and receiving a signal reflected back by the object, and a set distance and settings predefined according to the specifications thereof. A surrounding object located within a vertical field of view and a set vertical field of view may be detected. The lidar sensor 510 may include a front lidar sensor 511, an upper lidar sensor 512, and a rear lidar sensor 513 installed on the front, top, and rear of the vehicle, respectively, but their installation locations and the number of installations is not limited to a specific embodiment. A threshold value for determining the validity of the laser signal reflected by the corresponding object and returned may be stored in advance in a memory (not shown) of the autonomous driving integrated control unit 600, and the autonomous driving integrated control unit 600 is a lidar sensor. The location (including the distance to the object), speed, and direction of movement of the object may be determined by measuring the time for the laser signal transmitted through 510 to be reflected by the object and return.

The radar sensor 520 may detect surrounding objects outside the vehicle by radiating electromagnetic waves around the vehicle and receiving a signal reflected back by the object, and a set distance and a set vertical angle of view are predefined according to the specification. and a surrounding object located within a set horizontal view angle range may be detected. The radar sensor 520 may include a front radar sensor 521, a left radar sensor 521, a right radar sensor 522, and a rear radar sensor 523 installed on the front, left side, right side, and rear of the vehicle, respectively. However, the installation location and number of installations are not limited to specific embodiments. The autonomous driving integrated control unit 600 determines the location (including the distance to the corresponding object), speed, and direction of movement of the object through a method of analyzing the power of electromagnetic waves transmitted and received through the radar sensor 520. can do.

The camera sensor 530 may detect surrounding objects outside the vehicle by capturing an image of the surroundings of the vehicle, and may detect surrounding objects located within a range of a predefined set distance, set vertical angle of view, and set horizontal angle of view according to the specification. .

The camera sensors 530 may include a front camera sensor 531, a left camera sensor 532, a right camera sensor 533, and a rear camera sensor 534 installed on the front, left, right, and rear surfaces of the vehicle, respectively. However, the installation location and number of installations are not limited to specific embodiments. The self-driving integrated controller can determine the location (including the distance to the object), speed, and direction of movement of the object by applying predefined image processing to the image captured through the camera sensor 530. there is.

In addition, an internal camera sensor 535 for capturing an image of the inside of the vehicle may be mounted at a predetermined position inside the vehicle (eg, a rear view mirror), and the autonomous driving integrated control unit 600 uses the internal camera sensor 535 A guide or warning may be output to the occupant through the above-described output unit 300 by monitoring the occupant's behavior and condition based on the acquired image.

In addition to the lidar sensor 510, the radar sensor 520, and the camera sensor 530, the sensor unit 500 may further include an ultrasonic sensor 540 as shown in FIG. Various types of sensors for detecting surrounding objects may be further employed in the sensor unit 500 .

2 shows that a front lidar sensor 511 or a front radar sensor 521 is installed on the front of the vehicle, and a rear lidar sensor 513 or rear radar sensor 524 is installed on the rear of the vehicle to help understand the present embodiment. It is installed on the front camera sensor 531, left camera sensor 532, right camera sensor 533 and rear camera sensor 534 are installed on the front, left side, right side and rear side of the vehicle, respectively. , As described above, the installation position and number of installations of each sensor are not limited to a specific embodiment.

Furthermore, the sensor unit 500 is configured to detect vital signs (eg, heart rate, electrocardiogram, respiration, blood pressure, body temperature, brain wave, blood flow (pulse wave), blood sugar, etc.) It may further include a biosensor, and the biosensor may include a heart rate sensor, an electrocardiogram sensor, a respiration sensor, a blood pressure sensor, a body temperature sensor, an electroencephalogram sensor, a photoplethysmography sensor, and a blood sugar sensor. .

Finally, the sensor unit 500 additionally adds a microphone 550, and the internal microphone 551 and the external microphone 552 are used for different purposes.

The internal microphone 551 may be used, for example, to analyze the voice of a passenger in the autonomous vehicle 1000 based on AI or to immediately respond to a direct voice command.

On the other hand, the external microphone 552 can be used, for example, to respond appropriately to safe driving by analyzing various sounds generated from the outside of the autonomous vehicle 1000 with various analysis tools such as deep learning.

For reference, the symbols shown in FIG. 2 may perform the same or similar functions as those shown in FIG. 1, and FIG. 2 shows the relative positional relationship of each component compared to FIG. Based on) was illustrated in more detail.

FIG. 3 is a flow chart in which a vehicle according to one embodiment of the present invention applies another algorithm to an SCC function in a specific section.

As shown in FIG. 3 , first, the vehicle according to the embodiment of the present invention starts the following driving mode for the preceding vehicle (S310). This can be named as SCC (Smart Cruise Control) function.

Furthermore, the vehicle according to an embodiment of the present invention recognizes a sign indicating that it is a curved section using a front camera (S320). The related sign will be described later in detail with reference to FIG. 4 .

Meanwhile, the vehicle according to an embodiment of the present invention determines whether the preceding vehicle still exists at the recognition time point (S320) (S330).

And, as a result of the determination (S330), when the preceding vehicle does not exist, the vehicle according to an embodiment of the present invention is designed to control the following driving mode by the first algorithm (S340).

On the other hand, if the preceding vehicle exists as a result of the determination (S330), the vehicle according to an embodiment of the present invention is designed to control the following driving mode by the second algorithm (S350). In the prior art, there was a problem in that the SCC function was turned off or accelerated rapidly because a different algorithm could not be adaptively applied according to the presence or absence of a preceding vehicle during the execution of the SCC function, particularly in a curve/sharp curve section. can solve these problems.

First, the step S340 of controlling the following driving mode by the first algorithm will be described in more detail.

Control is performed to decelerate the speed of the vehicle at a constant acceleration from a first point in time when the aforementioned specific sign is recognized to a second point in time when the curvature of the road ahead corresponds to a predetermined threshold value. Then, from a third point in time when the curvature of the road ahead exceeds the predetermined threshold value, the speed of the vehicle is controlled to be reduced according to the curvature of the road ahead.

Experimentally, when the driving speed of a vehicle running with the SCC function is 30 km/h, the aforementioned threshold value is set to correspond to 30 m (radius of curvature), whereas the driving speed of a vehicle running with the SCC function is 180 km/h. In the case of h, it is preferable to set the aforementioned threshold value corresponding to 1000 m (radius of curvature). Another feature of the present invention is to adjust the threshold value according to the linear interpolation calculation method when the driving speed of the vehicle running with the SCC function is within the range of 30 km/h to 180 km/h. Therefore, the threshold value data in Table 1 below is designed to be stored in a vehicle internal memory or an external server according to an embodiment of the present invention.

SCC applied vehicle speed (km/h) 30 180 Curvature radius (m) as threshold value 30 1000

In addition, while driving with the SCC function, even in a situation where the preceding vehicle cannot be tracked in a sharp curve section, when a curve sign is recognized and when the preceding vehicle does not blink the direction indicator, the rate of change in the heading angle of the preceding vehicle The SCC function is maintained when the change rate of the curvature of the lane ahead is within 10%.

Now, step S350 of controlling the following driving mode by the second algorithm will be described in more detail. However, unlike the situation in which the aforementioned first algorithm is applied, in a situation in which the preceding vehicle can be continuously tracked, curvature information of the lane and heading angle information of the preceding vehicle are fused and used.

For example, when the view range of a lane recognized through a front camera mounted on a vehicle according to an embodiment of the present invention is greater than or equal to a valid max view range, a weight is applied to curvature information of the lane and controls to decelerate the speed of the vehicle.

The aforementioned effective max view range is

(A (current speed of the vehicle) / B (maximum set speed supported by SCC function)) * C (maximum measurable view range in image processing logic)

can be obtained by means of

An embodiment related to this will be described later in more detail with reference to FIG. 5 .

Meanwhile, the method shown in FIG. 3 may be implemented by applying to the vehicle shown in FIG. 1 or 2 .

That is, according to one embodiment of the present invention, a vehicle controlling a driving mode for following a preceding vehicle by using sign information has a sensor recognizing a sign indicating a curve section (for example, shown in FIG. 1 ). 530), and a controller (eg, 600 shown in FIG. 1) that determines whether the preceding vehicle exists at the time of recognition.

In particular, the above-described controller is designed to control the following driving mode by the first algorithm when the preceding vehicle does not exist while the SCC function is executed, and to control the following driving mode by the second algorithm when the preceding vehicle exists. do.

Meanwhile, implementing the method shown in FIG. 3 by storing it in a separate computer-readable recording medium also belongs to another scope of the present invention.

For example, a first command for instructing to start a following driving mode for a preceding vehicle, a second command for instructing to recognize a sign indicating a curve section in an image acquired using a front camera, and the recognition A third command for instructing to determine whether the preceding vehicle exists at the time point, and a fourth command for instructing to control the following driving mode by a first algorithm when the preceding vehicle does not exist as a result of the determination, and the determination Result When the preceding vehicle exists, the fifth command for instructing the following driving mode to be controlled by the second algorithm is stored in the memory.

4 illustrates a group of specific signs targeted by a vehicle according to one of the embodiments of the present invention.

As described above, various embodiments of the present invention are designed to be applied only when specific sign information is recognized in step S320 of FIG. 3 during execution of the SCC function.

For example, as shown in FIG. 4 , the specific sign applied in step S320 of FIG. 3 includes a first sign indicating a right-bending road, a second sign indicating a left-bending road, and a right-left double-bending road. It includes at least one of a third sign indicating a third sign or a fourth sign indicating a double-bent road left and right.

And, FIG. 5 illustrates a view range recognized from the front based on a vehicle according to one of the embodiments of the present invention. Hereinafter, with reference to FIG. 5, the second algorithm of step S350 of FIG. 3 will be described in more detail.

In the second algorithm, it is assumed that the preceding vehicle, which is the target of the SCC function, is in the same lane as the lane in which the vehicle travels according to an embodiment of the present invention.

When the preceding vehicle is continuously recognized, lane curvature information and the heading angle of the preceding vehicle are fused and used. That is, since lane curvature information among the heading angle of the preceding vehicle and lane curvature information has higher accuracy, as shown in FIG. When the recognized suboptimal view range is sufficient (ie, when a value greater than or equal to the valid max view range is observed), fusion is performed with more weight on the suboptimal curvature information.

On the other hand, as shown in (b) of FIG. 5 , when the view range is not sufficient because the lane is blocked by another preceding vehicle and the surrounding environment, fusion is performed by placing a higher weight on the heading angle of the preceding vehicle.

The second algorithm will be described in more detail as follows.

First of all, when a vehicle according to an embodiment of the present invention recognizes a sign such as a curve/a sharp curve, the SCC set speed is reduced. In particular, it decelerates at a constant acceleration until the sensor fusion value becomes greater than the threshold value (see Table 1 described above).

And, from the moment the sensor fusion value becomes greater than the threshold value (see Table 1 described above), the speed of the vehicle is decelerated according to the sensor fusion value.

In particular, when the difference between the heading angle of the forward target and the heading angle expected from lane curvature information is similar within 20%, the sensor fusion value is derived by the following calculation formula.

Sensor fusion value = (Heading angle value * (1-view range ratio)) + (Expected heading angle (lane curvature) * (view range ratio))

Meanwhile, the definition of each value used above is as follows.

View range ratio = measured view range/valid max view range

Here, the measured view range means the currently measured view range, and the valid max view range means the maximum measurable view range at the speed of the current vehicle (vehicle according to the present invention).

Furthermore, the valid max view range is obtained by the following formula.

Valid max view range = (ego speed/max set speed) * Max view range

Here, ego speed means the speed of the current own vehicle (vehicle of the present invention), max set speed means the maximum set speed supported by the SCC function, and max view range means the view range that can be measured maximally in the image processing logic. it means.

Finally, if there is a difference of more than 20% between the expected heading angle value of the vehicle and the actually observed heading angle value in the curvature of the road, both data are determined to be unstable. Therefore, when it is determined that both data are unstable, the speed control is designed to be performed with the speed limit value of the current road.

On the other hand, if the predicted heading angle value of the vehicle and the actually observed heading angle value of the road curvature differ from the previously observed data value by more than 10% in the rate of change, unstable data is not used and non-unstable data is used. Based on this, speed control is performed. That is, when judging by a constant sensing cycle, if there is an 8% difference between the heading angle value of the vehicle expected from the curvature of the road observed in the previous cycle and the heading angle value of the vehicle expected from the curvature of the road observed in the current cycle, this is unstable. It is regarded as unfinished data. However, if the actual vehicle heading angle value observed in the previous period differs by 11% from the actual vehicle heading angle value observed in the current period, this is regarded as unstable data.

As another aspect of the present invention, the operation of the above-described proposal or invention is implemented, implemented, or implemented by a “computer” (a comprehensive concept including a system on chip (SoC) or a microprocessor) It may also be provided as executable code or an application that stores or includes the code, a computer-readable storage medium, or a computer program product, which also falls within the scope of the present invention.

Detailed descriptions of the preferred embodiments of the present invention disclosed as described above are provided to enable those skilled in the art to implement and practice the present invention. Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art will understand that the present invention can be variously modified and changed without departing from the scope of the present invention. For example, those skilled in the art can use each configuration described in the above-described embodiments in a manner of combining with each other.

Accordingly, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

100: user input unit
101: driving information input interface
200: driving information detection unit
201 Driving information input interface
300: output unit
301: occupant output interface
400: sub-control system
401: vehicle control output interface
500: sensor unit
600: autonomous driving integrated control unit
700: server
1000: autonomous vehicles

Claims (15)

A method for controlling a vehicle using sign information,
starting a following driving mode for a preceding vehicle;
Recognizing a sign indicating that it is a curved section using a front camera;
determining whether the preceding vehicle exists at the time of recognition;
controlling a following driving mode by a first algorithm when the preceding vehicle does not exist as a result of the determination; and
Controlling a following driving mode by a second algorithm when the preceding vehicle exists as a result of the determination
A method of controlling a vehicle using sign information, comprising: According to claim 1,
In the step of controlling the following driving mode by the first algorithm,
Controlling the speed of the vehicle to decelerate at a constant acceleration from a first point in time when the sign is recognized to a second point in time when the curvature of the road ahead corresponds to a predetermined threshold value
A method for controlling a vehicle using sign information, further comprising: According to claim 2,
In the step of controlling the following driving mode by the first algorithm,
Controlling the speed of the vehicle to be decelerated according to the curvature of the road ahead from a third point in time when the curvature of the road ahead exceeds the predetermined threshold value;
A method for controlling a vehicle using sign information, further comprising: According to claim 3,
When the driving speed of the vehicle is 30 km/h, the threshold corresponds to 30 m (radius of curvature),
When the driving speed of the vehicle is 180 km/h, the threshold value corresponds to 1000 m (radius of curvature). According to claim 1,
In the step of controlling the following driving mode by the second algorithm,
When the view range of the lane recognized through the front camera is greater than or equal to a valid max view range, controlling the speed of the vehicle to be decelerated by weighting curvature information of the lane
A method for controlling a vehicle using sign information, further comprising: According to claim 5,
The effective max view range is,
(A (current speed of the vehicle) / B (maximum set speed supported by SCC function)) * C (maximum measurable view range in image processing logic)
A method of controlling a vehicle using sign information, characterized in that obtained by consciousness. According to claim 1,
The sign is
Including at least one of a first sign indicating a right-bending road, a second sign indicating a left-bending road, a third sign indicating a right-left double-bending road, or a fourth sign indicating a left-right double-bending road A method of controlling a vehicle using sign information characterized by In a vehicle controlling a driving mode for following a preceding vehicle using sign information,
A sensor recognizing a sign indicating that it is a curve section; and
A controller determining whether the preceding vehicle exists at the time of recognition
Including,
The controller,
When the preceding vehicle does not exist as a result of the determination, a following driving mode is controlled by a first algorithm;
When the preceding vehicle exists as a result of the determination, the following driving mode is controlled by a second algorithm. According to claim 8,
As a result of the determination, when the preceding vehicle does not exist,
The controller,
The vehicle characterized in that the vehicle is controlled to decelerate the speed of the vehicle at a constant acceleration from a first point in time when the sign is recognized to a second point in time when the curvature of the road ahead corresponds to a predetermined threshold value. According to claim 9,
As a result of the determination, when the preceding vehicle does not exist,
The controller,
From a third point in time when the curvature of the road ahead exceeds the predetermined threshold value, the vehicle is controlled to decelerate the speed of the vehicle according to the curvature of the road ahead. According to claim 10,
When the driving speed of the vehicle is 30 km/h, the threshold corresponds to 30 m (radius of curvature),
When the driving speed of the vehicle is 180 km/h, the threshold value corresponds to 1000 m (radius of curvature). According to claim 8,
As a result of the determination, when the preceding vehicle exists,
The controller,
When the view range of the lane recognized through the sensor is greater than or equal to a valid max view range, the vehicle characterized in that the vehicle is controlled to decelerate the speed of the vehicle with a weight on curvature information of the lane . According to claim 12,
The effective max view range is,
(A (current speed of the vehicle) / B (maximum set speed supported by SCC function)) * C (maximum measurable view range in image processing logic)
A vehicle characterized in that obtained by the consciousness. According to claim 8,
The sign is
Including at least one of a first sign indicating a right-bending road, a second sign indicating a left-bending road, a third sign indicating a right-left double-bending road, or a fourth sign indicating a left-right double-bending road characterized vehicle. In the computer-readable recording medium,
a first command for instructing to start a following driving mode for a preceding vehicle;
a second command for instructing recognizing a sign indicating a curved section in an image acquired using a front camera;
a third command for instructing to determine whether the preceding vehicle exists at the time of recognition;
a fourth command for instructing a following driving mode to be controlled by a first algorithm when the preceding vehicle does not exist as a result of the determination; and
A fifth command instructing to control a following driving mode by a second algorithm when the preceding vehicle exists as a result of the determination
A computer-readable recording medium comprising a.