KR20230171068A - Method and Apparatus for reroute - Google Patents

Abstract

The method for re-searching the route of the present invention acquires lane information within the driving path based on navigation information, determines the location of the vehicle and the left/right turn lane based on sensor information, and enters the left/right turn lane. It may include determining whether it is possible and whether to re-search the route in response to whether it is possible to enter the left/right turn lane.

Description

{Method and Apparatus for reroute}

These embodiments are applicable to vehicles in all fields, and more specifically, for example, may be applied to various systems that search the path of an autonomous vehicle.

SAE (Society of Automotive Engineers), the American Society of Automotive Engineers, divides autonomous driving levels into a total of 6 levels, from Level 0 to Level 5, as follows, for example.

Level 0 (No Automation) is the stage where the driver controls and takes responsibility for all aspects of driving. The driver always drives, and the vehicle's system only performs auxiliary functions such as emergency notification. The subject of driving control is a human, and the level of variable detection and driving responsibility during driving also lies with humans.

Level 1 (Driver Assistance) is the level that assists the driver through adaptive cruise control and lane keeping functions. By activating the system, it assists the driver by maintaining vehicle speed, distance between vehicles, and lane maintenance. The subjects of driving control are humans and the system, and the detection of variables that occur during driving and driving responsibility are all at the level of humans.

Level 2 (Partial Automation) is a stage where the vehicle can control the steering and acceleration/deceleration of the vehicle simultaneously with humans for a certain period of time within specific conditions. Steering in gentle curves and assist driving that maintains the distance from the car in front are possible. However, the level of variable detection and driving responsibility during driving lies with humans, so the driver must always monitor the driving situation, and in situations that the system cannot recognize, the driver must immediately intervene in driving.

Level 3 (Conditional Automation, Partial Automation) is a level where the system is responsible for driving in sections with specific conditions, such as highways, and the driver intervenes only in case of danger. The system is responsible for driving control and detecting variables during driving, and unlike level 2, the above monitoring is not required. However, if the system's requirements are exceeded, the system requests the driver's immediate intervention.

Level 4 (High Automation) allows autonomous driving on most roads. Driving control and driving responsibility are both in the system. Driver intervention is not required on most roads except in restricted situations. However, driver intervention may be requested under certain conditions such as bad weather, so a human-assisted driving control device is necessary.

Level 5 (Full Automation) is a level where a driver is not required and driving is possible with only passengers. The rider simply inputs the destination, and the system takes care of driving in all conditions. At level 5, control devices for steering, acceleration, and deceleration of the vehicle are unnecessary.

Meanwhile, in the autonomous driving systems known to date, when it is impossible to enter the left turn road from a left/right turn path, a problem arises where the vehicle makes an unreasonable left turn to drive along the existing route and stops in the straight lane to enter the left/right turn lane. This is the situation.

In order to solve the problems described above, the present invention seeks to provide a route re-searching device and method.

More specifically, we aim to provide an apparatus and method for determining whether to enter a left/right turn lane and whether to re-search the route based on lane information and vehicle information obtained through cameras and lidar.

The subject of the invention is not limited to the issues described above. Other problems not described above can be understood by those skilled in the art from the description of the present invention below.

The route re-search method according to any one of the embodiments of the present invention to solve the above-described problem acquires lane information within the driving route based on navigation information, and determines the location and left direction of the vehicle based on sensor information. /It includes determining the location of the right turn lane, determining whether it is possible to enter the left/right turn lane, and determining whether to re-search the route in response to whether it is possible to enter the left/right turn lane.

Depending on the embodiment, determining whether it is possible to enter the left/right turn lane includes determining whether an outside vehicle exists in the left/right turn lane, and if the outside vehicle exists, determining the distance between the outside vehicles. Includes.

Depending on the embodiment, determining whether it is possible to enter the left/right turn lane includes determining whether there is a first outside vehicle in front of the vehicle when an outside vehicle exists in the left/right turn lane.

Depending on the embodiment, determining whether it is possible to enter the left/right turn lane is determined by determining that it is possible to enter the left/right turn lane if the distance between the vehicle and the first external vehicle is a distance that allows entry into the left/right turn lane. It includes doing.

Depending on the embodiment, determining whether to re-search the route in response to whether it is possible to enter the left/right turn lane is determined by determining whether the distance between the vehicle and the first external vehicle is a distance where entry into the left/right turn lane is not possible. This includes determining that it is impossible to enter the right turn lane and re-searching the route.

Depending on the embodiment, determining whether it is possible to enter the left/right turn lane includes determining whether there is a second outside vehicle behind the vehicle when the first outside vehicle located in the left/right turn lane is in front of the vehicle. do.

Depending on the embodiment, determining whether it is possible to enter the left/right turn lane is determined by determining whether the left/right turn lane can be entered if the distance between the first outside vehicle and the second outside vehicle is a distance that allows entry into the left/right turn lane. This includes determining what is possible.

Depending on the embodiment, determining whether to re-search the route in response to whether it is possible to enter the left/right turn lane is determined by determining whether the distance between the first outside vehicle and the second outside vehicle is a distance at which entry into the left/right turn lane is not possible. In this case, it is determined that it is impossible to enter the left/right turn lane and re-searching the route is included.

Depending on the embodiment, determining whether it is possible to enter the left/right turn lane includes determining that it is possible to enter the left/right turn lane when the external vehicle does not exist.

The solutions of the present invention described above are some of the embodiments of the present invention. Various solution methods other than those for solving the problems described above can be derived and understood based on the detailed description of the present invention described below.

The present invention contributes to road traffic safety and ensures safe vehicle driving by preventing vehicles from interfering with vehicle paths by waiting in the straight lane for left/right turns.

The effects of the present invention are not limited to the effects described above. Other effects not described above can be understood by those skilled in the art from the description of the present invention below.

Figure 1 is an overall block diagram of a driving control system to which a driving device according to any one of the embodiments of the present invention can be applied.
Figure 2 is an exemplary diagram showing an example of a driving device according to one of the embodiments of the present invention being applied to a vehicle.
Figure 3 is a diagram for explaining a block diagram of a route re-search device according to one of the embodiments of the present invention.
Figure 4 is a diagram for explaining a method of determining whether a left/right turn is possible according to an embodiment of the present invention.
Figure 5 is a flowchart illustrating a route re-search method according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through illustrative drawings. When adding reference signs to components in each drawing, it should be noted that the same components are given the same reference numerals as much as possible even if they are shown in different drawings. Additionally, in describing embodiments of the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description will be omitted.

Additionally, when describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, sequence, or order of the component is not limited by the term. Throughout the specification, when a part is said to 'include' or 'have' a certain component, this means that it does not exclude other components but may further include other components, unless specifically stated to the contrary. . In addition, the '...' written in the specification … Terms such as 'unit' and 'module' refer to a unit that processes at least one function or operation, and may be implemented as hardware, software, or a combination of hardware and software.

The description of the invention to be disclosed below along with the accompanying drawings is intended to illustrate exemplary embodiments of the invention and is not intended to represent the only embodiments in which the invention may be practiced.

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

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

As shown in FIG. 1, the vehicle 1000 controls the driving of the vehicle through the driving information input interface 101, the driving information input interface 201, the passenger output interface 301, and the vehicle control output interface 401. It can be implemented centered on the driving integrated control unit 600, which transmits and receives data necessary for. However, the driving integrated control unit 600 may be referred to as a controller, a processor, or simply a control unit in this specification.

The driving integrated control unit 600 may obtain driving information according to the passenger's manipulation of the user input unit 100 in the vehicle driving mode or manual driving mode through the driving information input interface 101. As shown in FIG. 1, the user input unit 100 uses the driving mode switch 110 and the control panel 120 (e.g., a navigation terminal mounted on the vehicle, a smartphone or tablet PC carried by the 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 occupant's operation of the driving mode switch 110 (i.e., driving mode/manual driving mode or Sports Mode/Eco Mode/Safe Mode ( Safe Mode/Normal Mode) may be transmitted to the driving integrated control unit 600 through the driving information input interface 101 as the above-described driving information.

In addition, navigation information such as the passenger's destination and the route to the destination (such as the shortest route or preferred route selected by the passenger among candidate routes to the destination) that the passenger inputs through the control panel 120 is the driving information. It may be transmitted to the 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 UI (User Interface) for the driver to input or modify information for driving control of the vehicle. In this case, the driving mode switch 110 described above is used. may be implemented as a touch button on the control panel 120.

Additionally, the driving integrated control unit 600 may obtain driving information indicating the driving state of the vehicle through the driving information input interface 201. Driving information includes the steering angle formed as the passenger operates the steering wheel, the accelerator pedal stroke or brake pedal stroke formed as the passenger presses the accelerator or brake pedal, and vehicle speed, acceleration, yaw, and pitch as the behavior formed in the vehicle. and roll, etc. may include various information indicating the driving state and behavior of the vehicle, and each of the driving information includes a steering angle sensor 210, an Accel Position Sensor (APS)/Pedal Travel Sensor (PTS), as shown in FIG. ) 220, vehicle speed sensor 230, acceleration sensor 240, and yaw/pitch/roll sensor 250 may be detected by the driving information detector 200.

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

Additionally, the driving integrated control unit 600 may transmit driving status information provided to the passenger in the vehicle's driving mode or manual driving mode to the output unit 300 through the passenger output interface 301. That is, the driving integrated control unit 600 transmits the driving state information of the vehicle to the output unit 300, so that the passenger can select the driving state or manual driving state of the vehicle based on the driving state information output through the output unit 300. It can be checked, and the driving state information may include various information indicating the driving state of the vehicle, such as the current driving mode of the vehicle, shift range, and vehicle speed.

In addition, when it is determined that a warning is required to the driver in the driving mode or manual driving mode of the vehicle along with the driving state information, the driving integrated control unit 600 sends warning information to the output unit 300 through the passenger output interface 301. ) can be transmitted to the output unit 300 to output a warning to the driver. In order to output such driving status information and warning information audibly and visually, 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 control panel 120 described above, or may be implemented as a separate and independent device.

Additionally, the driving integrated control unit 600 may transmit control information for driving control of the vehicle in the vehicle driving mode or manual driving mode to the lower control system 400 applied to the vehicle through the vehicle control output interface 401. The lower control system 400 for driving control of the vehicle may include an engine control system 410, a braking control system 420, and a steering control system 430 as shown in FIG. 1, and a driving integrated control unit ( 600) can 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 can control the vehicle speed and acceleration of the vehicle by increasing or decreasing the fuel supplied to the engine, and the braking control system 420 can control the braking of the vehicle by adjusting the braking force of the vehicle. The steering control system 430 may control the steering of the vehicle through a steering device applied to the vehicle (e.g., Motor Driven Power Steering (MDPS) system).

As described above, the driving integrated control unit 600 of this embodiment acquires driving information according to the driver's operation 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. In addition, the driving status information and warning information generated according to the driving algorithm can be transmitted to the output unit 300 through the passenger output interface 301, and the control information generated according to the driving algorithm can be transmitted to the vehicle control output interface 401. It can be transmitted to the lower control system 400 and operated to control the driving of the vehicle.

Meanwhile, in order to ensure stable autonomous driving of the vehicle, it is necessary to continuously monitor the driving condition by accurately measuring the driving environment of the vehicle and control driving according to the measured driving environment. To this end, the driving device of this embodiment is shown in Figure 2. As shown in Figure 1, it may include a sensor unit 500 for detecting objects around the vehicle, such as surrounding vehicles, pedestrians, roads, or fixed facilities (e.g., traffic lights, signposts, 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 can detect surrounding objects outside the vehicle by transmitting a laser signal to the surroundings of the vehicle and receiving a signal that is reflected and returned by the object, and has a predefined distance and setting according to its specifications. It is possible to detect surrounding objects located within the vertical field of view and the set horizontal field of view. The LiDAR sensor 510 may include a front LiDAR sensor 511, an upper LiDAR sensor 512, and a rear LiDAR sensor 513, which are installed at the front, top, and rear of the vehicle, respectively, but their installation locations and number of installations are not limited to specific embodiments. The threshold for determining the validity of the laser signal reflected by the object and returned may be pre-stored in the memory (not shown) of the driving integrated control unit 600, and the driving integrated control unit 600 uses the lidar sensor 510 ), the location (including the distance to the object), speed, and direction of movement of the object can be determined by measuring the time when the laser signal transmitted through is reflected by the object and returns.

The radar sensor 520 can detect surrounding objects outside the vehicle by radiating electromagnetic waves around the vehicle and receiving signals that are reflected and returned by the object, and can detect a predefined distance and vertical angle of view according to its specifications. And surrounding objects located within the set horizontal angle of view can 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, which are 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 driving integrated control unit 600 determines the location (including the distance to the object), speed, and direction of movement of the object by analyzing the power of electromagnetic waves transmitted and received through the radar sensor 520. You can.

The camera sensor 530 can detect surrounding objects outside the vehicle by capturing images around the vehicle, and can detect surrounding objects located within a predefined range of a set distance, a set vertical angle of view, and a set horizontal angle of view according to its specifications. .

The camera sensor 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 side, right side, and rear of the vehicle, respectively. However, the installation location and number of installations are not limited to specific embodiments. The driving integrated control unit 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. .

In addition, an internal camera sensor 535 for capturing images of the inside of the vehicle may be mounted at a predetermined location inside the vehicle (e.g., a rearview mirror), and the driving integrated control unit 600 may detect images through the internal camera sensor 535. Based on the acquired image, the occupant's behavior and status may be monitored and guidance or warnings may be output to the occupant through the above-mentioned output unit 300.

In addition to the lidar sensor 510, radar sensor 520, and camera sensor 530, the sensor unit 500 may further include an ultrasonic sensor 540 as shown in FIG. 1, along with the vehicle's Various types of sensors for detecting surrounding objects may be further employed in the sensor unit 500.

2 shows that the front lidar sensor 511 or the front radar sensor 521 is installed at the front of the vehicle, and the rear lidar sensor 513 or rear radar sensor 524 is installed at the rear of the vehicle to help understand this embodiment. It is installed in, and shows an example where 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 of the vehicle, respectively. , As described above, the installation location and number of each sensor are not limited to a specific embodiment.

Furthermore, the sensor unit 500 is used to detect the occupant's biological signals (e.g., heart rate, electrocardiogram, respiration, blood pressure, body temperature, brain wave, blood flow (pulse wave), and blood sugar, etc.) to determine the condition of the occupant in the vehicle. It may further include a biometric sensor, and the biometric sensor may include a heart rate sensor, electrocardiogram sensor, respiration sensor, blood pressure sensor, body temperature sensor, electroencephalogram sensor, blood flow sensor, and blood sugar sensor. .

Lastly, the sensor unit 500 additionally includes a microphone 550, and the internal microphone 551 and 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 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 appropriately respond to safe driving by analyzing various sounds generated outside the vehicle 1000 using various analysis tools such as deep learning.

For reference, the symbols shown in FIG. 2 may perform the same or similar functions as the symbols shown in FIG. 1, and FIG. 2 shows the relative positional relationship of each component compared to FIG. 1 (based on the inside of the vehicle 1000). ) is exemplified in more detail.

Figure 3 is a diagram for explaining a block diagram of a route re-search device according to one of the embodiments of the present invention.

Referring to FIG. 3 , the route rediscovery device 2000 may include a sensor unit 2100, a driving information detection unit 2200, a navigation unit 2300, and a processor unit 2400.

The sensor unit 2100 is for recognizing objects around the autonomous vehicle 1000 and may include at least one of a camera sensor 2110, a radar sensor 2120, and a lidar sensor 2130. The sensor unit 2100 can detect vehicles and objects located around the autonomous vehicle.

The camera sensor 2110 can detect surrounding objects outside the autonomous vehicle 1000 by taking images of the surroundings of the autonomous vehicle 1000, and has a predefined distance, vertical angle of view, and horizontal angle of view that are predefined according to its specifications. Surrounding objects located within the range can be detected.

The camera sensor 2110 may include a front camera sensor, a left camera sensor, a right camera sensor, and a rear camera sensor that are respectively installed on the front, left side, right side, and rear of the autonomous vehicle 1000, but the installation location and The number of installations is not limited to any particular embodiment. The processor unit 2400 of the autonomous vehicle 1000 applies predefined image processing to the image captured through the camera sensor to determine the location (including the distance to the object), speed, and direction of movement of the object. etc. can be judged.

The radar sensor 2120 can detect surrounding objects outside the autonomous vehicle 1000 by radiating electromagnetic waves around the autonomous vehicle 1000 and receiving signals that are reflected and returned by the object, and can detect surrounding objects outside the autonomous vehicle 1000 according to its specifications. It is possible to detect surrounding objects located within a predefined set distance, set vertical angle of view, and set horizontal angle of view. The radar sensor 2120 may include a front radar sensor, a left radar sensor, a right radar sensor, and a rear radar sensor installed on the front, left side, right side, and rear of the autonomous vehicle 1000, respectively, but the installation location and The number of installations is not limited to any particular embodiment. The processor unit 2400 of the autonomous vehicle 1000 analyzes the power of electromagnetic waves transmitted and received through the radar sensor 2120 to determine the location (including the distance to the object) and speed of the object. and direction of movement can be determined.

The LiDAR sensor 2130 can detect surrounding objects outside the autonomous vehicle 1000 by transmitting a laser signal around the autonomous vehicle 1000 and receiving a signal that is reflected and returned by the object, and its specifications According to the predefined setting distance, setting vertical field of view (Vertical Field Of View), and setting horizontal field of view (Horizontal Field Of View), surrounding objects can be detected. The lidar sensor 2130 is used for autonomous vehicles ( 1000) may include a front LiDAR sensor 2130, an upper LiDAR sensor 2130, and a rear LiDAR sensor 2130, respectively, installed on the front, upper, and rear sides, but the installation location and number of installations may be determined by specific implementation. It is not limited to this example. The threshold for determining the validity of the laser signal reflected by the object and returned may be stored in advance in the memory (not shown) of the processor unit 2400 of the autonomous vehicle 1000. The processor unit 2400 of the autonomous vehicle 1000 measures the time when a laser signal transmitted through the lidar sensor 2130 is reflected by the object and returns to determine the location of the object (distance to the object). includes), speed and direction of movement can be determined.

In addition to the camera sensor 2110, radar sensor 2120, and lidar sensor 2130, the sensor unit 2100 may further include an ultrasonic sensor, and may be used to detect objects around the autonomous vehicle 1000. Various types of sensors may be further employed in the sensor unit 2100.

The driving information detector 2200 may include a vehicle speed sensor, a steering angle sensor, and a positioning sensor. The vehicle speed sensor senses the driving speed of the autonomous vehicle 1000, the steering angle sensor senses the steering angle formed by adjusting the steering wheel, and the positioning sensor may include a Global Positioning System (GPS) receiver. And through this, the GPS coordinates of the autonomous vehicle 1000 can be obtained.

The navigation unit 2300 can provide navigation information. Information about navigation may include at least one of set destination information, route information according to the destination, map information related to the driving route, and current location information of the autonomous vehicle 1000.

The processor unit 2400 may recognize a lane based on sensor information received from the sensor unit 2100. The processor unit 2400 can recognize the lane using a camera and a lidar sensor to determine the location of the lane in which the vehicle 1000 is currently located and the left/right turn lane.

The processor unit 2400 may recognize the number of lanes in the driving path, left/right turn lanes, and lanes based on the navigation information received from the navigation unit 2300.

The processor unit 2400 may obtain lane information within the driving path based on navigation information and determine the location of the vehicle and the location of the left/right turn lane based on sensor information.

The processor unit 2400 may determine whether it is possible to enter the left/right turn lane to change lanes. To this end, the processor unit 2400 can determine whether an external vehicle exists in the left/right turn lane.

For example, when an external vehicle exists in the left/right turn lane, the processor unit 2400 may determine whether there is a first external vehicle in front of the vehicle.

For example, when the first external vehicle located in the left/right turn lane is in front of the vehicle, the processor unit 2400 may determine whether there is a second external vehicle behind the vehicle.

If an external vehicle exists, the processor unit 2400 may determine the distance between the vehicle and the external vehicle. The processor unit 2400 may determine whether it is possible to enter the left/right turn lane based on the distance between external vehicles.

For example, the processor unit 2400 may determine that entry into the left/right turn lane is possible if the distance between the vehicle and the first external vehicle is a distance that allows entry into the left/right turn lane.

For example, the processor unit 2400 may determine that entry into the left/right turn lane is possible when the distance between the first external vehicle and the second external vehicle is a distance that allows entry into the left/right turn lane.

The processor unit 2400 may perform route re-search when it is impossible to enter the left/right turn lane.

For example, if the distance between the vehicle and the first external vehicle is such that entry into the left/right turn lane is impossible, the processor unit 2400 may determine that entry into the left/right turn lane is impossible and perform route re-search.

For example, if the distance between the first external vehicle and the second external vehicle is such that entry into the left/right turn lane is not possible, the processor unit 2400 determines that entry into the left/right turn lane is impossible and performs a route re-search. can do.

Meanwhile, the processor unit 2400 may determine that entry into the left/right turn lane is possible when there is no external vehicle in the left/right turn lane.

Additionally, the processor unit 2400 may determine the vehicle to be in a waiting state when a fast approaching external vehicle is detected while attempting to enter the left/right turn lane.

Figure 4 is a diagram for explaining a method of determining whether a left/right turn is possible according to an embodiment of the present invention.

Referring to FIG. 4(a), the vehicle 1000 can recognize the number of lanes in the driving path, left/right turn lanes, and lanes using navigation. Additionally, the vehicle 1000 can recognize the lane using a camera and a LiDAR sensor to determine the location of the lane in which the vehicle is currently located and the left/right turn lane.

The vehicle 100 can enter the left/right turn lane when there are no external vehicles in the left/right turn lane.

If the vehicle 1000 detects a fast approaching external vehicle while attempting to enter the left/right turn lane, it may wait in the corresponding lane. Afterwards, the vehicle 1000 can enter the left/right turn lane after sending the external vehicle. At this time, the vehicle 1000 can be controlled by calculating the expected collision time (TTC) with an external vehicle entering the left/right turn lane.

For example, the vehicle 1000 may wait in the current lane when the expected time to collision (TTC) is less than a preset value. Additionally, the vehicle 1000 can enter the left/right turn lane when the expected collision time (TTC) with an external vehicle is greater than or equal to a preset value.

Referring to FIGS. 4(b) and 4(c), the vehicle 1000 can determine whether it is possible to enter the left/right turn lane based on the currently located lane, the location of the left/right turn lane, and the location of the external vehicle. .

The vehicle 1000 may determine that it is possible to enter the left/right turn lane by determining the vehicle's distance to the left/right turn lane and recognizing a vehicle approaching from behind.

As shown in FIG. 4(b), when the position of the first outside vehicle 3000 in the left/right turn lane is ahead of the vehicle 1000, it can be determined whether to enter. If the distance between external vehicles in front of the vehicle 1000 is a distance that allows entry into the left/right turn lane, the vehicle 1000 can enter the left/right turn lane.

Meanwhile, if the distance to the first external vehicle 3000 in front of the vehicle 1000 is such that entry into the left/right turn lane is not possible, the route can be re-searched.

As shown in FIG. 4(c), when the positions of the first outside vehicle 3000 and the second outside vehicle 4000 in the left/right turn lane are in front and behind the vehicle 1000, whether to enter can be determined. The vehicle 1000 can enter the left/right turn lane when the distance between the first outside vehicle 3000 and the second outside vehicle 4000 located in front and behind allows entry into the left/right turn lane.

Meanwhile, the vehicle 1000 can determine the distance of the vehicle to the left/right turn lane and recognize a vehicle approaching from behind, and re-search the route if it is impossible to enter the left/right turn lane.

Figure 5 is a flowchart illustrating a route re-search method according to an embodiment of the present invention.

Referring to FIG. 5, the route re-search device 2000 can determine whether an external vehicle exists in the left/right turn lane (S110).

After step S110, if there are no external vehicles in the lane (No in S110), the route re-search device 2000 may wait in the current lane and attempt to change lanes (S160).

After step S110, if an external vehicle exists in the left/right turn lane (example of S110), the route re-search device 2000 determines whether the traffic light is a straight-forward signal, and detects the external vehicle located in front of the vehicle in the left/right turn lane. You can determine whether to go straight (S120).

After the step S120, the route re-search device 2000 waits in the current lane and changes lanes if the traffic light is not a straight ahead signal or if an external vehicle located in front of the vehicle in the left/right turn lane does not go straight (No in S120) You can try (S160).

After step S120, if the traffic light is a signal to go straight and an outside vehicle located in front of the vehicle in the left/right turn lane is going straight (example of S120), the outside vehicle located behind the vehicle in the left/right turn lane It is possible to determine whether a vehicle exists (S130).

After step S130, if there is no external vehicle located behind the vehicle in the left/right turn lane (No in S130), the route rediscovery device 2000 may wait in the current lane and attempt to change lanes (S160). .

After step S130, if there is an external vehicle located behind the vehicle in the left/right turn lane (example of S130), the route rediscovery device 2000 may determine whether the change lane entry space is less than 70% of the vehicle's total length. (S140).

After step S140, the route re-search device 2000 may perform route re-search if the change lane entry space is less than 70% of the total vehicle length (example of S140) (S150).

After step S140, if the change lane entry space is not less than 70% of the total vehicle length (No in S140), the route re-search device 2000 may wait in the current lane and attempt to change lanes (S160).

In the above specification, the "device" and the components belonging to it are described as carrying out the invention, but the "device" and the components belonging to it are only names and the scope of rights is not dependent thereon.

In other words, the present invention can be carried out under a name other than the device, and in addition, the method or method described above can be performed by software for re-searching the route on the road or a code that can be read by a computer or other machine or device. You can.

In addition, as another aspect of the present invention, the operation of the above-described proposal or invention is performed by a “computer” (a comprehensive concept including a system on chip (SoC) or (micro) processor, etc.) It may also be provided as code that can be implemented, implemented, or executed, or as a computer-readable storage medium or computer program product that stores or contains the code. The scope of the present invention can be extended to the code or a computer-readable storage medium or computer program product that stores or includes the code.

In addition, as another aspect of the present invention, the operation of the suggestion or invention described above, or a device for performing the same (eg, a route re-search device) may be included and provided as a “vehicle.” The vehicle according to the present invention is not limited to any type of vehicle.

Additionally, as another aspect of the present invention, a sensor device that collects front images of vehicles on the road may exist separately from the route re-search device according to the present invention. Accordingly, a path re-searching device including a sensor device that collects front images and a path re-searching device may also be included in the scope of the present invention.

The detailed description of the preferred embodiments of the present invention disclosed above is provided to enable anyone skilled in the art to implement and practice the present invention.

Although the present invention has been described above with reference to preferred embodiments, those skilled in the art will understand that various modifications and changes can be made to the present invention as set forth in the claims below.

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.

2000: Reroute device
2100: Sensor unit
2200: Driving information detection unit
2300: Navigation unit
2400: Processor unit

Claims (20)

In the route re-search method,
Obtain lane information within the driving route based on navigation information,
Based on sensor information, determine the location of the vehicle and the left/right turn lane,
Determine whether it is possible to enter the left/right turn lane,
Including determining whether to re-search the route in response to whether it is possible to enter the left/right turn lane.
How to rediscover a route. According to paragraph 1,
Determining whether it is possible to enter the left/right turn lane is
Determine whether an external vehicle exists in the left/right turn lane,
If the above external vehicles exist, determining the distance between external vehicles
containing
How to rediscover a route. According to paragraph 2,
Determining whether it is possible to enter the left/right turn lane is
When an outside vehicle exists in the left/right turn lane, including determining whether there is a first outside vehicle in front of the vehicle.
How to rediscover a route. According to paragraph 3,
Determining whether it is possible to enter the left/right turn lane is
Including determining that entry into the left/right turn lane is possible when the distance between the vehicle and the first external vehicle is a distance that allows entry into the left/right turn lane.
How to rediscover a route. According to paragraph 3,
Determining whether to re-search the route in response to whether it is possible to enter the left/right turn lane is
If the distance between the vehicle and the first external vehicle is such that entry into the left/right turn lane is impossible, determining that entry into the left/right turn lane is impossible and re-searching the route is included.
How to rediscover a route. According to paragraph 3,
Determining whether it is possible to enter the left/right turn lane is
When the first outside vehicle located in the left/right turn lane is in front of the vehicle, determining whether there is a second outside vehicle behind the vehicle.
How to rediscover a route. According to clause 6,
Determining whether it is possible to enter the left/right turn lane is
Including determining that entry into the left/right turn lane is possible when the distance between the first outside vehicle and the second outside vehicle is a distance that allows entry into the left/right turn lane.
How to rediscover a route. According to clause 6,
Determining whether to re-search the route in response to whether it is possible to enter the left/right turn lane is
When the distance between the first external vehicle and the second external vehicle is a distance where entry into the left/right turn lane is impossible, determining that entry into the left/right turn lane is impossible and performing a route research
How to rediscover a route. According to paragraph 2,
Determining whether it is possible to enter the left/right turn lane is
Including determining that entry into the left/right turn lane is possible when the external vehicle does not exist.
How to rediscover a route. In a computer-readable storage medium,
the storage medium stores at least one program code containing instructions that, when executed, cause at least one processor to perform operations;
The above operations are:
Obtain lane information within the driving route based on navigation information,
Based on sensor information, determine the location of the vehicle and the left/right turn lane,
Determine whether it is possible to enter the left/right turn lane,
Including determining whether to re-search the route in response to whether it is possible to enter the left/right turn lane.
storage media. In a device for route rediscovery,
A sensor unit that acquires sensor information from a camera sensor and a lidar sensor;
A driving information detection unit that acquires vehicle speed information and positioning information;
A navigation unit that acquires navigation information; and
Based on the navigation information, obtain lane information within the driving path, determine the location of the vehicle and the left/right turn lane based on the sensor information, determine whether it is possible to enter the left/right turn lane, and determine whether the left/right turn lane can be entered. A processor unit that determines whether to re-search the route in response to whether it is possible to enter the right turn lane.
Reroute device. According to clause 11,
The processor unit
Determine whether an external vehicle exists in the left/right turn lane,
If the above external vehicle exists, the distance between external vehicles is determined.
Re-route device. According to clause 12,
The processor unit
When an external vehicle exists in the left/right turn lane, determining whether there is a first external vehicle in front of the vehicle
Re-route device. According to clause 13,
The processor unit
If the distance between the vehicle and the first external vehicle is a distance that allows entry into the left/right turn lane, it is determined that entry into the left/right turn lane is possible.
Re-route device. According to clause 13,
The processor unit
If the distance between the vehicle and the first external vehicle is a distance where entry into the left/right turn lane is impossible, it is determined that entry into the left/right turn lane is impossible and re-searches the route.
Re-route device. According to clause 13,
The processor unit
When the first outside vehicle located in the left/right turn lane is in front of the vehicle, determining whether there is a second outside vehicle behind the vehicle.
Re-route device. According to clause 16,
The processor unit
If the distance between the first external vehicle and the second external vehicle is a distance that allows entry into the left/right turn lane, it is determined that entry into the left/right turn lane is possible.
Reroute device. According to clause 16,
The processor unit
If the distance between the first external vehicle and the second external vehicle is a distance where entry into the left/right turn lane is impossible, it is determined that entry into the left/right turn lane is impossible and re-searches the route.
Re-route device. According to clause 12,
The processor unit
If the above external vehicle does not exist, it is determined that entry into the left/right turn lane is possible.
Reroute device. In vehicles,
At least one sensor for detecting the vehicle's surroundings; and,
Obtain lane information within the driving route based on navigation information,
Based on sensor information, determine the location of the vehicle and the left/right turn lane,
Determine whether it is possible to enter the left/right turn lane,
Comprising a route re-search device that determines whether to re-search the route in response to whether it is possible to enter the left/right turn lane.
vehicle.