KR20240001726A - Lkas control apparatus and method thereof - Google Patents

Abstract

The present invention relates to a lane keeping control device, comprising: a sensor module for detecting the operation and behavior state of a vehicle; GPS module that receives signals from GPS satellites; LKAS (Lane Keeping Assist System) module that performs lane keeping operation based on information detected through the sensor module; and a processor that detects abnormal operation of the LKAS module, outputs an alarm, and performs a corresponding action when the LKAS module suddenly loses its function during normal operation.

Description

Lane keeping control device and method {LKAS CONTROL APPARATUS AND METHOD THEREOF}

The present invention relates to a lane-keeping control device and method, and more specifically, to a lane-keeping control device that prevents sharp steering through steering torque control when the lane-keeping control operation of a vehicle is released. It's about how.

In general, a vehicle's active driving safety system is a system that detects accidents that may occur while driving or parking using various sensors, vision systems, and laser systems, and then warns the driver or controls the vehicle. For example, ACC (Adaptive Cruise Control) ), LKAS (Lane Keeping Assist System), LDWS (Lane Departure Warning System), etc.

Here, Lane Keeping System (LKAS), a lateral driving safety system, is used as one of the representative driving assistance systems along with the existing automatic following distance control system (ACC).

Accordingly, drivers of vehicles equipped with the LKAS system have the advantage of reducing driving stress because the LKAS system assists driving, but have the disadvantage of being able to drive carelessly, such as neglecting to look ahead. there is.

However, the LKAS system has the characteristic of automatically disabling the LKAS function for safety when the lane is not recognized, or when the lane is recognized but has a bend (turn) above a certain level.

Accordingly, if the LKAS release function added for safety (e.g., a function that automatically disables LKAS when the lane is not recognized or in a bend (turn) section above a certain level even if the lane is recognized) is used at the point of driver's inattentive driving (e.g. : If it occurs when you are negligent in looking ahead, when you let go of the steering wheel, etc., there is a problem that could lead to a safety accident such as an unwanted sudden lane change.

Therefore, there is a need for technology that can prevent unwanted sudden lane changes even if the LKAS function is suddenly released when the driver is inattentive (e.g., neglecting to look ahead, letting go of the steering wheel, etc.).

The background technology of the present invention is disclosed in Korean Patent Publication No. 10-2013-0038436 (2013.04.18. Vehicle lane change assistance system and method).

According to one aspect of the present invention, the present invention was created to solve the above problems, and prevents sudden steering through steering torque control when the lane keeping control operation of the vehicle is released. The purpose is to provide a lane keeping control device and method.

A lane keeping control device according to an aspect of the present invention includes a sensor module for detecting the operation and behavior state of a vehicle; GPS module that receives signals from GPS satellites; a Lane Keeping Assist System (LKAS) module that performs lane keeping operation based on information detected through the sensor module; and a processor that detects abnormal operation of the LKAS module and outputs an alarm, and performs a corresponding action when the LKAS module is suddenly deactivated during normal operation.

In the present invention, the processor calculates the steering value (first steering value) of the vehicle based on lane information detected by the LKAS module, and calculates the steering value (first steering value) of the vehicle through a navigation map based on the GPS signal detected through the GPS module. Calculates a steering value (second steering value) corresponding to the direction in which the vehicle will travel, and if the difference between the first and second steering values is greater than a specified threshold, detects abnormal operation of the LKAS module and outputs an alarm. It is characterized by

In the present invention, when more than a specified number of satellites are detected through the GPS module, the processor calculates a steering value (second steering value) corresponding to the direction in which the vehicle will proceed through a navigation map based on GPS signals. It is characterized by

In the present invention, the processor, as a response operation when the LKAS module is suddenly deactivated during normal operation, applies steering torque in the direction calculated through the GPS signal-based navigation map for a specified time through the steering torque control module. Control is characterized by setting the torque strongly at the beginning of the designated time and then gradually adjusting the torque to be weak as time passes.

In the present invention, the steering torque control module controls the steering torque according to the control of the processor, and controls the torque so as not to rotate in any specific direction during a specified time, and the torque at the start of the specified time (the first It is characterized by controlling the actual output steering torque to gradually vary between the torque) and the torque at the end of the designated time (second torque).

In the present invention, the specific direction in which the processor controls the steering torque to prevent the steering wheel from rotating is a direction for maintaining forward steering of the steering wheel in order to prevent the steering wheel from rotating in both the left and right directions in a straight section, In addition, in order to ensure that the steering wheel rotates only within the direction of rotation of the vehicle in the turning section, it is characterized in that the direction is limited to prevent rotation in the direction opposite to the rotation of the vehicle.

In the lane keeping control method according to another aspect of the present invention, a sensor module detects the operation and behavior state of the vehicle, and a LKAS (Lane Keeping Assist System) module performs lane keeping operation based on the information detected through the sensor module. Steps to perform; and a step of, by a processor, detecting abnormal operation of the LKAS module and outputting an alarm, and also performing a corresponding action when the LKAS module is suddenly deactivated during normal operation.

In the present invention, the step of detecting abnormal operation of the LKAS module and outputting an alarm includes the processor calculating a steering value (first steering value) of the vehicle based on lane information detected by the LKAS module. step; calculating a steering value (second steering value) corresponding to the direction in which the vehicle will proceed through a navigation map based on the GPS signal detected through the GPS module; And if the difference between the first and second steering values is greater than a designated threshold, detecting abnormal operation of the LKAS module and outputting an alarm.

In the present invention, in the step of calculating the second steering value, when more than a specified number of satellites are detected through the GPS module, the processor performs steering corresponding to the direction in which the vehicle will proceed through a navigation map based on GPS signals. It is characterized by calculating a value (second steering value).

In the present invention, in the step of performing a response operation when the LKAS module is suddenly deactivated during normal operation, the processor performs a steering torque control as a response operation when the LKAS module is suddenly deactivated during normal operation. The steering torque is controlled in the direction calculated through the GPS signal-based navigation map for a designated time through the module, and the torque is set strong at the beginning of the designated time and then gradually adjusted to weaken the torque as time passes. .

In the present invention, in order to set the torque to be strong at the beginning of the designated time and then gradually adjust the torque to be weak as time passes, the steering torque control module controls the steering torque according to the control of the processor, and The torque is controlled so as not to rotate in any specific direction during the time, but the actual steering torque output gradually increases between the torque at the start of the designated time (first torque) and the torque at the end of the designated time (second torque). It is characterized by controlling it to be variable.

In the present invention, the specific direction for controlling the steering torque so that the steering wheel does not rotate is a direction for maintaining forward steering of the steering wheel in order to prevent the steering wheel from rotating both left and right in the straight section, and also in the rotating section Characterized in that the direction is to restrict the steering wheel from rotating in the direction opposite to the rotation of the vehicle so that it rotates only within the direction of rotation of the vehicle.

According to one aspect of the present invention, the present invention prevents a safety accident by preventing sudden steering through steering torque control when the vehicle's lane keeping control operation is released.

1 is an exemplary diagram showing the schematic configuration of a lane keeping control device according to an embodiment of the present invention.
Figure 2 is a flowchart illustrating a lane keeping control method according to an embodiment of the present invention.
FIG. 3 is an example diagram shown in FIG. 1 to explain a method of controlling steering torque in a straight-line section and a turning section when the function of the LKAS module is disabled.
4 is an example diagram shown in FIG. 1 to explain the operation when there is a difference between the steering value of the direction of travel estimated by the LKAS module and the steering value of the direction of travel estimated by the navigation map based on the GPS signal. .

Hereinafter, an embodiment of the lane keeping control device and method according to the present invention will be described with reference to the attached drawings.

In this process, the thickness of lines or sizes of components shown in the drawing may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

Figure 1 is an exemplary diagram showing the schematic configuration of a lane keeping control device according to an embodiment of the present invention.

As shown in FIG. 1, the lane keeping control device according to this embodiment includes a sensor module 110, a GPS module 120, a LKAS module 130, a processor 140, a steering torque control module 150, and an alarm output module 160.

The sensor module 110 includes at least one sensor for detecting the operation and behavior state of the vehicle.

For example, the sensor module 110 includes a wheel speed sensor, a yaw rate sensor, a steering angle sensor, an acceleration sensor, a camera sensor, an ultrasonic sensor, and an infrared sensor. .

The GPS module 120 receives signals from GPS satellites.

The LKAS (Lane Keeping Assist System) module 130 performs a lane keeping operation based on information detected through the sensor module 110.

The processor 140 monitors the front through the sensor module 110 to detect road curvature and a preceding vehicle, and controls the LKAS module 130 to perform a lane keeping operation.

In addition, when more than a specified number (e.g., 3) of satellites are detected (i.e., when more than a specified number of satellite signals are received), the processor 140 determines the road and driving distance on which the vehicle is currently traveling from the navigation map (electronic map). Estimate (predict) the direction to take.

For example, the processor 140 can predict that the driving direction is a straight road (or a straight section) if the road ahead is a straight road (or a straight section), and if the road ahead is a curved road, the driving direction is a curved direction. (or rotation section) can be estimated (predicted).

In addition, when the LKAS module 130 is currently operating, the processor 140 calculates the steering value (first steering value) of the vehicle based on the lane information detected by the LKAS module 130, and the GPS A steering value (second steering value) corresponding to the direction in which the vehicle will travel is calculated through a navigation map based on GPS signals detected through the module 120, and the two steering values (first steering value and second steering value) are calculated. is compared to calculate the difference value (i.e., angle relative to the rotating direction) (see Figure 4).

At this time, if the calculated difference value (e.g., A = second steering value - first steering value) is greater than the specified threshold, it means that one of the first and second steering values is an incorrect value. Therefore, in this case, the processor 140 outputs an alarm to the driver through the alarm output module 160 to prepare for an accident that may occur, allowing the driver to look ahead.

In addition, the processor 140 monitors the deactivation of the function of the LKAS module 130, and when the LKAS module 130 is operating normally but is suddenly deactivated, the processor 140 controls the steering torque through the steering torque control module 150. Control.

At this time, the reason why the LKAS module 130 is suddenly deactivated is because the function is automatically deactivated when the lane is not recognized and when driving in a curved (turning) section of a certain level or more even if the lane is recognized, the processor ( 140) controls the steering torque in the direction calculated through the navigation map based on the GPS signal for a designated time through the steering torque control module 150 to prevent the steering torque from suddenly being released and the steering suddenly changed, Initially, the torque is set strong, but as time passes, the torque is gradually adjusted to weaken.

For example, the processor 140 strongly sets the steering torque to 100 (the first designated steering torque value) at the moment the function of the LKAS module 130 is released, and then increases the steering torque as time (e.g., 5 seconds) elapses. can be gradually and weakly adjusted to 0 (the designated second steering torque value). For example, if the driving direction of the vehicle is a straight section (straight direction), the steering torque in the forward direction is strongly set to 100, and then as time (e.g. 5 seconds) elapses, the steering torque is gradually adjusted to weaken to 0. , if the vehicle's driving direction is a high-line section (rotation direction), the steering torque in the opposite direction of rotation is strongly set to 100 (e.g., in the case of a right-hand rotation direction, the steering torque is strongly set to 100 in the left-hand rotation direction). As time (e.g. 5 seconds) elapses, the steering torque can be gradually adjusted to 0 (see Figure 3).

The steering torque control module 150 controls the steering torque under the control of the processor 140, and controls the torque so as not to rotate in a specific direction during a specified time, and the torque at the start of the specified time and the specified Controls the actual output steering torque to gradually vary between the torques at the end of time.

For example, the torque is controlled so that the handle does not rotate left and right by the user (i.e., maintains the forward direction), or the torque is controlled so that the handle can only be rotated in either left or right direction by the user, but for a specified time. The actual steering torque is controlled to vary gradually between the torque at the start (first torque) and the torque at the end of the designated time (second torque) (e.g., first torque → second torque, or second torque). 2 torque → 1st torque).

Under the control of the processor 140, the alarm output module 160 outputs the vehicle's steering value (first steering value) and the GPS module ( 120), if the difference between the steering value (second steering value) corresponding to the direction in which the vehicle will proceed through the GPS signal-based navigation map detected through the navigation map is greater than the threshold, an alarm is output to the driver, allowing the driver to look ahead. Let's do it.

In addition, the alarm output module 160 outputs an alarm to the driver when the function of the LKAS module 130 is suddenly released under the control of the processor 140, so that the driver can drive with caution.

Figure 2 is a flowchart for explaining a lane keeping control method according to an embodiment of the present invention.

Referring to FIG. 2, the processor 140 checks whether a specified number (e.g., 3) or more satellites are detected (i.e., whether more than a specified number of satellite signals are received) through the GPS module 120 (S102). .

As a result of the check (S102), if more than the specified number (e.g., 3) of satellites are not detected (No in S101), the processor 140 performs the existing general LKAS driving. That is, LKAS driving is performed based on lane information detected through the sensor module 110.

However, as a result of the check (S102), if more than the specified number (e.g., 3) of satellites are detected (example of S101), the processor 140 links the navigation map (electronic map) to determine the vehicle's current driving road and the current Estimate (or judge) the direction of progress (S102).

When the current driving road and current direction of travel of the vehicle are estimated as described above, the processor 140 extracts information on the road ahead to proceed after from the navigation map (e.g., information on the road ahead to proceed in 10 seconds, information on the road ahead in 20 seconds) Information on the road ahead to drive on) (S103).

Additionally, the processor 140 estimates (or calculates) the direction of travel using the extracted road information ahead (e.g., direction to drive in 10 seconds, direction to drive in 20 seconds) (S104).

At this time, although not specifically shown in the drawing, steps S101 to S104 are continuously performed repeatedly in real time while a specified number (e.g., three) or more satellites are detected.

Additionally, the processor 140 checks whether the LKAS module 130 is operating (S105).

When the LKAS module 130 is operating (example in S105), the processor 140 calculates a steering value (first steering value) of the vehicle based on lane information detected by the LKAS module 130, and , A steering value (second steering value) corresponding to the direction in which the vehicle will proceed is calculated through a navigation map based on the GPS signal detected through the GPS module 120, and the two steering values (first steering value and second steering value) are calculated. The difference value (A) is calculated by comparing the steering values (S106) (see FIG. 4).

At this time, if the calculated difference value (e.g. A = 2nd steering value - 1st steering value) is less than the specified threshold (No in S107), normal LKAS driving is performed (S112), but if the calculated difference If the value (e.g., A = second steering value - first steering value) is greater than the specified threshold (example of S107), the processor 140 prepares for an accident that may occur, and the alarm output module 160 ) to output an alarm to the driver (S108).

In addition, the processor 140 continuously monitors the deactivation of the function of the LKAS module 130 in real time, and when the LKAS module 130 is operating normally and is suddenly deactivated (example in S109), the steering torque suddenly increases. In order to prevent the steering from suddenly changing due to disengagement, the steering torque is controlled through the steering torque control module 150 in the direction calculated through the navigation map based on the GPS signal for a designated time (S110).

For example, the processor 140 controls the steering torque through the steering torque control module 150 so that the steering wheel does not rotate in a specific direction during a specified time, but as shown in FIG. 3, the torque at the start of the specified time The actual output steering torque is controlled to gradually vary between (the first torque, e.g., strong torque) and the torque at the end of the designated time (the second torque, e.g., weak torque). At this time, the specific direction for controlling the steering torque so that the handle does not rotate is to prevent the handle from rotating in both the left and right directions to maintain forward steering in the straight section, or to prevent the handle from rotating in the opposite direction of rotation in the turning section. It can be restricted to rotate only within the direction of rotation.

As described above, this embodiment has the effect of preventing safety accidents by preventing sudden steering through steering torque control when the vehicle's lane maintenance control operation is released.

As described above, the present invention has been described with reference to the embodiments shown in the drawings, but these are merely illustrative, and various modifications and equivalent embodiments can be made by those skilled in the art. You will understand the point. Therefore, the scope of technical protection of the present invention should be determined by the scope of the patent claims below. Implementations described herein may also be implemented as, for example, a method or process, device, software program, data stream, or signal. Although discussed only in the context of a single form of implementation (eg, only as a method), implementations of the features discussed may also be implemented in other forms (eg, devices or programs). The device may be implemented with appropriate hardware, software, firmware, etc. The method may be implemented in a device such as a processor, which generally refers to a processing device that includes a computer, microprocessor, integrated circuit, or programmable logic device. Processors also include communication devices such as computers, cell phones, portable/personal digital assistants (“PDAs”) and other devices that facilitate communication of information between end-users.

110: sensor module 120: GPS module
130: LKAS module 140: Processor
150: Steering torque control module 160: Alarm output module

Claims (12)

A sensor module for detecting the operation and behavior status of the vehicle;
GPS module that receives signals from GPS satellites;
a Lane Keeping Assist System (LKAS) module that performs lane keeping operation based on information detected through the sensor module; and
A lane keeping control device comprising a processor that detects abnormal operation of the LKAS module, outputs an alarm, and performs a corresponding action when the LKAS module suddenly loses its function during normal operation.
The method of claim 1, wherein the processor:
Calculate the steering value (first steering value) of the vehicle based on the lane information detected by the LKAS module,
Calculate a steering value (second steering value) corresponding to the direction in which the vehicle will proceed through a navigation map based on GPS signals detected through the GPS module,
A lane keeping control device characterized in that, when the difference between the first and second steering values is greater than a designated threshold, it detects abnormal operation of the LKAS module and outputs an alarm.
The method of claim 2, wherein the processor:
A lane keeping control device that calculates a steering value (second steering value) corresponding to the direction in which the vehicle will proceed through a GPS signal-based navigation map when more than a specified number of satellites are detected through the GPS module.
The method of claim 1, wherein the processor:
As a response operation when the LKAS module is suddenly deactivated during normal operation, the steering torque is controlled in the direction calculated through the GPS signal-based navigation map for a specified time through the steering torque control module,
A lane-keeping control device that sets the torque to be strong at the beginning of a specified time and then gradually adjusts the torque to be weak as time passes.
The method of claim 4, wherein the steering torque control module,
The steering torque is controlled according to the control of the processor, and the torque is controlled so as not to rotate in any specific direction for a specified time,
A lane keeping control device that controls the actual output steering torque to gradually vary between the torque at the start of the designated time (first torque) and the torque at the end of the designated time (second torque).
The method of claim 5, wherein the specific direction in which the processor controls the steering torque to prevent the handle from rotating is:
This is the direction for maintaining forward steering of the steering wheel in order to prevent the steering wheel from turning both left and right in the straight section.
A lane maintenance control device characterized in that the direction is to restrict the steering wheel from turning in the direction opposite to the rotation of the vehicle in order to ensure that the steering wheel is rotated only within the direction of rotation of the vehicle in the turning section.
A sensor module detecting the operation and behavior state of the vehicle, and a LKAS (Lane Keeping Assist System) module performing a lane keeping operation based on the information detected through the sensor module; and
A lane keeping control method comprising: a processor detecting abnormal operation of the LKAS module, outputting an alarm, and performing a corresponding action when the LKAS module is suddenly deactivated during normal operation.
According to clause 7,
The step of detecting abnormal operation of the LKAS module and outputting an alarm is,
The processor,
calculating a steering value (first steering value) of the vehicle based on lane information detected by the LKAS module;
calculating a steering value (second steering value) corresponding to the direction in which the vehicle will proceed through a navigation map based on the GPS signal detected through the GPS module; and
When the difference between the first and second steering values is greater than a designated threshold, detecting abnormal operation of the LKAS module and outputting an alarm.
The method of claim 8, wherein in calculating the second steering value,
The processor,
A lane keeping control method characterized by calculating a steering value (second steering value) corresponding to the direction in which the vehicle will proceed through a GPS signal-based navigation map when more than a specified number of satellites are detected through the GPS module.
The method of claim 7, wherein in the step of performing a response operation when the LKAS module is suddenly deactivated during normal operation,
The processor,
As a response operation when the LKAS module is suddenly deactivated during normal operation, the steering torque is controlled in the direction calculated through the GPS signal-based navigation map for a specified time through the steering torque control module,
A lane maintenance control method characterized by setting the torque to be strong at the beginning of a specified time and then gradually adjusting the torque to be weak as time passes.
The method of claim 10, wherein the torque is set strong at the beginning of the designated time and then gradually adjusted to weaken the torque as time passes.
The steering torque control module,
The steering torque is controlled according to the control of the processor, and the torque is controlled so as not to rotate in any specific direction for a specified time,
A lane keeping control method characterized by controlling the actual output steering torque to gradually vary between the torque at the start of the designated time (first torque) and the torque at the end of the designated time (second torque).
According to claim 11,
The specific direction for controlling the steering torque so that the handle does not rotate is,
This is the direction for maintaining forward steering of the steering wheel in order to prevent the steering wheel from turning both left and right in the straight section.
A lane maintenance control method characterized in that the direction is to limit the steering wheel from turning in the direction opposite to the rotation of the vehicle so that the steering wheel is rotated only within the direction of rotation of the vehicle in the turning section.

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