KR20240036967A - Method and apparatus for active driving assistance based on driving information judgment - Google Patents

Abstract

The present invention provides an active driving assistance method and device based on driving information judgment, comprising the steps of identifying a driving area based on vehicle driving information or lane information, dividing the detection area into stages based on the driving information and the driving area, and Active, comprising the steps of variably generating the detection area, detecting obstacles on the detection area based on the detection area, and correcting the detection area based on a change in attitude of the vehicle or the driving information. Provides driving assistance methods.

Description

{Method and apparatus for active driving assistance based on driving information judgment}

Embodiments of the present invention relate to an active driving assistance method and device based on driving information judgment.

By using radar or ultrasonic sensors, when obstacles (e.g. vehicles, people, objects, etc.) are close to the vehicle, the proximity of the obstacles can be notified by sound. It is mainly used for vehicle parking assistance functions, lane changes while driving, and blind spot obstacle detection when entering an intersection.

Conventionally, it is used only in limited situations (e.g., when changing lanes while driving, as a parking assistant), and this means that the information surrounding the vehicle provided in situations where the vehicle is driven manually or remotely is very limited. Currently, it is difficult to provide a clear driving environment to the driver because the sensor detects the entire detectable front range rather than identifying obstacles approaching the vehicle's direction of travel, and it is difficult to recognize the level of risk when an approaching obstacle appears.

In addition, unlike a regular road environment, when driving in an outdoor environment, only whether or not an obstacle is detected is notified regardless of the driving area trajectory according to the vehicle's driving direction, which may cause confusion and misunderstanding to the driver as a false positive, thereby limiting driving stability. It's clear.

The present invention is intended to solve various problems including the problems described above, and its purpose is to provide an active driving assistance method and device based on driving information judgment. However, these tasks are illustrative and do not limit the scope of the present invention.

According to one aspect of the present invention, identifying a driving area based on driving information or lane information of a vehicle, dividing detection areas into stages based on the driving information and the driving area to variably generate the detection area. An active driving assistance method is provided, including the steps of detecting an obstacle in the detection area based on the detection area, and correcting the detection area based on a change in posture of the vehicle or the driving information.

The step of correcting the detection area includes correcting the detection area based on the width of the lane in which the vehicle is traveling, correcting the detection area based on the width of the adjacent lane of the lane in which the vehicle is traveling, and the vehicle It may include correcting the detection area by adding a collision warning area to the detection area based on the driving speed and direction of travel.

The step of detecting the obstacle includes detecting an obstacle based on the driving area and the detection area to determine a collision risk level between the vehicle and the obstacle, and acceleration/deceleration of the vehicle based on the collision risk level and the driving information. and performing steering control assistance.

According to one aspect of the present invention, it includes a processor, wherein the processor identifies a driving area based on driving information or lane information of the vehicle, and divides the detection area into stages based on the driving information and the driving area. An active driving assistance device is provided that variably generates the detection area, detects obstacles on the detection area based on the detection area, and corrects the detection area based on a change in vehicle posture or the driving information.

The processor corrects the detection area based on the width of the lane in which the vehicle is traveling, corrects the detection area based on the width of the adjacent lane of the lane in which the vehicle is traveling, and based on the traveling speed and direction of travel of the vehicle. The detection area can be corrected by adding a collision warning area to the detection area.

The processor detects obstacles based on the driving area and the detection area, determines the collision risk level between the vehicle and the obstacle, and performs acceleration/deceleration and steering control assistance of the vehicle based on the collision risk level and the driving information. can do.

Other aspects, features and advantages other than those described above will become apparent from the detailed description, claims and drawings for carrying out the invention below.

According to an embodiment of the present invention made as described above, an active driving assistance method and device based on driving information judgment can be implemented. Of course, the scope of the present invention is not limited by this effect.

1 is a diagram for explaining the configuration and operation of an active driving assistance device according to an embodiment of the present invention.
Figure 2 is a diagram for explaining the processor configuration of an active driving assistance device according to an embodiment of the present invention.
Figure 3 is a flowchart showing an active driving assistance method according to an embodiment of the present invention.
4 to 6 are diagrams for explaining an active driving assistance method according to an embodiment of the present invention.
7 and 8 are diagrams for explaining an active driving assistance method according to another embodiment of the present invention.

Since the present invention can be modified in various ways and can have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various forms.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. When describing with reference to the drawings, identical or corresponding components will be assigned the same reference numerals and redundant description thereof will be omitted. .

In the following embodiments, terms such as first or second are used not in a limiting sense but for the purpose of distinguishing one component from another component. And singular expressions include plural expressions, unless the context clearly dictates otherwise. Additionally, terms such as include or have mean that the features or components described in the specification exist, and do not exclude the possibility of adding one or more other features or components.

In the drawings, the sizes of components may be exaggerated or reduced for convenience of explanation. For example, the size and thickness of each component shown in the drawings are shown arbitrarily for convenience of explanation, so the present invention is not necessarily limited to what is shown.

In the following embodiments, when a part such as a region, component, unit, block, or module is said to be on or on another part, it is not only the case that it is directly on top of the other part, but also the other area, component, or module in between. , also includes cases where blocks or modules are included. And when areas, components, parts, blocks, or modules are connected, not only are the areas, components, parts, blocks, or modules directly connected, but also other areas are in between the areas, components, parts, blocks, or modules. , also includes cases where components, parts, blocks or modules are interposed and indirectly connected.

Hereinafter, several embodiments of the present invention will be described in detail with reference to the attached drawings in order to enable those skilled in the art to easily practice the present invention.

FIG. 1 is a diagram for explaining the configuration and operation of an active driving assistance device according to an embodiment of the present invention, and FIG. 2 is a diagram for explaining the processor configuration of an active driving assistance device according to an embodiment of the present invention. .

The active driving assistance device 100 according to an embodiment of the present invention may be installed in a vehicle. For example, the active driving assistance device 100 can acquire information about surrounding obstacles while the vehicle is driving and inform the driver of the possibility of collision and the level of risk. In addition, the active driving assistance device 100 can prevent accidents caused by poor driving or obstacles appearing in blind spots by providing the driver with information about obstacles that the driver is not aware of. In addition, the active driving assistance device 100 can improve driving stability by providing feedback on situations surrounding the vehicle to the driver in situations where the vehicle is controlled manually or remotely.

First, referring to FIG. 1, the active driving assistance device 100 according to an embodiment of the present invention may include a memory 110, a processor 120, a communication module 130, and a sensor 140. However, the present invention is not limited to this, and the active driving assistance device 100 may further include other components or some components may be omitted. Some components of the active driving assistance device 100 may be separated into multiple devices, or multiple components may be merged into one device.

The memory 110 is a computer-readable recording medium and may include a non-permanent mass storage device such as random access memory (RAM), read only memory (ROM), and a disk drive. Additionally, a program code for controlling the active driving assistance device 100 may be temporarily or permanently stored in the memory 110.

The processor 120 may identify the driving area based on vehicle driving information or lane information. Additionally, the processor 120 may variably generate a detection area by dividing the detection area into stages based on driving information and driving area. Additionally, the processor 120 may detect obstacles in the detection area based on the detection area and correct the detection area based on a change in the vehicle's posture or driving information.

The communication module 130 may provide a function for communicating with an external server through a network. For example, a request generated by the processor 120 of the active driving assistance device 100 according to a program code stored in a recording device such as memory 110 is transmitted to an external server through the network under the control of the communication module 130. It can be. Conversely, control signals, commands, content, files, etc. provided under control of a processor of an external server may be received by the active driving assistance device 100 through the communication module 130 via a network. For example, control signals or commands from an external server received through the communication module 130 may be transmitted to the processor 120 or memory 110.

The communication method is not limited, and may include not only a communication method utilizing a communication network that the network may include (for example, a mobile communication network, wired Internet, wireless Internet, and a broadcasting network), but also short-range wireless communication between devices. For example, networks include personal area network (PAN), local area network (LAN), campus area network (CAN), metropolitan area network (MAN), wide area network (WAN), broadband network (BBN), Internet, etc. It may include one or more arbitrary networks among the networks. Additionally, the network may include, but is not limited to, any one or more of network topologies including a bus network, star network, ring network, mesh network, star-bus network, tree or hierarchical network, etc. .

Additionally, the communication module 130 can communicate with an external server through a network. The communication method is not limited, but the network may be a short-range wireless communication network. For example, the network may be a Bluetooth, Bluetooth Low Energy (BLE), or Wifi communication network.

Additionally, the active driving assistance device 100 according to the present invention may include an input/output interface. The input/output interface may be a means for interfacing with an input/output device. For example, an input device may include a device such as a keyboard or mouse, and an output device may include a device such as a display for displaying a communication session of an application. As another example, an input/output interface may be a means of interfacing with a device that integrates input and output functions into one, such as a touch screen. As a more specific example, the processor 120 of the active driving assistance device 100 processes commands of a computer program loaded in the memory 110, and provides a service screen or content configured using data provided by an external server through an input/output interface. It can be displayed on the display through .

The sensor 140 may be a sensor that obtains driving information or lane information of the vehicle. For example, sensor 140 may be a radar, lidar, or ultrasonic sensor.

Additionally, in other embodiments, the active driving assistance device 100 may include more components than those shown in FIG. 1 . For example, it may be implemented to include at least some of the above-described input/output devices, or may further include other components such as a battery and charging device that supplies power to internal components, various sensors, and a database.

Hereinafter, the internal configuration of the processor 120 of the active driving assistance device 100 according to an embodiment of the present invention will be reviewed in detail with reference to FIG. 2. For ease of understanding, the processor 120 described later will be described assuming that it is the processor 120 of the active driving assistance device 100 shown in FIG. 1 .

The processor 120 of the active driving assistance device 100 according to an embodiment of the present invention includes a driving area identification module 121, a detection area creation module 122, an obstacle detection module 123, and a detection area correction module ( 124). According to some embodiments, components of the processor 120 may be selectively included in or excluded from the processor 120. Additionally, according to some embodiments, components of the processor 120 may be separated or merged to express the functions of the processor 120.

The processor 120 and the components of the processor 120 may control the active driving assistance device 100 to perform steps S110 to S140 included in the active driving assistance method of FIG. 3 . For example, the processor 120 and its components may be implemented to execute instructions according to the code of an operating system included in the memory 110 and the code of at least one program. Here, the components of the processor 120 represent different functions of the processor 120 that are performed by the processor 120 according to instructions provided by the program code stored in the active driving assistance device 100. You can take it in. The internal configuration and specific operation of the processor 120 will be described with reference to the flowchart of the active driving assistance method in FIG. 3.

Figure 3 is a flowchart showing an active driving assistance method according to an embodiment of the present invention.

Referring to FIG. 3, in step S110, the processor 120 may identify a driving area based on vehicle driving information or lane information.

In step S120, the processor 120 may variably generate a detection area by dividing the detection area into stages based on the driving information and the driving area.

In step S130, the processor 120 may detect an obstacle on the detection area based on the detection area.

The processor 120 according to an embodiment of the present invention may detect obstacles based on the driving area and detection area and determine the level of risk of collision between the vehicle and the obstacle.

Additionally, the processor 120 may perform acceleration/deceleration and steering control assistance of the vehicle based on the collision risk level and driving information.

In step S140, the processor 120 may correct the detection area based on a change in posture or driving information of the vehicle.

The processor 120 according to an embodiment of the present invention may correct the detection area based on the width of the lane in which the vehicle is traveling.

Additionally, the processor 120 may correct the detection area based on the width of a lane adjacent to the lane in which the vehicle is traveling.

Additionally, the processor 120 may correct the detection area by adding a collision warning area to the detection area based on the vehicle's driving speed and direction of travel.

4 to 6 are diagrams for explaining an active driving assistance method according to an embodiment of the present invention.

First, referring to FIG. 4, a flow chart showing an active driving assistance method according to an embodiment of the present invention is shown.

In step S210, the processor 120 may determine driving information of the vehicle. For example, the processor 120 may establish reference information for determining whether there are obstacles around the vehicle by identifying the driving area and distinguishing the detection area through determining the driving information. Details of the driving area identification and detection area classification steps are shown in the flowcharts of FIGS. 5 and 6.

Referring to FIG. 5, in steps S310 to S340, the processor 120 according to an embodiment of the present invention may identify the driving area. For example, the processor 120 identifies the presence or absence of lane information in the current driving section of the vehicle, and if lane information is unclear or does not exist, it can predict the driving area of the vehicle based on the current driving operation information (driving situation) of the vehicle. You can. Additionally, if lane information is identified in the driving section, the processor 120 can predict the driving area based on the trajectory of the lane and the width of both lanes.

Referring to FIG. 6, in steps S410 to S420, the processor 120 according to an embodiment of the present invention may distinguish a detection area. For example, the processor 120 may variably generate a detection area based on basic information such as the vehicle's steering, driving speed, and direction of travel, which are current driving information. The detection area does not exceed the maximum recognition range of the sensor, and more than 20% of the vehicle specifications can be designated as the minimum recognition range. In addition, the detection area is divided into three levels to determine the risk level based on the estimated location information when an obstacle appears, and the risk level can be divided into appearance/warning/danger.

In steps S240 to S270, the processor 120 determines whether an obstacle appears at the current driving point, distinguishes between a fixed/moving obstacle, and collides with a vehicle in the current direction based on the vehicle's driving area and a detection area divided into three stages. The risk level can be determined.

In addition, in steps S280 to S290, the processor 120 determines the risk level when an obstacle appears, provides surrounding environment information to the operator, and determines the level of risk of the vehicle based on the driving area information at the time of detection when the identified obstacle approaches the driving area. Acceleration/deceleration and steering control assistance can be performed.

Referring to FIG. 7, an example of detection area creation and driving area identification according to an embodiment of the present invention is shown.

For example, as shown in FIG. 7 , the processor 120 may identify the driving area 77 of the vehicle. For example, the vehicle may travel along the travel trajectory 76 .

The processor 120 can detect obstacles 74 and 75 around the vehicle. For example, the processor 120 may generate detection areas in stages of obstacle appearance 71, collision warning 72, and collision risk 73. Additionally, the processor 120 may detect obstacles 74 and 75 based on detection areas of obstacle appearance 71, collision warning 72, and collision risk 73.

Referring to FIG. 8, an example of detection area variable correction (right turn acceleration situation (FIG. 8A) and left turn deceleration situation (FIG. 8B)) among driving situations according to an embodiment of the present invention is shown.

For example, as shown in Figure 8, the classification and creation of the detection area can be corrected according to the presence or absence of lane recognition, and if lane information is identified, the detection area corrected based on the width of the current driving lane can be applied. there is. For example, during a road driving situation, not only the currently driving lane area but also surrounding lane areas may be included in the detection area.

For example, the processor 120 may additionally correct the collision warning area according to the driving speed and direction of travel (situation of deceleration during forward driving). Additionally, the processor 120 can prepare for a rear collision by enlarging the rear of the collision warning area.

For example, as shown in FIG. 8A, the processor 120 may identify the driving area 87 of the vehicle in a right-turn acceleration situation. For example, the vehicle may travel along the travel trajectory 86.

The processor 120 may generate detection areas by dividing them into obstacle appearance (81), collision warning (82), and collision risk (83). For example, as shown in FIG. 8A, the processor 120 may divide and create detection areas based on the current driving lane and surrounding lane areas. Additionally, the processor 120 may correct the detection area by expanding the detection area to the right and in front of the vehicle's driving direction in a right-turn acceleration situation.

For example, as shown in FIG. 8B, the processor 120 may identify the driving area 87 of the vehicle in a left turn deceleration situation. For example, the vehicle may travel along the travel trajectory 86.

The processor 120 may generate detection areas by dividing them into obstacle appearance (81), collision warning (82), and collision risk (83). For example, as shown in FIG. 8B, the processor 120 may create a detection area by dividing it based on the current driving lane and the surrounding lane area. Additionally, the processor 120 may correct the detection area by expanding the detection area to the left and rear of the vehicle's driving direction in a left turn deceleration situation.

According to the present invention, by obtaining information on surrounding obstacles while driving the vehicle and notifying the possibility of collision and the level of risk, it is possible to prevent accidents caused by poor driving or obstacles appearing in blind spots by providing information about obstacles that the driver is not aware of. there is. Additionally, according to the present invention, driving stability can be improved by providing feedback on the vehicle's surroundings to the driver in situations where the vehicle is controlled manually or remotely.

Additionally, according to the present invention, information on the vehicle's surrounding driving environment and object detection results can be provided based on the vehicle's driving information. In addition, it can provide driving environment information to the driver and assist vehicle control to enable active response to obstacles appearing in the driving path.

The device and/or system described above may be implemented with hardware components, software components, and/or a combination of hardware components and software components. Devices and components described in the embodiments include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), and a programmable logic unit (PLU). It may be implemented using one or more general-purpose or special-purpose computers, such as a logic unit, microprocessor, or any other device capable of executing and responding to instructions. A processing device may execute an operating system (OS) and one or more software applications that run on the operating system. Additionally, a processing device may access, store, manipulate, process, and generate data in response to the execution of software. For ease of understanding, a single processing device may be described as being used; however, those skilled in the art will understand that a processing device includes multiple processing elements and/or multiple types of processing elements. It can be seen that it may include. For example, a processing device may include a plurality of processors or one processor and one controller. Additionally, other processing configurations, such as parallel processors, are possible.

Software may include a computer program, code, instructions, or a combination of one or more of these, and may configure a processing unit to operate as desired, or may operate independently or collectively on a processing unit. You can command. Software and/or data may be used on any type of machine, component, physical device, virtual equipment, computer storage medium or device to be interpreted by or to provide instructions or data to a processing device. , or may be permanently or temporarily embodied in a transmitted signal wave. Software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. Computer-readable media may include program instructions, data files, data structures, etc., singly or in combination. Program instructions recorded on the medium may be specially designed and configured for the embodiment or may be known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -Includes optical media (magneto-optical media) and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, etc. Examples of program instructions include machine language code, such as that produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, although the embodiments have been described with limited examples and drawings, various modifications and variations can be made by those skilled in the art from the above description. For example, the described techniques are performed in a different order than the described method, and/or components of the described system, structure, device, circuit, etc. are combined or combined in a different form than the described method, or other components are used. Alternatively, appropriate results may be achieved even if substituted or substituted by an equivalent.

Therefore, other implementations, other embodiments, and equivalents of the claims also fall within the scope of the claims described below.

100: Active driving assistance device
110: memory
120: processor
130: Communication module
140: sensor

Claims (6)

Identifying a driving area based on vehicle driving information or lane information;
variably generating the detection area by dividing the detection area into stages based on the driving information and the driving area;
Detecting an obstacle on the detection area based on the detection area; and
An active driving assistance method comprising correcting the detection area based on a change in vehicle posture or the driving information. According to claim 1,
The step of correcting the detection area is,
correcting the detection area based on the width of the lane in which the vehicle travels;
correcting the detection area based on the width of a lane adjacent to the lane in which the vehicle is traveling; and
An active driving assistance method comprising correcting the detection area by adding a collision warning area to the detection area based on the driving speed and direction of travel of the vehicle. According to clause 2,
The step of detecting the obstacle is,
Detecting an obstacle based on the driving area and the detection area to determine a collision risk level between the vehicle and the obstacle; and
An active driving assistance method comprising performing acceleration/deceleration and steering control assistance of a vehicle based on the collision risk level and the driving information. Including a processor;
The processor identifies a driving area based on vehicle driving information or lane information, divides detection areas into stages based on the driving information and the driving area, variably generates the detection area, and creates the detection area. An active driving assistance device that detects obstacles in the detection area based on a change in vehicle posture or the driving information and corrects the detection area. According to clause 4,
The processor corrects the detection area based on the width of the lane in which the vehicle is traveling, corrects the detection area based on the width of the adjacent lane of the lane in which the vehicle is traveling, and based on the traveling speed and direction of travel of the vehicle. An active driving assistance device that corrects the detection area by adding a collision warning area to the detection area. According to clause 5,
The processor detects obstacles based on the driving area and the detection area, determines the collision risk level between the vehicle and the obstacle, and performs acceleration/deceleration and steering control assistance of the vehicle based on the collision risk level and the driving information. active driving assistance device.

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