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KR101836878B1 - Method and Apparatus for controlling vehicle - Google Patents

Method and Apparatus for controlling vehicle Download PDF

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Publication number
KR101836878B1
KR101836878B1 KR1020160007879A KR20160007879A KR101836878B1 KR 101836878 B1 KR101836878 B1 KR 101836878B1 KR 1020160007879 A KR1020160007879 A KR 1020160007879A KR 20160007879 A KR20160007879 A KR 20160007879A KR 101836878 B1 KR101836878 B1 KR 101836878B1
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KR
South Korea
Prior art keywords
vehicle
information
lane
road situation
situation information
Prior art date
Application number
KR1020160007879A
Other languages
Korean (ko)
Other versions
KR20170088450A (en
Inventor
송동주
권혁찬
최병찬
김기선
손진희
남해운
Original Assignee
한양대학교 에리카산학협력단
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Application filed by 한양대학교 에리카산학협력단 filed Critical 한양대학교 에리카산학협력단
Priority to KR1020160007879A priority Critical patent/KR101836878B1/en
Publication of KR20170088450A publication Critical patent/KR20170088450A/en
Application granted granted Critical
Publication of KR101836878B1 publication Critical patent/KR101836878B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/009—Priority selection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/10—Path keeping
    • B60Y2300/12—Lane keeping

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to an apparatus and a method for controlling a vehicle. More particularly, the present invention relates to a method and apparatus for controlling lane change based on road situation information of a nearby vehicle. Particularly, the present invention relates to a control method for a vehicle, including receiving a first road situation information on a road ahead from a sensor, receiving a second vehicle position information and second road situation information from another vehicle or an infrastructure device, A traveling lane data updating unit for updating the traveling lane data for setting the traveling lane on the basis of the situation information and the second road situation information and a driving lane determining unit for determining the driving lane of the vehicle based on the traveling route data, And a control unit for controlling the behavior of the vehicle so that the vehicle runs using the vehicle.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001]

The present invention relates to an apparatus and a method for controlling a vehicle. More particularly, the present invention relates to a method and apparatus for controlling lane change based on road situation information of a nearby vehicle.

Recently, as Vehicle-to-Vehicle Communication (V2V) or Vehicle-to-Infrastructure Communication (V2I) have been developed, various kinds of information Research is underway to transmit and receive. It is also referred to as V2X (Vehicle-to-Everything Communication) communication, which is generally referred to as vehicle-to-vehicle communication or vehicle-to-infrastructure communication. It is expected that all vehicles will have such V2X communication function in the future.

In addition, research on techniques for controlling the vehicle to travel while minimizing driver intervention such as an unmanned vehicle has been increasing, and techniques related to the traveling of a plurality of vehicles traveling in a single cluster have also been increasing.

On the other hand, it is important to appropriately control the running flow of the vehicle when considering the limited road capacity when driving unmanned vehicles or communities. That is, there is a need for a technique for safely changing a lane in the case where a vehicle loses traffic in a specific lane and congestion is not generated and a congestion occurs due to an accident or the like in the forward direction.

The present invention conceived from the above background is directed to a method and an apparatus for appropriately setting a traveling route in accordance with a situation of a front road during traveling, in an unmanned vehicle for automatically controlling the running of the vehicle or a cluster control vehicle, .

In addition, the present invention proposes a method and apparatus for recognizing a front lane situation in advance by using a plurality of vehicles, maintaining a cluster, and safely performing lane change.

According to an aspect of the present invention, there is provided a vehicle navigation system comprising: a sensor for receiving first road condition information on a front road situation from a sensor, receiving a second vehicle condition information from another vehicle or an infrastructure device, A traveling route data updating section for updating the traveling route data for setting the traveling route based on the information, the first road situation information and the second road situation information, and a driving lane determining section for determining the driving lane of the vehicle based on the traveling route data, And a control unit for controlling the behavior of the vehicle so as to drive the vehicle using the determined driving lane.

According to another aspect of the present invention, there is provided an information processing apparatus including: a receiving step of receiving first road situation information on a front road situation from a sensor, receiving other vehicle position information and second road situation information from another vehicle or an infrastructure apparatus, A traveling route data updating step of updating traveling route data for setting a traveling route based on the road situation information and the second road situation information, a driving lane determining step of determining a driving lane of the vehicle based on the traveling route data, And a control step of controlling the behavior of the vehicle so that the vehicle travels using the vehicle.

The present invention provides an effect that an unmanned vehicle that automatically controls the running of a vehicle or a cluster control vehicle in which a plurality of vehicles travel in a cluster can appropriately set a traveling path in accordance with the situation on the road ahead.

In addition, the present invention provides an effect of recognizing a front lane situation in advance by using a plurality of vehicles, maintaining a cluster, and safely performing a lane change.

1 is a diagram showing a configuration of a vehicle control device according to an embodiment of the present invention.
2 is a view for explaining the operation of the receiver according to an embodiment of the present invention.
FIG. 3 is a view for explaining an operation of detecting an occurrence of an accident according to an embodiment of the present invention.
4 is a diagram for explaining an operation of updating traveling route data according to an embodiment of the present invention.
5 is a diagram illustrating an example of travel route data updated using information received from each vehicle according to an embodiment of the present invention.
6 is a view showing another example of travel route data updated using information received from each vehicle according to an embodiment of the present invention.
7 is a diagram illustrating a vehicle control method according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In describing the components of the present invention, the terms first, second, A, B, (a), (b), and the like can be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."

The present invention relates to a control apparatus and method for controlling the behavior of a vehicle.

1 is a diagram showing a configuration of a vehicle control device according to an embodiment of the present invention.

The vehicle control apparatus of the present invention includes a receiving unit for receiving first road situation information on a front road situation from a sensor and receiving other vehicle position information and second road situation information from another vehicle or an infrastructure apparatus, A traveling lane data updating section for updating the traveling route data for setting the traveling route based on the one-way road situation information and the second road situation information, a driving lane determining section for determining the driving lane of the vehicle based on the traveling route data, And a control unit for controlling the behavior of the vehicle so as to drive the vehicle using the lane.

Referring to FIG. 1, the vehicle control apparatus 100 of the present invention receives first road situation information on a road ahead from a sensor, receives second vehicle position information and second road situation information from another vehicle or an infrastructure apparatus (Not shown). The receiving unit 110 may receive first road condition information including information on a front road situation from various sensors formed on the inside and the outside of the vehicle. Also, the receiving unit 110 may receive the second (V2V) or second (V2V) data generated by at least one other vehicle using Vehicle-to-Vehicle Communication (V2V) Road situation information and location information of other vehicles. The term "vehicle to everything" communication is collectively referred to as communication between vehicles or between vehicles and infrastructure devices. The communication method of the V2X communication may be a multi-hop network type, but it is not limited to a WAVE (Wireless Access in Vehicular Environment) communication method using a 5.9 GHz communication frequency. That is, an existing wireless communication protocol or a new wireless communication protocol may be used. The receiving unit 110 in the present invention can receive the second road situation information received from the other vehicle and the position information of the other vehicle through the V2X communication method. That is, the information may be received directly from the other vehicle, the other vehicle may be transmitted to the infrastructure device, and the infrastructure device may transmit the information to the vehicle to receive the information. In the present invention, there is no limitation on the manner in which the receiving unit 100 receives information related to another vehicle. The receiving unit 110 can receive various kinds of sensing information from constituent devices such as a camera sensor, a radar sensor, an ultrasonic sensor,

On the other hand, the other vehicle location information and the second road situation information may be received according to a predetermined cycle or may be received when a change occurs in the second road situation information. That is, the receiving unit 110 can receive information transmitted in a predetermined period. Or information transmission may be triggered in accordance with the occurrence of an event in which a change occurs in the forward road situation. That is, the receiving unit 110 may receive information when a change occurs in the forward road situation.

The vehicle control device 100 also includes a traveling route data updating unit 120 for updating the traveling route data for setting the traveling route based on the other vehicle location information, the first road situation information, and the second road condition information . The first road situation information and the second road condition information may include lane traffic information for a driving lane in which the vehicle or another vehicle is traveling and lane traffic information for each of the right and left lanes based on the driving lane. For example, the first road situation information includes information on road conditions ahead of the driving lane on which the vehicle is traveling, and may include road situation information for each of the left and right lanes of the driving lane that can be sensed by sensors in the vehicle have. Likewise, the second road situation information may include information on road conditions ahead of the driving lane on which the other vehicle travels, and may include road situation information on each of the left and right lanes of the driving lane that can be sensed by sensors in another vehicle have. The road situation information included in each of the first road situation information or the second road situation information may be changed depending on the detection range of a sensor or the like in the vehicle or the position of the vehicle. For example, when the sensor detection range for detecting the forward situation of the vehicle covers only the driving lane, only the information about the driving lane may be included in the road situation information. Alternatively, when the vehicle is traveling using the end lane of the road, the forward situation information for the non-existent lane may not be included in the road situation information.

In the present specification, information related to vehicle traffic on the road ahead of each lane is described as traffic information. For example, the communication information may include information classified in various categories such as communication smoothness, accident occurrence, congestion, and delay, and each information included in the communication information may be classified according to a preset reference. For example, when the traveling speed is detected to be lower than a predetermined reference speed due to a vehicle lag in a specific lane, traffic information on the lane may be classified as congestion or delay. In another example, when an accident occurs in a specific lane, traffic information may be classified as an accident occurrence.

The communication information may include information about each classification, or may include basic information for each classification. For example, the communication information is set to 2 bits, and according to each bit value, 00 can indicate smooth communication, 01 can be stagnant, 10 can be delayed, and 11 can indicate an accident. Alternatively, the traffic information may directly include the lane-by-lane traveling speed.

The traveling route data updating unit 120 may give priority to the first road situation information and the second road condition information based on the position information of the other vehicle. For example, the travel route data updating unit 120 updates the priority order for applying the first road situation information received from the sensors inside and outside the vehicle and the second road situation information received from the other vehicle to the travel route data, Can be determined based on the position. The traveling route data updating unit 120 can update the traveling route data based on the first road situation information when the position of the other vehicle is located behind the vehicle. That is, the traveling route data updating unit 120 updates the traveling route data on the basis of the first road situation information generated in the vehicle in the case of the vehicle traveling on the rear side of the child vehicle of the other vehicle that transmitted the second road situation information Can be updated.

On the other hand, when the position of another vehicle is located in front of the vehicle, the traveling route data updating unit 120 may further preferentially use the type of traffic information for each lane included in each of the first road situation information and the second road situation information Ranking can be given. For example, when the other vehicle is traveling in front of the subject vehicle, the other vehicle can obtain the front road situation first. However, when an accident occurs between the other vehicle and the other vehicle, the other vehicle can not recognize the situation. Therefore, in updating the traveling route data, the traveling route data updating unit 120 can update the traveling route data for each lane on the basis of the type of traffic information for each lane while updating the second traveling route data based on the second road situation information. For example, when the type of traffic information for a specific lane includes information for instructing the occurrence of an event, the traveling route data updating unit 120 may assign priority to traffic information for a specific lane. That is, when traffic information of a specific lane indicating the occurrence of an accident is included in the first road situation information as a reference based on the second road condition information, the first road condition information is used as a priority for the lane, Can be updated.

In this manner, the travel route data updating unit 120 can reflect the traffic information for each lane included in each of the first road situation information and the second road situation information on the basis of the priority and update the traveling route data. The travel route data includes information on the current road situation of each lane and may include classification information classified by a predetermined classification standard such as occurrence of an accident, congestion, delay or smooth communication.

The vehicle control apparatus 100 also includes a driving lane determining section 130 that determines a driving lane of the vehicle based on the traveling route data. The driving lane determining unit 130 can determine the lane on which the vehicle will run using the lane-by-lane communication information included in the traveling route data. For example, the driving lane determining unit 130 can determine the lane on which the vehicle will run based on the current road state information for each lane included in the traveling route data so that the vehicle can travel on a smooth lane. When communication between two or more lanes is smooth, the lane to be driven by the vehicle can be selected based on a preset reference (for example, the traveling speed of the vehicles in the lane). For example, the criteria for changing lanes can be determined by considering the current driving lane, driving speed for each lane, and the future route of the vehicle. That is, even if the traveling speed of the other lane is higher than a certain range of the lane that is currently traveling, the current driving lane can be maintained for safety. Alternatively, if the vehicle is scheduled to make a right turn on the future route, the lane change to the right turn lane may be determined even if the running speed of the right turn lane is somewhat lower.

Further, the vehicle control device 100 includes a control unit 140 that controls the behavior of the vehicle so that the vehicle runs using the determined driving lane. When the lane change is determined, the control unit 140 can control the lane changing operation for driving the vehicle to the corresponding lane. For example, it is possible to control the operation of the steering device and acceleration / deceleration device of the vehicle. In this case, the control unit 140 may determine the speed and the steering point of the vehicle in consideration of the position, speed, and the like of the other vehicle to be changed by the vehicle, and control so that the vehicle is safely changed to the target lane.

In addition to this, the control unit 140 may perform all the operations such as turning on / off the turn signal lights necessary for lane change before the vehicle steering control for changing lanes.

Hereinafter, the operation of the present invention will be described in detail with reference to the detailed configuration.

2 is a view for explaining the operation of the receiver according to an embodiment of the present invention.

Referring to FIG. 2, the first vehicle 200 can receive position information and second road situation information of each of the other vehicles through communication between the second vehicle 210 and the third vehicle 220 and the vehicle. For example, the first vehicle 200 may receive the position information of the second vehicle 210 and the second road situation information generated by the second vehicle 210. Likewise, the first vehicle 200 can receive the position information of the third vehicle 220 and the second road situation information generated by the third vehicle 220.

Referring to the second vehicle 210, the second vehicle 210 can communicate with the first vehicle 200 and the second vehicle 220 via vehicle communication, as in the case of the first vehicle 200, Information and second road situation information.

Alternatively, each vehicle 200, 210, 220 can transmit and receive information via an infrastructure device that can be installed on the roadside of the vehicle.

On the other hand, when the third vehicle 220 and the first vehicle 200 are out of the communication radius for communication between the vehicles, the first vehicle 200 transmits the third vehicle 220 through the relay vehicles 230 and 210, Location information, and second road situation information. Here, the relay vehicle may be the running vehicle 230 in the opposite lane or the second vehicle 210 traveling in the same running direction.

FIG. 3 is a view for explaining an operation of detecting an occurrence of an accident according to an embodiment of the present invention.

Referring to FIG. 3, when the vehicle 310 travels behind the other vehicle 300, it is not possible to detect an unexpected situation such as the occurrence of a forward accident by using the sensor of the vehicle 310. That is, the first road condition information generated using the sensor of the child vehicle 310 may include information indicating that communication is smooth with respect to the driving lane. However, according to the present invention, the other vehicle 300 can recognize that an accident has occurred in front of the driving lane through a sensor configured in the other vehicle 300. [ Accordingly, the other vehicle 300 can transmit information to the vehicle 310 including information on the occurrence of an accident in the driving lane. In this case, the subject vehicle 310 confirms that the second road situation information received from the other vehicle 300 includes information indicating an accident occurrence of the driving lane, You can make changes.

The other vehicle 320 traveling in the other lane may also generate the second road situation information and transmit the second road condition information to the vehicle 310. The vehicle 310 may transmit the second road state information to the respective vehicles 300, It is possible to update the traveling route data for setting the traveling route using the second road situation information.

Hereinafter, a specific operation for updating the travel route data will be described with reference to FIG.

4 is a diagram for explaining an operation of updating traveling route data according to an embodiment of the present invention.

Referring to FIG. 4, the travel route data updating unit 120 of the present invention may receive the position information of the other vehicle and the second road situation information from another vehicle (S400). This information can be received via the V2X communication described above. When the other vehicle position information is received, it is determined whether the position of the other vehicle is located in front of the own vehicle (S410). If it is determined that the other vehicle is traveling from the rear of the vehicle, priority is assigned to the first road condition information generated by the own vehicle (S430).

Alternatively, if it is determined that the position of the other vehicle that transmitted the second road situation information is located in front of the child vehicle, it is determined whether or not the event occurrence information is included in the first road state information. For example, it is determined whether the first road situation information generated by the subject vehicle through the sensor includes information indicating occurrence of an event such as road congestion or accident occurrence. If it is determined that the event occurrence information is not included in the first road state information, the second road state information received from the other vehicle is given priority (S440).

If the event information is included in the first road condition information, the first road condition information is given priority (S430). However, when event occurrence information is included only for a specific lane, priority is given to only the specific lane, and the remaining lanes can give priority to the second road situation information.

Thereafter, the travel route data is updated based on the priority (S450). For example, when the other vehicle is traveling in front of the own vehicle, road state information on the first to third lanes is included in the second road situation information transmitted by the other vehicle, and the road information on the first road It is assumed that the situation information includes the road situation information for the first lane and the second lane. In this case, when an accident occurs in front of the second lane in which the other vehicle is traveling, and the first road situation information does not include information indicating the occurrence of an event, The first lane and the third lane can be smoothly communicated, and the second lane can be updated with an accident. As another example, under the same assumption, the second road situation information does not include information indicating the occurrence of an event, and when the first lane of the first road situation information includes information indicating occurrence of an accident, The second lane and the third lane are updated based on the first road situation information and the information on the remaining lanes based on the second road situation information, can do.

As described above, by updating the traveling route data by giving priority to the relative positions of the vehicles that transmit information and the type of traffic information for each lane, it is possible to update the traveling route data more accurately. Accordingly, the vehicle can set a traveling route for lane change by integrating information on both the range that can be detected by the sensor and the range that can not be detected by the sensor.

5 and 6, a more detailed description will be given, for example.

5 is a diagram illustrating an example of travel route data updated using information received from each vehicle according to an embodiment of the present invention.

Referring to FIG. 5, the second vehicle 510 can receive position information and road condition information of each vehicle from the first vehicle 500 and the third vehicle 520, respectively. If an accident occurs in the two lanes, the first vehicle road situation information 505 transmitted by the first vehicle 500 may include traffic information for smooth one-lane traffic, two-lane accident occurrence, and three-lane traffic. have. In the case of the third vehicle 520, since the accident scene can not be detected by the sensor, the third vehicle road situation information 525 may include communication information of the first lane to the third lane. Likewise, in the case of the second vehicle 510, since the accident site can not be detected by the sensor, the second vehicle road situation information 515 may include communication information on the first lane and the second lane. Since the three lanes can not be detected by the sensor of the second vehicle 510, the three lanes can be classified as undetected.

The vehicle control device 100 of the second vehicle can update the traveling route data using the road situation information of each of the first vehicle 500 to the third vehicle 520. [

Specifically, since the third vehicle 520 is running on the rear side of the second vehicle 510, the third vehicle road situation information 525 is set to be lower in priority than the second vehicle road situation information 515. [ Since the second vehicle road situation information 515 does not include information indicating occurrence of an event such as an accident or congestion, the road state information of the first vehicle 500 traveling ahead of the second vehicle 510 (505) is given the highest priority.

Therefore, the vehicle control device 100 can update the traveling route data 550 with smooth first lane communication, two-lane accident occurrence, and third lane communication based on the road condition information 505 of the first vehicle.

Further, in this case, since the second vehicle 510 is running on the first lane classified as smooth traffic, a separate lane changing operation is not performed.

As described above, the second vehicle 510 can prevent the lane change to the two lanes in which an accident occurs and congestion will be generated by using the above-described present invention, thereby setting the traveling route. Although the operation is described centering on the second vehicle 510 in the above description, the traveling route data may be updated through the same procedure in the case of the first vehicle 500 and the third vehicle 520 as well. For example, since the first vehicle 500 is traveling in the rear of the first vehicle 500, the remaining vehicles 510 and 520 are traveling on the basis of the road situation information 525 of the first vehicle 500, (550).

Similarly, in the case of the third vehicle 520, both the first vehicle 500 and the second vehicle 510 are running ahead, and the road situation information 525 of the third vehicle 520 is instructed to generate an event The traveling route data 550 can be transmitted to the first vehicle 500 on the basis of the road condition information 505 of the first vehicle 500 including the occurrence of the event in a smooth one-lane communication, two-lane accident occurrence and three- And the traveling route can be changed to one lane or three lanes.

6 is a view showing another example of travel route data updated using information received from each vehicle according to an embodiment of the present invention.

Referring to FIG. 6, both of the first lane and the second lane are congested due to an accident. 5, the second vehicle 610 can receive the position information and the road condition information of each vehicle from the first vehicle 600 and the third vehicle 620, respectively. The first vehicle road situation information 605 transmitted by the first vehicle 600 may include traffic information of one-lane accident occurrence, two-lane accident occurrence, and three-lane traffic smoothness. In the case of the third vehicle 620, since the accident scene can not be detected by the sensor, the third vehicle road situation information 625 may include communication information smoothly communicated in both the first and third lanes. Similarly, in the case of the second vehicle 610, the second vehicle road situation information 615 may include communication information on the first lane and the second lane because the accident scene can not be detected by the sensor. Since the three lanes can not be detected by the sensors of the second vehicle 610, the three lanes can be classified as undetected.

The vehicle control device 100 of the second vehicle 610 can update the traveling route data using the road situation information of each of the first vehicle 600 to the third vehicle 620. [

Specifically, since the third vehicle 620 is running behind the second vehicle 610, the third vehicle road situation information 625 is set to be lower in priority than the second vehicle road situation information 615. [ Since the second vehicle road situation information 615 does not include information indicating occurrence of an event such as an accident or congestion, the road state information of the first vehicle 600 running ahead of the second vehicle 610 (605) is given the highest priority.

Therefore, the vehicle control apparatus 100 can update the traveling route data 650 with the first lane accident occurrence, the second lane accident occurrence, and the third lane communication smoothly based on the road situation information 605 of the first vehicle.

In this case, since the second vehicle 610 is traveling on the first lane classified as an accident, the lane change operation to the stored three lanes can be performed smoothly.

As described above, a vehicle traveling in a cluster or autonomously traveling can change the lane in advance by using sensor information of another vehicle. In addition, it is possible to prevent malfunction by assigning priorities of the respective information, and correct lane change can be performed, thereby smoothly controlling vehicle traffic on the entire road.

A vehicle control method in which all of the above-described present invention can be performed will be described again with reference to Fig.

7 is a diagram illustrating a vehicle control method according to an embodiment of the present invention.

A vehicle control method of the present invention includes receiving a first road condition information for a road ahead condition from a sensor, receiving other vehicle position information and second road condition information from another vehicle or an infrastructure device, A traveling route data updating step of updating traveling route data for setting a traveling route based on the first road situation information and the second road situation information, a driving lane determining step of determining a driving lane of the vehicle based on the traveling route data, And a control step of controlling the behavior of the vehicle so that the vehicle travels using the driving lane.

Referring to FIG. 7, the vehicle control method includes receiving a first road situation information for a front road situation from a sensor, and receiving another vehicle position information and second road situation information from another vehicle or an infrastructure apparatus (S710). The receiving step may receive the first road condition information including information on the front road situation from various sensors formed on the inside and the outside of the vehicle. The receiving step may be a second road situation created by each of at least one other vehicle using Vehicle-to-Vehicle Communication (V2V) or Vehicle-to-Infrastructure Communication (V2I) Information and location information of other vehicles. The receiving step may receive the second road situation information received from the other vehicle and the position information of the other vehicle through the V2X communication method. That is, the information may be received directly from the other vehicle, the other vehicle may be transmitted to the infrastructure device, and the infrastructure device may transmit the information to the vehicle to receive the information.

On the other hand, the other vehicle location information and the second road situation information may be received according to a predetermined cycle or may be received when a change occurs in the second road situation information. That is, the receiving step can receive the information transmitted by a preset predetermined period. Or information transmission may be triggered in accordance with the occurrence of an event in which a change occurs in the forward road situation. That is, the receiving step may receive information when a change occurs in the forward road situation.

The vehicle control method further includes a traveling route data updating step of updating the traveling route data for setting the traveling route based on the other vehicle location information, the first road condition information, and the second road condition information (S720). The first road situation information and the second road condition information may include lane traffic information for a driving lane in which the vehicle or another vehicle is traveling and lane traffic information for each of the right and left lanes based on the driving lane. For example, the first road situation information includes information on road conditions ahead of the driving lane on which the vehicle is traveling, and may include road situation information for each of the left and right lanes of the driving lane that can be sensed by sensors in the vehicle have. Likewise, the second road situation information may include information on road conditions ahead of the driving lane on which the other vehicle travels, and may include road situation information on each of the left and right lanes of the driving lane that can be sensed by sensors in another vehicle have. The road situation information included in each of the first road situation information or the second road situation information may be changed depending on the detection range of a sensor or the like in the vehicle or the position of the vehicle. For example, when the sensor detection range for detecting the forward situation of the vehicle covers only the driving lane, only the information about the driving lane may be included in the road situation information. Alternatively, when the vehicle is traveling using the end lane of the road, the forward situation information for the non-existent lane may not be included in the road situation information.

The communication information may include information classified in various categories such as communication smoothness, accident occurrence, congestion, and delay, and each information included in the communication information may be classified according to preset criteria. For example, when the traveling speed is detected to be lower than a predetermined reference speed due to a vehicle lag in a specific lane, traffic information on the lane may be classified as congestion or delay. In another example, when an accident occurs in a specific lane, traffic information may be classified as an accident occurrence. The communication information may include information about each classification, or may include basic information for each classification. For example, the communication information is set to 2 bits, and according to each bit value, 00 can indicate smooth communication, 01 can be stagnant, 10 can be delayed, and 11 can indicate an accident. Alternatively, the traffic information may directly include the lane-by-lane traveling speed.

The traveling route data updating step may give priority to the first road situation information and the second road situation information based on the position information of the other vehicle. For example, in the step of updating the traveling route data, the priority for applying the first road situation information received from the sensors inside and outside the vehicle and the second road situation information received from the other vehicle to the traveling route data is set as a reference . The traveling route data updating step may update the traveling route data based on the first road situation information when the position of the other vehicle is located behind the vehicle. That is, the traveling route data updating step can update the traveling route data based on the first road situation information generated in the vehicle in the case of a vehicle traveling in the rear of the child vehicle of the other vehicle that transmitted the second road situation information have.

Alternatively, when the position of the other vehicle is located in front of the vehicle, the traveling route data updating step may be further used for the type of traffic information for each lane included in each of the first road situation information and the second road situation information, can do. For example, when the other vehicle is traveling in front of the subject vehicle, the other vehicle can obtain the front road situation first. However, when an accident occurs between the other vehicle and the other vehicle, the other vehicle can not recognize the situation. Therefore, in updating the traveling route data, it is possible to update the traveling route data for each lane on the basis of the type of traffic information for each lane while updating the second traveling route information based on the second road situation information. For example, when the type of traffic information for a specific lane includes information for instructing the occurrence of an event, the traveling route data updating unit 120 may assign priority to traffic information for a specific lane. That is, when traffic information of a specific lane indicating the occurrence of an accident is included in the first road situation information as a reference based on the second road condition information, the first road condition information is used as a priority for the lane, Can be updated.

As described above, the traveling route data updating step can update the traveling route data by reflecting the traffic information for each lane included in the first road situation information and the second road situation information based on the priority order. The travel route data includes information on the current road situation of each lane and may include classification information classified by a predetermined classification standard such as occurrence of an accident, congestion, delay or smooth communication.

The vehicle control method includes a driving lane determining step of determining a driving lane of the vehicle based on the traveling path data (S730). The driving lane determining step can determine the lane on which the vehicle will run using the traffic information for each lane included in the traveling route data. For example, in the driving lane determining step, the lane to be driven by the vehicle can be determined on the basis of the current road state information for each lane included in the traveling route data so that the vehicle can travel on a smooth lane. When communication between two or more lanes is smooth, the lane to be driven by the vehicle can be selected based on a preset reference (for example, the traveling speed of the vehicles in the lane). For example, the criteria for changing lanes can be determined by considering the current driving lane, driving speed for each lane, and the future route of the vehicle. That is, even if the traveling speed of the other lane is higher than a certain range of the lane that is currently traveling, the current driving lane can be maintained for safety. Alternatively, if the vehicle is scheduled to make a right turn on the future route, the lane change to the right turn lane may be determined even if the running speed of the right turn lane is somewhat lower.

Further, the vehicle control method includes a control step of controlling the behavior of the vehicle so as to drive the vehicle using the determined driving lane (S740). When the lane change is determined, the control step can control the lane changing operation for driving the vehicle to the corresponding lane. For example, it is possible to control the operation of the steering device and acceleration / deceleration device of the vehicle. In this case, the control unit 140 may determine the speed and the steering point of the vehicle in consideration of the position, speed, and the like of the other vehicle to be changed by the vehicle, and control so that the vehicle is safely changed to the target lane. In addition, the control step may be performed before the vehicle steering control for changing lanes, such as turning on / off the turn signal lights necessary for changing lanes.

As described above, according to the present invention, an unmanned vehicle that automatically controls the running of a vehicle, or a cluster control vehicle in which a plurality of vehicles travel in a cluster, has an effect of appropriately setting a traveling route in accordance with the situation on the road ahead have. In addition, according to the present invention, there is an effect that, by using a plurality of vehicles, a lane change can be safely performed while maintaining a cluster by recognizing a front lane situation in advance.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

Claims (11)

A receiving unit for receiving first road situation information on a front road situation from a sensor and receiving other vehicle position information and second road situation information from another vehicle or an infrastructure apparatus;
Updating travel route data for setting a traveling route based on the other vehicle location information, first road situation information and second road situation information, and when the position of the other vehicle is located in front of the vehicle, A traveling route data updating unit for giving priority to the first road situation information and the second road situation information by further using the type of traffic information per lane included in the situation information and the second road situation information;
A driving lane determining unit that determines a driving lane of the vehicle based on the traveling route data; And
And controls the behavior of the vehicle so that the vehicle travels using the determined driving lane. The method according to claim 1,
The other vehicle location information and the second road situation information may include,
When the vehicle is received according to a predetermined cycle or when a change occurs in the second road situation information. The method according to claim 1,
The receiver may further comprise:
And receives the other vehicle position information and the second road situation information via the relay vehicle when the other vehicle and the vehicle exceed the communication radius. The method according to claim 1,
The first road condition information and the second road condition information may include:
And the lane traffic information for each of the left and right lane on the basis of the driving lane, and lane traffic information for each of the left lane and the lane based on the driving lane. delete The method according to claim 1,
The traveling route data updating unit updates,
And updates the traveling route data based on the first road situation information when the position of the other vehicle is located behind the vehicle. delete The method according to claim 1,
The traveling route data updating unit updates,
And when the type of the communication information for the specific lane includes information indicating the occurrence of an event, the communication control unit assigns priority to the communication information for the specific lane. The method according to claim 1,
The traveling route data updating unit updates,
And updates the traffic information for each lane included in each of the first road situation information and the second road situation information on the traveling path data based on the priority. The method according to claim 1,
The driving lane determining unit may determine,
And the lane to be driven by the vehicle is determined using traffic information for each lane included in the travel route data. A receiving step of receiving first road situation information for a front road situation from a sensor and receiving other vehicle position information and second road situation information from another vehicle or an infrastructure device;
Updating travel route data for setting a traveling route based on the other vehicle location information, first road situation information and second road situation information, and when the position of the other vehicle is located in front of the vehicle, A traveling route data updating step of giving a priority to the first road situation information and the second road situation information by further using the type of traffic information per lane included in the situation information and the second road situation information;
A driving lane determining step of determining a driving lane of the vehicle based on the traveling path data; And
And controlling the behavior of the vehicle so that the vehicle travels using the determined driving lane.
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