KR102610743B1 - Apparatus for controlling lane change of vehicle, system having the same and method thereof - Google Patents

Abstract

The present invention relates to a lane change control device for a vehicle, a system including the same, and a method thereof, comprising: a processor that determines whether the vehicle can change lanes according to road conditions based on surrounding situation information; a storage unit that stores a result of determining whether a lane can be changed determined by the processor; and a display unit that displays a result of determining whether the lane can be changed.

Description

Apparatus for controlling lane change of vehicle, system having the same and method thereof}

The present invention relates to a vehicle lane change control device, a system including the same, and a method thereof. More specifically, it relates to a technology for controlling the activation of a vehicle's lane change control system by determining road conditions on which a vehicle is currently driving.

Recently, as IT technology has developed rapidly, interest in intelligent vehicles integrated with vision systems is increasing. In particular, advanced safety car technologies such as lane departure information, lane maintenance, collision warning system, and lane change control system that reduce the risk of traffic accidents and help ensure safe driving are the foundational technologies of intelligent car technology and are subject to various research and technological development. A lot of manpower and financial resources are being invested. In particular, the lane change control system, which can automatically change the lane in which the vehicle is traveling, automatically controls the vehicle to perform the lane change when the driver operates the turn signal with the intention of changing the lane.

This lane change control system can perform a lane change by determining whether the speed and position of surrounding vehicles are suitable for performing a lane change, setting a control path for the lane change, and controlling the steering torque along the control path. there is

However, the existing lane change control system cannot be applied to all road conditions for safe driving and can only be used on specific roads. In other words, the lane change control system can be activated on automobile-only roads or highways, but for safety reasons, it must be deactivated on general roads where pedestrians can enter.

An embodiment of the present invention is a lane change control device for a vehicle that can increase the efficiency of safe driving by determining the road conditions on which the vehicle is currently driving, determining whether lane change control is possible, and then performing lane change control, a system including the same, and We would like to provide that method.

In addition, an embodiment of the present invention is a lane change control device for a vehicle that can increase user convenience by displaying on the screen the result of whether lane change control is possible determined according to the road conditions on which the vehicle is currently driving and allowing the user to recognize this; We would like to provide a system and method including it.

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

A lane change control device according to an embodiment of the present invention includes a processor that determines whether a vehicle can change lanes according to road conditions based on surrounding situation information; a storage unit that stores a result of determining whether the lane can be changed determined by the processor; and a display unit that displays a result of determining whether the lane can be changed.

In one embodiment, the surrounding situation information may include at least one of GPS (Global Positioning System) reception information, map information, and surrounding detection information by a sensor.

In one embodiment, the processor may determine whether a driving road can be determined based on GPS reception information or map matching information using map information and location information from sensors.

In one embodiment, the processor may determine a driving road determination possible state mode when the GPS reception information can be updated or the map matching is possible.

In one embodiment, the processor may determine whether a lane change is possible based on a detection result by a sensor when the driving road can be determined.

In one embodiment, the processor determines at least one of the following: whether the current driving road is a general road, whether a pedestrian or cyclist is present on the current driving road, whether a median strip is present, and the number of lanes of the driving road. It may include determining whether the lane can be changed using .

In one embodiment, the processor may determine a lane change impossible state mode if the current driving road is a general road, if a pedestrian or cyclist is present, or if the current driving road is a single lane. .

In one embodiment, the processor determines whether the current driving road is an automobile road or a highway, the pedestrian or cyclist does not exist, the median strip exists, or the number of lanes on the driving road is more than a predetermined number of lanes. In this case, it may include determining that the lane can be changed.

In one embodiment, when a lane change request is received from a user while the vehicle is driving, the processor may determine whether to perform lane change control according to a result of determining whether the lane change is possible.

In one embodiment, the processor may perform lane change control when the lane change mode is possible and a lane change request is received from the user.

In one embodiment, the processor stores the result of determining whether the lane can be changed in the storage when the vehicle is temporarily turned off by an Integrated Starter Generator (ISG), and stores the result when the vehicle is started. It may include performing lane change control based on the result of determining whether lane change is possible stored in the unit.

A vehicle system according to an embodiment of the present invention includes a GPS receiver that receives Global Positioning System (GPS) information; A sensing module that provides sensing information around the vehicle; and a lane change control device that determines whether the vehicle can change lanes based on the GPS information and the surrounding detection information.

In one embodiment, the lane change control device may include displaying a result of determining whether the lane can be changed.

A lane change control method according to an embodiment of the present invention includes receiving surrounding situation information; determining whether a lane change is possible according to road conditions based on the surrounding situation information; and displaying a result of determining whether the lane can be changed.

In one embodiment, the step of determining whether the lane can be changed includes determining a driving road determination possible state mode when updating of GPS reception information is possible or map matching using map information and location information by sensors is possible. It can be included.

In one embodiment, the step of determining whether the lane can be changed includes determining whether the current driving road is a general road, whether a pedestrian or cyclist is present on the current driving road, whether a median strip is present, and the number of lanes on the driving road. It may include determining whether the lane can be changed using at least one of the following.

In one embodiment, the step of determining whether the lane can be changed is performed when the current driving road is a general road, when a pedestrian or cyclist is present, or when the current driving road is a single lane, a lane change is not possible state mode. It may include judging.

In one embodiment, the step of determining whether the lane can be changed includes determining whether the current driving road is an automobile road or a highway, the pedestrian or cyclist does not exist, the median divider exists, or the driving road If the number of lanes is greater than a predetermined number of lanes, it may include determining that the lane change mode is possible.

In one embodiment, when a lane change request is received from the user while the vehicle is driving, the method may further include determining whether to perform lane change control according to a result of determining whether lane change is possible.

In one embodiment, when the vehicle is temporarily turned off by an Integrated Starter Generator (ISG), the result of determining whether the lane can be changed is stored, and when the vehicle is started, the stored result of determining whether the lane can be changed is stored. The step of performing lane change control based on may further be included.

This technology determines the road conditions on which the vehicle is currently driving, determines whether lane change control is possible, and then performs lane change control. This technology recognizes whenever the conditions of the driving road change and safely performs lane change control.

In addition, this technology can increase user convenience by displaying on the screen the result of whether lane change control is possible, determined according to the road conditions on which the vehicle is currently driving, and allowing the user to recognize this.

In addition, various effects that can be directly or indirectly identified through this document may be provided.

1 is a block diagram showing the configuration of a vehicle system including a vehicle lane change control device according to an embodiment of the present invention.
Figure 2 is an exemplary diagram illustrating a lane change control method according to road condition determination according to an embodiment of the present invention.
Figure 3 is a flowchart showing a method of determining road conditions for lane change control of a vehicle according to an embodiment of the present invention.
FIG. 4 is a flowchart showing a method of controlling lane change of a vehicle according to the result of determining whether lane change is possible based on the road conditions of FIG. 3.
Figure 5 shows a computing system according to one embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through illustrative drawings. When adding reference numerals to components in each drawing, it should be noted that identical components are given the same reference numerals as much as possible even if they are shown in different drawings. Additionally, when describing embodiments of the present invention, if detailed descriptions of related known configurations or functions are judged to impede understanding of the embodiments of the present invention, the detailed descriptions will be omitted.

In describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, sequence, or order of the component is not limited by the term. Additionally, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted in an ideal or excessively formal sense unless explicitly defined in the present application. No.

The vehicle lane change control device of the present invention may include a state-of-the-art driver assistance system (ADAS: Advanced Driving Assistance System) or an autonomous driving system that assists driving. Additionally, in the present invention, when a user requests a lane change, the lane change control device may be operated as a lane change assistance system that assists the lane change function by performing steering adjustment or vehicle speed adjustment.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 5.

1 is a configuration diagram of a vehicle system including a vehicle lane change control device according to an embodiment of the present invention.

A vehicle system according to an embodiment of the present invention includes a lane change control device 100, a sensing module 200, a GPS receiver 300, a navigation device 400, an input device 500, a steering device 600, and an addition/subtraction device. It may include a device 700. The vehicle system of FIG. 1 may be mounted on a vehicle.

The lane change control device 100 is based on GPS information received from the Global Positioning System (GPS) receiver 300, map information received from the navigation device 400, and surrounding information detected by the sensing module 200. It is possible to determine whether the vehicle can change lanes. Whether or not the vehicle can change lanes may include a driving road determination impossible state mode, a lane changing possible state mode, and a lane changing impossible state mode.

The lane change control device 100 may be electrically connected to the sensing module 200, GPS receiver 300, navigation device 400, input device 500, steering device 600, and acceleration/deceleration device 700. It can control the sensing module 200, GPS receiver 300, navigation device 400, input device 500, steering device 600, and acceleration/deceleration device 700 and perform various data processing and calculations. can do.

The vehicle lane change control device 100 may include a communication unit 110, a storage unit 120, a display unit 130, and a processor 140.

The communication unit 110 is a hardware device implemented with various electronic circuits to transmit and receive signals through wireless or wired connections. In the present invention, it communicates with devices in the vehicle through CAN communication, LIN communication, etc. Communication can be performed, and communication can also be performed with devices outside the vehicle through wireless communication.

The storage unit 120 may store information received from the sensing module 200, the GPS receiver 300, and the navigation device 400, and the result of determining whether the lane can be changed determined by the processor 140. .

The storage unit 120 has a flash memory type, a hard disk type, a micro type, and a card type (e.g., a Secure Digital Card (SD Card) or an eXtream Digital Card (XD Card). Memory such as RAM (Random Access Memory), SRAM (Static RAM), ROM (Read-Only Memory), PROM (Programmable ROM), EEPROM (Electrically Erasable PROM), and magnetic memory (MRAM) , Magnetic RAM, magnetic disk, and optical disk type memory.

The display unit 130 can display the result of determining whether a lane change is possible. The result of determining whether a lane can be changed may include a driving road determination impossible state mode, a lane changeable state mode, and a lane change impossible state mode. The display unit 130 may be implemented as a head-up display (HUD), cluster, AVN (Audio Video Navigation), etc. Additionally, color input, etc. can be received directly from the user through the cluster's USM (User Setting Menu) menu. In addition, the display unit 130 includes a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), a light emitting diode (LED), and an organic light emitting diode (OLED, Organic LED). ), active OLED (AMOLED, Active Matrix OLED), flexible display, bent display, and 3D display. Some of these displays may be implemented as transparent displays that are transparent or optically transparent so that the outside can be viewed. Additionally, the display unit 130 is provided as a touchscreen including a touch panel and can be used as an input device in addition to an output device.

The processor 140 may be electrically connected to the communication unit 110, the storage unit 120, and the display unit 130, may electrically control each component, and may be an electrical circuit that executes software commands. As a result, various data processing and calculations described later can be performed. The processor 140 may be, for example, an electronic control unit (ECU) or a lower-level controller mounted on a vehicle.

The processor 140 can determine whether the vehicle can change lane based on surrounding situation information, and the surrounding situation information includes GPS information received from the GPS receiver 300, map information received from the navigation device 400, and It may include at least one of the surrounding sensing information by the sensing module 200.

The processor 140 may determine whether a driving road can be determined based on GPS reception information or map matching information.

Meanwhile, the processor 140 may determine that a driving road can be determined when reception of GPS information is good and map matching is possible between the map information of the navigation device 400 and the location information provided by the sensing module 200. . That is, the processor 140 determines the driving road even if only one of the following is satisfied: whether GPS reception information is received and whether map matching is possible based on map information (map data) of the navigation device 400 and location information by the sensing module 200. It can be judged as possible. For example, if GPS reception information is not temporarily updated, it is possible to determine whether the driving road can be determined through map matching.

At this time, since the map information includes data based on latitude and longitude using an earth-centered coordinate system, the processor 140 converts the map information into a vehicle-centered coordinate system when matching the map, and stores the map information converted into a vehicle-centered coordinate system in the sensing module. It compares with the information based on the vehicle-centered coordinate system obtained from (200), corrects the relative position, and finally converts the absolute position of the vehicle's earth-centered coordinate system again, allowing a more accurate location of the vehicle on the map.

In this way, when the driving road can be determined, the processor 140 can determine whether the lane can be changed based on the detection result by the sensing module 200.

The processor 140 uses the detection result by the sensing module 200 to determine whether the current driving road is a general road, whether a pedestrian or cyclist is present on the current driving road, whether a median strip is present, and driving The number of lanes on a road can be determined. For example, the processor 140 determines the type of road (general road, automobile-only road) based on at least one of image data acquired through a camera, Lidar raw data, and radar data. roads, highways, etc.), the presence of pedestrians or cyclists, and the presence or absence of a median divider. Additionally, the processor 140 determines the type of road (general road, automobile-only road, highway, etc.) on which you are currently driving based on the map information (map data) and GPS reception information (location information) stored in the navigation 400. can do. Additionally, the processor 140 may determine the type of road using camera-based road sign recognition information or information received from V2I communication-based infrastructure.

In addition, the processor 140 stores shape information related to the type of road, pedestrians, cyclists, median strips, etc. in the storage unit 120 in advance from images, data, lidar raw data, and radar data acquired through cameras. Then, through feature point extraction techniques using shape information that will be stored later, we can determine whether the current driving road is a general road, whether there are pedestrians or cyclists on the current driving road, whether there is a median divider, and the nature of the driving road. The number of lanes can be determined.

At this time, a general road can mean a road on which pedestrians, bicycles, motorcycles, etc. can move and includes traffic lights and crosswalks, an automobile-only road is a road on which only cars can travel, and an express road is a road with traffic lights and crosswalks. It is a road where you can drive at a speed higher than the minimum speed but less than the maximum speed.

The processor 140 can change lanes using at least one of the following: whether the current driving road is a general road, whether there are pedestrians or cyclists on the current driving road, whether there is a median strip, and the number of lanes on the driving road. You can judge whether or not.

That is, the processor 140 may determine the lane change impossible state mode if the current driving road is a general road, if there are pedestrians or cyclists, or if the current driving road is one lane.

In addition, the processor 140 determines whether the current driving road is not a general road (automobile road or highway), the pedestrian or cyclist does not exist, the median divider exists, or the number of lanes on the driving road is predetermined. If there are more than the number of lanes, it can be determined that the lane change mode is possible.

When the processor 140 receives a lane change request from the user while the vehicle is driving, the processor 140 may determine whether to perform lane change control according to the result of determining whether lane change is possible. That is, the processor 140 is in a lane changeable state mode and can perform lane change control when it receives a lane change request from the user.

When the vehicle is temporarily turned off by the Integrated Starter Generator (ISG) when stopping due to a traffic light, the processor 140 stores the result of determining whether a lane change is possible in the storage unit 120, and starts the vehicle to start. Then, lane change control can be performed based on the result of determining whether the lane can be changed stored in the storage unit 120. When the engine is turned on after being completely turned off by the user, the driving road determination impossible state mode may be set as default.

In this way, the processor 140 allows pedestrians or cyclists to enter when GPS signal reception is poor or navigation map matching is not possible, such as in an underground parking lot or tunnel, and when there is no center divider and the driving lane is less than two lanes, lane change is possible. It can be judged as impossible. On the other hand, the processor 140 may determine that a lane change is possible if GPS signal reception is good, navigation map matching is possible, pedestrians or cyclists cannot enter, a median exists, or the driving lane has two or more lanes.

The sensing module 100 monitors the type of road on which the vehicle is currently traveling, the same lane on which the vehicle is traveling, and external objects (e.g., surrounding vehicles, pedestrians, cyclists, motor cycles, bicycles, central It can be configured to detect the surrounding situation by acquiring information about the separation zone, number of lanes on the driving road, etc. Information about an external object may include the location, speed, type, direction of movement, etc. of the external object.

To this end, the sensing module 100 may include at least one camera, radar, lidar, ultrasonic wave, acceleration sensor, yaw rate sensor, torque measurement sensor, and/or wheel speed sensor. Additionally, at least one sensor may be mounted on the front, rear, left and right sides of the vehicle. Additionally, the sensing module 100 may perform sensing at predetermined intervals and provide the results to the processor 140.

The GPS receiver 300 receives a GPS signal from a Global Positioning System (GPS) satellite and transmits it to the lane change control device 100. Accordingly, the lane change control device 100 can determine the location of the own vehicle using the GPS signal.

The navigation device 400 provides map information according to the vehicle's location and destination to the lane change control device 100.

The input device 500 may be configured to receive a lane change command from a user, and in the present invention, may include a direction lever, switch, or button capable of receiving a user's input for lane change.

The steering device 600 may be configured to control the steering angle of the vehicle and may include a steering wheel, an actuator linked to the steering wheel, and a controller that controls the actuator.

The acceleration/deceleration device 700 may be configured to control the speed of the vehicle and may include a throttle, a brake, an actuator linked to the throttle and the brake, and a controller that controls the actuator.

In this way, the present invention determines the state in which lane change is possible based on road conditions, displays it so that the user can know whether lane change is possible, and automatically controls lane change when a lane change request is received from the user in a state in which lane change is possible. By performing this, user convenience can be increased and safe driving is possible.

Figure 2 is an exemplary diagram illustrating a lane change control method according to road condition determination according to an embodiment of the present invention.

Referring to FIG. 2, when a vehicle drives on a general road and enters an automobile-only road, changes in road conditions are determined to determine whether a lane change is possible, and the result is displayed on the display unit 130. In Figure 2, when entering a road exclusively for automobiles from a general road, “Entering lane change possible status mode” is displayed on the screen, and when entering a general road from a road exclusively for automobiles, it is determined whether lane change is possible according to changes in road conditions and the vehicle It can be seen that “Entering lane change impossible state mode” is displayed on the display unit 130.

Hereinafter, a method of determining road conditions for lane change control of a vehicle according to an embodiment of the present invention will be described in detail with reference to FIG. 3. Figure 3 is a flowchart showing a method of determining road conditions for lane change control of a vehicle according to an embodiment of the present invention.

Hereinafter, it is assumed that the lane change control device 100 of FIG. 1 performs the process of FIG. 3. Additionally, in the description of FIG. 3, operations described as being performed by the lane change control device 100 may be understood as being controlled by the processor 140 of the lane change control device 100.

Referring to FIG. 3, the lane change control device 100 receives a GPS signal through the GPS receiver 200, updates GPS information (S101), and determines whether driving road conditions can be determined based on the update result of the GPS information. Determine (S102). At this time, the lane change control device 100 enters the default driving road determination mode as soon as the vehicle is started, updates the GPS information periodically, and when the vehicle starts driving, the GPS information is normally updated. You can judge whether it works or not.

That is, when a reason such as poor GPS signal reception or inability to match map information of the navigation device 400 occurs, the lane change control device 100 determines the driving road to be in an impossible-to-determine state mode, which is a state in which the current road conditions cannot be determined. Do it (S103). Since it is difficult to determine the driving road when updating GPS information in a place with poor GPS signal reception, such as an underground parking lot, under a bridge, or in a tunnel, the lane change control device 100 may determine the driving road to be in an impossible state mode. The lane change control device 100 may recognize information such as lanes, road markers, and signs in advance through the sensing module 200 and determine the current road conditions by using a precision map recording this information.

Afterwards, the lane change control device 100 displays on the screen that the current driving road is in a driving road determination impossible state mode (S111). In this way, the lane change control device 100 displays on the display unit 130 that the driving road cannot be determined, allowing the user to know the reason for the lane change impossible state.

Meanwhile, when GPS signal reception is good and map information matching of the navigation device 400 is possible, the lane change control device 100 determines that the road conditions under which the vehicle is being driven can be determined, and the sensing module 200 detects Update the result (S104).

Accordingly, the lane change control device 100 determines whether the road on which the driver is currently driving is a general road based on the detection result of the updated sensing module 200 (S105). At this time, the lane change control device 100 can determine whether the road on which the driver is currently traveling is a general road based on the map information provided by the navigation device 400, and may provide information such as when entering or exiting an IC or JC while driving. Based on this, it can be determined whether the vehicle is entering a general road.

If the road currently being driven is a general road, the lane change control device 100 may determine that the current road condition is a lane change impossible state mode (S110). When the lane change control device 100 is temporarily turned off by the Integrated Starter Generator (ISG) due to a stop at a traffic light, etc. while driving on a general road, the lane change control device 100 provides information in the lane change impossible state mode or the lane change possible state mode. is stored in the storage unit 120, and when the vehicle restarts later, lane change control can be performed based on the state mode information stored in the storage unit 120.

On the other hand, if the road on which you are currently traveling is not a general road, the lane change control device 100 determines whether a pedestrian or cyclist exists on the road on which you are currently traveling based on the detection result of the sensing module 200 (S106). , if there are pedestrians or cyclists on the road currently being driven, it may be determined that the current road conditions are in a lane change impossible state mode (S110). At this time, the lane change control device 100 may determine whether a pedestrian or cyclist exists based on information received from a camera or lidar.

Meanwhile, if the road you are currently driving on is not a general road and there are no pedestrians or cyclists on the road you are currently driving on, the lane change control device 100 changes the road you are currently driving on based on the detection result of the sensing module 200. Determine whether a central separation zone exists (S107). The lane change control device 100 may determine whether a center divider (guardrail) exists based on map information received from the navigation device 400 or detection results received from a camera, radar, lidar, etc.

If the road you are currently traveling on is not a general road, there are no pedestrians or cyclists in the road you are currently traveling on, and there is a median strip on the road you are currently traveling on, the lane change control device 100 automatically changes the road you are currently traveling on. It is determined that it is a highway or automobile-only road where the driving system or vehicle driving assistance system can be driven, and the lane change mode is determined (S109). Afterwards, the lane change control device 100 displays on the screen that the lane change is possible on the current driving road (S111).

Meanwhile, if there is no median strip on the road on which the road is currently being driven, the lane change control device 100 determines whether the number of lanes on the road on which the road is currently being driven is two or more lanes based on the detection result of the sensing module 200 (S108) ), if the number of lanes on the road currently being driven is two or more lanes, the lane change mode is determined (S109). Afterwards, the lane change control device 100 displays on the screen that the lane change is possible on the current driving road (S111). At this time, the lane change control device 100 may recognize the number of lanes based on image information from the camera.

On the other hand, if the number of lanes on the road currently being driven is less than 2 lanes, the lane change control device 100 determines that the lane change is not possible on the current driving road (S110), and displays on the screen that the lane change is not possible on the current driving road. S111).

In this way, the present invention distinguishes between a driving road determination impossible state mode, a lane change impossible state mode, and a lane change possible state mode, and displays the judgment result on the screen so that the user can determine the reason when the lane change control device is in an impossible state. Make it recognizable. The above-described flowchart of FIG. 3 discloses an example of sequentially determining conditions such as whether to enter a general road, whether to detect a pedestrian or cyclist, whether there is a median divider, and the number of lanes on the driving road, but is not limited to this and determines whether or not to enter a general road. , it is possible to determine whether a lane change is possible by considering the conditions of whether pedestrians or cyclists are detected, the presence or absence of a median, and the number of lanes on the driving road in parallel. For example, whether entering a general road or not and whether pedestrians or cyclists are detected. Whether or not a lane change is possible can be determined depending on whether at least one of the conditions of the presence or absence of a median divider, and the number of lanes on the driving road is satisfied.

Hereinafter, with reference to FIG. 4, a method of controlling a vehicle's lane change according to the result of determining whether a lane can be changed based on the road condition shown in FIG. 3 will be described in detail. FIG. 4 is a flowchart showing a method of controlling lane change of a vehicle according to the result of determining whether lane change is possible based on the road conditions of FIG. 3.

Hereinafter, it is assumed that the lane change control device 100 of FIG. 1 performs the process of FIG. 4. Additionally, in the description of FIG. 4, operations described as being performed by the lane change control device 100 may be understood as being controlled by the processor 140.

Referring to FIG. 4, while the vehicle is driving, when the lane change control device 100 receives a lane change request from the user (S201), it determines whether the current lane change is possible state mode (S202). At this time, the lane change control device 100 may determine a lane change request from the user through an input device 500 such as a turn indicator lever, switch, or button. That is, the lane change control device 100 can determine a lane change request by receiving a left or right lane change command through the input device 500.

In addition, the lane change control device 100 periodically determines and stores whether the lane changeable state mode is in the lane changeable state mode through the process of FIG. 3, and when a lane change request is received from the user, the lane change control device 100 determines whether the lane changeable state mode is stored in advance. Based on this, lane change control can be performed (S203). If the lane change possible state mode is not in the process S202, the lane change control device 100 may end without performing the lane change.

In this way, the present invention improves user convenience by determining whether the lane change device 100 can automatically perform the lane change function safely according to the road conditions on which the vehicle is traveling and informing the user whether lane change is possible. It can be increased. In addition, the present invention can increase the safety and usability of the system by determining whether a lane change is possible according to the conditions of the road currently being driven and automatically performing the lane change function according to the result.

Figure 5 shows a computing system according to one embodiment of the present invention.

Referring to FIG. 5, the computing system 1000 includes at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, and storage connected through a bus 1200. It may include (1600), and a network interface (1700).

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and/or storage 1600. Memory 1300 and storage 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include read only memory (ROM) and random access memory (RAM).

Accordingly, the steps of the method or algorithm described in connection with the embodiments disclosed herein may be directly implemented in hardware, software modules, or a combination of the two executed by the processor 1100. Software modules reside in a storage medium (i.e., memory 1300 and/or storage 1600), such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, or CD-ROM. You may.

An exemplary storage medium is coupled to processor 1100, which can read information from and write information to the storage medium. Alternatively, the storage medium may be integrated with processor 1100. The processor and storage medium may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications and variations will be possible to those skilled in the art without departing from the essential characteristics of the present invention.

Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but rather to explain it, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

Claims (20)

A processor that determines whether the vehicle can change lanes according to road conditions based on surrounding situation information;
a storage unit that stores a result of determining whether a lane can be changed determined by the processor; and
Display unit that displays the result of determining whether or not the lane can be changed
Including,
The processor,
Based on receiving map information from a navigation device included in the vehicle, converting the map information into a vehicle-centered coordinate system,
Based on comparing the converted vehicle-centered coordinate system with location information obtained from a sensing module, correcting the position of the vehicle within the vehicle-centered coordinate system,
Based on converting the vehicle-centered coordinate system including the corrected position of the vehicle into an earth-centered coordinate system, the map matching is performed using map information including the earth-centered coordinate system, and
Characterized by determining whether a driving road can be determined based on the map matching,
The result of determining whether the lane can be changed is:
A lane change control device comprising at least one of a mode in which the road on which the vehicle is being driven cannot be determined, a mode in which lane change is possible, a mode in which lane change is not possible, or any combination thereof. In claim 1,
The surrounding situation information is,
A lane change control device comprising at least one of GPS (Global Positioning System) reception information, the map information, and surrounding detection information by a sensor. In claim 1,
The processor,
A lane change control device that determines whether a driving road can be determined based on GPS reception information or map matching information using the map information and location information from sensors. In claim 3,
The processor,
A lane change control device characterized in that the driving road determination possible state mode is determined when the GPS reception information can be updated or the map matching is possible. In claim 3,
The processor,
If the driving road can be determined,
A lane change control device characterized in that it determines whether a lane change is possible based on the detection result by a sensor. In claim 5,
The processor,
Determine whether the lane can be changed using at least one of the following: whether the current driving road is a general road, whether there are pedestrians or cyclists on the current driving road, whether there is a median strip, and the number of lanes on the driving road. A lane change control device characterized in that: In claim 6,
The processor,
A lane change control device characterized in that it determines a lane change impossible state mode when the current driving road is a general road, the pedestrian or cyclist is present, or the current driving road is a single lane. In claim 6,
The processor,
If the current driving road is an automobile road or a highway, the pedestrian or cyclist does not exist, the median divider exists, or the number of lanes on the driving road is more than a predetermined number of lanes, the lane change is determined to be possible. A lane change control device characterized in that. In claim 1,
The processor,
When a user requests a lane change while driving the vehicle,
A lane change control device characterized in that it determines whether to perform lane change control according to the result of determining whether lane change is possible. In claim 9,
The processor,
A lane change control device that performs lane change control when the lane change mode is in a lane change possible state mode and a lane change request is received from the user. In claim 9,
The processor,
When the vehicle is temporarily turned off by an Integrated Starter Generator (ISG), the result of determining whether the lane can be changed is stored in the storage unit,
A lane change control device characterized in that when the vehicle is started, lane change control is performed based on a result of determining whether a lane change is possible stored in the storage unit. A GPS receiver that receives Global Positioning System (GPS) information;
A sensing module that provides sensing information around the vehicle;
A navigation device that transmits or receives map information; and
A lane change control device that determines whether the vehicle can change lanes based on the GPS information and the surrounding detection information,
The lane change control device,
Based on receiving the map information from the navigation device, convert the map information into a vehicle-centered coordinate system;
correcting the position of the vehicle within the vehicle-centered coordinate system based on comparing the converted vehicle-centered coordinate system with location information obtained from the sensing module;
Based on converting the vehicle-centered coordinate system including the corrected position of the vehicle into an earth-centered coordinate system, the map matching is performed using map information including the earth-centered coordinate system, and
A vehicle system characterized in that it determines whether a driving road can be determined based on the map matching. In claim 12,
The lane change control device,
A vehicle system characterized in that it displays the result of determining whether the lane can be changed. Receiving surrounding situation information;
Based on obtaining map information from a navigation device included in the vehicle, converting the map information into a vehicle-centered coordinate system;
Correcting the position of the vehicle within the vehicle-centered coordinate system based on comparing the converted vehicle-centered coordinate system with location information obtained from a sensing module;
Performing map matching using map information including the Earth-centered coordinate system based on converting the vehicle-centered coordinate system including the corrected position of the vehicle into an Earth-centered coordinate system;
determining whether a driving road can be determined based on the map matching;
determining whether a lane change is possible according to road conditions based on the surrounding situation information; and
Including a step of displaying a result of determining whether the lane can be changed,
The result of determining whether the lane can be changed is:
A lane change control method comprising at least one of a mode in which the road being driven cannot be determined, a mode in which lane change is possible, a mode in which lane change is not possible, or any combination thereof. In claim 14,
The step of determining whether the lane can be changed is,
A lane change control method characterized by determining a driving road judgment possible state mode when GPS reception information can be updated or map matching using map information and location information by sensors is possible. In claim 14,
The step of determining whether the lane can be changed is,
Characterized by determining whether the lane can be changed using at least one of the following: whether the current driving road is a general road, the presence of pedestrians or cyclists on the current driving road, the presence or absence of a median, and the number of lanes on the driving road. Lane change control method. In claim 16,
The step of determining whether the lane can be changed is,
A lane change control method characterized by determining a lane change impossible state mode when the current driving road is a general road, the pedestrian or cyclist is present, or the current driving road is a single lane. In claim 16,
The step of determining whether the lane can be changed is,
If the current driving road is an automobile-only road or a highway, the pedestrian or cyclist does not exist, the median divider exists, or the number of lanes on the driving road is more than a predetermined number of lanes, determining the lane change possible state mode A lane change control method characterized by: In claim 14,
When a user requests a lane change while driving the vehicle,
A step of determining whether to perform lane change control according to the result of determining whether lane change is possible.
A lane change control method further comprising: In claim 14,
When the vehicle is temporarily turned off by the Integrated Starter Generator (ISG), the result of determining whether the lane can be changed is stored, and when the vehicle is started, the lane change is controlled based on the pre-stored result of determining whether the lane can be changed. Steps to perform
A lane change control method further comprising:

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