KR20110065013A - Method and apparatus for contorlling transient state of lane change, and adaptive cruise control system using the same method - Google Patents

Abstract

PURPOSE: A method and an apparatus for controlling transient state of lane change, and an adaptive cruise control system using the same method are provided to improve the stability in the lane change, since the proper vehicle control is proceed during the acknowledged lane change transient state. CONSTITUTION: The apparatus for controlling transient state of lane change includes a lane change beginning recognition unit(120), a change goal difference line estimating unit(130), a preceding cars recognition unit(140), a collision controller(150). The lane change beginning recognition unit recognizes the beginning of the lane change based on the steering angle input. The change goal difference line estimating unit presumes the change goal difference line based on the curvature which is saved just before the beginning of the lane change is acknowledged. The preceding cars recognition unit calculates angle between the presumed direction of the change goal difference line and a vehicle progress direction. The preceding cars recognition unit processes the preceding cars recognition by correcting the location for the preceding cars detected in the change goal difference line based on the calculated angle. If the collision risk with the preceding cars is detected, the collision controller processes only the operator warning or the force limit of the lane change or the follow-up control of the preceding cars according to the index grade of the lane change.

Description

METHOD AND APPARATUS FOR CONTORLLING TRANSIENT STATE OF LANE CHANGE, AND ADAPTIVE CRUISE CONTROL SYSTEM USING THE SAME METHOD}

One embodiment of the present invention relates to a lane change transient state control method and apparatus and an adaptive cruise control system using the same. More specifically, the present invention relates to a technique for performing appropriate vehicle control during a lane change transient state from the beginning of lane change to completion.

Conventional Adaptive Cruise Control (ACC) is a system that performs longitudinal control using a forward sensing sensor in the same lane. In the curved track, the preceding vehicle can be detected by recognizing the curved track using the yaw rate and the steering angle generated in the vehicle.

However, such a conventional adaptive forward control system, when changing lanes while maintaining control, cannot perform normal following control due to wrong path prediction, and converts the vehicle in the lane to be changed into a preceding vehicle having a risk of collision. There is an unrecognizable problem. These problems pose a serious threat to driver safety and can lead to serious vehicle accidents.

Against this background, an object of an embodiment of the present invention is to recognize a lane change transient state from the beginning of lane change to completion and to perform appropriate vehicle control during the recognized lane change transient state, thereby ensuring safe lane change. To make it possible.

One embodiment of the present invention, the lane change start recognition unit for recognizing the start of the lane change based on the steering angle input; A change target lane estimating unit estimating a change target lane based on a road curvature stored immediately before the start of the lane change is recognized; A preceding vehicle recognition unit configured to calculate an angle between the estimated direction of the change target lane and the vehicle traveling direction, and correct the position of the preceding vehicle detected in the change target lane based on the calculated angle to perform the preceding vehicle recognition; And a preceding vehicle collision control unit configured to perform only a driver warning when the risk of collision with the preceding vehicle is detected or to perform the following control of the preceding vehicle or the forced restriction of the lane change according to the progress of the lane change. Provides a change transient control device.

In addition, an embodiment of the present invention, the lane change start recognition step of recognizing the start of the lane change based on the steering angle input; A change target lane estimating step of estimating a change target lane based on the road curvature sensed immediately before the start of the lane change is recognized; A preceding vehicle sensing step of detecting a preceding vehicle in the estimated change target lane; A collision risk detection step of detecting a collision risk with the detected preceding vehicle; A lane change progress level determining step of determining a progress level of the lane change; According to the progress of the lane change provides a lane change transient state control method comprising the preceding vehicle collision control step of performing the following control of the preceding vehicle is detected the collision risk or the forced limit of the lane change.

In addition, an embodiment of the present invention, the vehicle information input interface for receiving vehicle behavior information; A front sensor for detecting road curvature and a preceding vehicle; A driver output interface for notifying the driver of driving conditions; A vehicle control output interface for outputting a vehicle control command; And recognizing the start of a lane change based on a steering angle input included in the vehicle behavior information, estimating a change target lane based on the road curvature detected immediately before the start of the lane change is recognized, and the change target lane When the risk of collision with the preceding vehicle detected in the detection is detected, the driver is notified of the driving situation of the collision risk, or the following control of the detected preceding vehicle or the lane change according to the progress of the lane change. The present invention provides an adaptive cruise control system including a control unit for outputting the vehicle control command for forced restriction.

As described above, according to one embodiment of the present invention, a lane change transition state is recognized until a lane change starts and is completed, and appropriate vehicle control can be performed during the recognized lane change transition state, thereby ensuring safe lanes. This has the effect of enabling change.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In addition, in describing the component of this invention, terms, such as 1st, 2nd, A, B, (a), (b), can be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. If a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to that other component, but there may be another configuration between each component. It is to be understood that the elements may be "connected", "coupled" or "connected".

1 is a block diagram of the lane change transient state control apparatus 100 according to an embodiment of the present invention.

Referring to FIG. 1, the lane change transient state control apparatus 100 according to an exemplary embodiment of the present invention may include a lane change start recognition unit 120, a change target lane estimation unit 130, and a preceding vehicle recognition unit 140. And a preceding vehicle collision control unit 150.

The lane change start recognizing unit 120 recognizes the start of the lane change based on the steering angle input. Through the recognition of the beginning of the lane change, the lane change transient state control starts to be performed. The change target lane estimation unit 130 estimates the change target lane based on the curvature of the road stored immediately before the start of the lane change is recognized. The preceding vehicle recognition unit 140 calculates an angle between the estimated direction of the change target lane and the vehicle traveling direction, and corrects the position of the preceding vehicle detected in the change target lane based on the calculated angle to perform the preceding vehicle recognition. do. When the collision risk with the preceding vehicle is detected, the preceding vehicle collision control unit 150 performs only the driver warning or performs the following control of the preceding vehicle or the forced restriction of the lane change according to the progress of the lane change.

The above-described lane change start recognition unit 120 determines that the steering angle input is generated when the steering angle input is suddenly changed to a predetermined range or more, or when the direction indicator is turned on and turned on by the driver's operation. Considering the willingness to change lanes, it is possible to recognize the onset of lane change.

Referring to FIG. 1, the lane change transient state control apparatus 100 according to an exemplary embodiment of the present invention may detect a road curvature through forward detection while driving in a lane before a lane change, and store the road curvature when the identified road curvature is updated. The road curvature determiner 110 may be further included.

The above-described change target lane estimator 120 is based on a road curvature (or may be a curvature radius of a road) that is stored immediately before the start of lane change is recognized by the road curvature determiner 110. It is possible to estimate a change target lane that attempts to change lanes, and to estimate a lane change path from the pre-change lane to the estimated change target lane.

The above-described lane change start recognition method and the aforementioned change target lane estimation method will be described again with reference to FIG. 2. The lane change transient state control apparatus 100 is driving while following the preceding vehicle 210 in the left lane 21. In order to change the lane to the right lane 22, the driver of the vehicle X 200 equipped with the steering wheel rotates the steering wheel more than a predetermined angle in the clockwise direction (right direction) to generate a steering angle input of a certain range or the right direction When the turn signal is turned on and the steering wheel is turned clockwise (right direction) to generate a steering angle input in the right direction, the lane change start recognition unit 120 recognizes that the driver is willing to change lanes and recognizes the start of lane change. do. In addition, the change target lane estimation unit 130 uses the road curvature immediately stored by the road curvature determination unit 110 immediately before the start of lane change is recognized until the change of the lane is completed, and thus the change target lane and the lane change path. In FIG. 2, the road curvature stored immediately before the start of lane change is zero as the road curvature of the left lane 21 because it is a straight road. In addition, when the direction of the steering angle input or the direction indicator light is the right direction in the lane change start recognition unit 120 to recognize the start of the lane change, the change target lane is the right lane 22. Considering the estimation of the change target lane and the curvature of the road, the lane change path 230 and the path of the change target lane from the left lane 21 that is the change lane to the right lane 22 that is the change target lane can be estimated. . On the other hand, in contrast to the present invention, in the conventional adaptive cruise control system, when changing lanes, the vehicle 220 in the right lane 22 to be changed lanes is not detected as a preceding vehicle with a collision risk and thus has a large accident. Can be generated.

The preceding vehicle recognition unit 140 calculates an angle between the direction of the change target lane estimated in the above-described manner and the calculated vehicle traveling direction of the vehicle attempting the lane change, and based on the calculated angle, the change target lane The vehicle performs the preceding vehicle recognition by correcting the position of the preceding vehicle detected by the front sensor. That is, referring to the exemplary diagram of FIG. 3, during the lane change transient state of the vehicle X 200 that attempts to change lanes, the input position of the preceding vehicle 220 is the direction 320 of the change target lane 22. And the angle A formed by the vehicle traveling direction 310 is corrected.

During the lane change transient state, if the preceding vehicle is detected in the change target lane and the detected collision risk of the preceding vehicle is detected, the aforementioned preceding vehicle collision control unit 150 may perform a driver warning or detect an appropriate collision risk. Vehicle control can be performed. The response to such a collision risk may vary depending on the type of mode (eg, release mode, standby mode, control mode, etc.) set in the lane change transient control device 100, and depending on the steering control of the vehicle. May also vary.

The lane change transient state control apparatus 100 according to an exemplary embodiment of the present invention may include, for example, a release mode that does not perform all control depending on the extent to which the lane change transient state is controlled. In the standby mode, which performs only the forward monitoring of the change transient state and warns the driver of the danger of collision with the preceding vehicle, and the control mode which performs the vehicle control function in addition to the performance in the standby mode. Can be set. That is, the lane change transient state control device 100 set to the standby mode may perform forward detection and driver warning, and the lane change transient state control device 100 set to the control mode may forward detect, driver warning and vehicle control. And the like.

For example, when the lane change transient control apparatus 100 is set to the standby mode, the preceding vehicle collision control unit 150 may detect only a driver warning through a sound or a display when a collision risk with the preceding vehicle is detected. Can be done. When the lane change transient state control device 100 is set to the control mode, the preceding vehicle collision control unit 150 detects a driver warning, following control of the preceding vehicle, and forcibly changing the lane when the collision risk with the preceding vehicle is detected. Lane change transient control device, characterized in that to perform one of the restrictions.

Considering the possibility of steering function and the progress of lane change and considering the mode setting, the control of the collision risk with the preceding vehicle is as follows.

When the lane change transient control apparatus 100 is set to the control mode, the preceding vehicle collision control unit 150 performs a driver warning when steering control is impossible, steering control is possible, and the progress of the lane change is completed. If the level is determined, the following control of the preceding vehicle is performed in the same way as the preceding vehicle following control before the lane change.If the steering control is possible and the progress of the lane change is determined to be incomplete, the lane change may be dangerous. If it is determined, the lane change is enforced. The mandatory restriction of the lane change may be such that, for example, the lane change may be restricted through a method of restricting steering to the change target lane.

The above-described method of determining the progress of the lane change in the preceding vehicle collision control unit 150 is based on the state of the direction indicator light, the angle between the estimated direction of the change target lane and the vehicle traveling direction, and the like. Therefore, it is possible to grasp the progress of lane change at the present time when the risk of collision with the preceding vehicle is detected.

For example, the above-described preceding vehicle collision control unit 150 may turn off the turn signal turned on by the driver's operation when the lane change is attempted, or the direction and lane of the change target lane estimated by the change target lane estimation unit 130. If the angle between the driving directions decreases below a certain angle during the transitional transition state (lane change start to lane change completion), the lane change is considerably progressed and the vehicle body of the vehicle is considered to have entered the change target lane considerably. The progress of the change can be judged as the completion level of the lane change.

In addition, the preceding vehicle collision control unit 150, when the on direction indicator light is not turned off, or the angle between the estimated direction of the change target lane and the vehicle traveling direction exceeds a certain angle, the lane change does not proceed much change target It is considered that the progress of the lane change is incomplete because the vehicle body of the vehicle cannot enter the lane or only a part of the vehicle is entered.

The lane change completion level mentioned above refers to a level that recognizes that the lane change has been completely completed or that a substantial portion of the vehicle has entered the change target lane in terms of driver recognition. In the lane change transient state control device 100, the turn signal turned on by the driver's operation when the lane change attempt is turned off, or the angle between the estimated change target lane direction and the vehicle traveling direction is reduced to a predetermined angle or less. I can recognize it. Here, by adjusting and setting a predetermined angle, it is possible to control what percentage of the entire vehicle enters the change target lane to determine whether the lane change is completed.

FIG. 4 is a diagram for describing vehicle control according to progress of a lane change when detecting a collision risk with a preceding vehicle 220 in the lane change transient state control apparatus 100 according to an exemplary embodiment of the present invention. 4 (a) is a view showing a situation that the progress of the lane change of the vehicle X (200) is a lane change incomplete level, Figure 4 (b) is a progress of the lane change of the vehicle X (200) is lane change It is a figure which shows the situation at the completion level.

As shown in FIG. 4A, since the angle A1 between the estimated direction 320 of the change target lane 22 and the vehicle traveling direction 310 exceeds a certain angle A _TH , It is determined that the progress of the lane change of X 200 is incomplete. Therefore, in a situation where a collision risk with the preceding vehicle 220 is detected, the progress of the lane change of the vehicle X 200 is a lane change incomplete level, so that the lane change of the vehicle X 200 continues to proceed. The collision with the preceding vehicle 220 is considered to have a high probability that the collision with the preceding vehicle 220 actually occurs, and the lane change to the change target lane 22 is not forced to continue.

As shown in FIG. 4B, since the angle A2 between the estimated direction 320 of the change target lane 22 and the traveling direction 310 of the vehicle is smaller than the predetermined angle A _TH , the vehicle It is determined that the progress of the lane change of X 200 is the lane change completion level. Therefore, when the risk of collision with the preceding vehicle 220 is detected, the progress of the lane change of the vehicle X 200 is the lane change completion level, so the lane of the vehicle X 200 to the change target lane 22 is changed. The change has already been completed or almost completed, and following control of the preceding vehicle 220 in the change target lane 22 is performed for the risk of collision with the preceding vehicle 220. In this way, the risk of collision can be avoided. The following control of the preceding vehicle 220 in the change target lane 22 is the same as the following control of the preceding vehicle 210 in the lane before change.

2 to 4 described above, for convenience of description, a lane change transient state control method according to an embodiment of the present invention has been described on the assumption of only a straight road, but the same may be applied to a curved road.

Hereinafter, a lane change transient state control method provided by the lane change transient state control apparatus 100 according to an exemplary embodiment of the present invention described above will be described.

5 is a flowchart illustrating a lane change transient state control method according to an embodiment of the present invention.

Referring to FIG. 5, the lane change transient state control method according to an exemplary embodiment of the present invention includes a lane change start recognition step S500 for recognizing the start of a lane change based on a steering angle input, and a start of a lane change is recognized. A change target lane estimating step (S502) of estimating a change target lane based on a road curvature detected immediately before the step, a preceding vehicle detecting step (S504) of detecting a preceding vehicle in the estimated change target lane, and the detected preceding vehicle Collision risk detection step (S506) for detecting a risk of collision with the vehicle, lane change progress degree determination step (S508) for determining the progress of the lane change, and the preceding vehicle of the collision risk detected according to the progress of the lane change The preceding vehicle collision control step (S510) for performing the following control or the forced limit of lane change, and the like.

In the aforementioned lane change start recognition step S500, when the steering angle input suddenly changes to a predetermined range or more, or when the steering angle input occurs in the direction of the direction indicator, the lane change may be recognized as starting.

In the above-described lane change progress degree determining step (S508), when the on direction indicator light is turned off or the angle between the estimated direction of the change target lane and the vehicle traveling direction decreases to a predetermined angle or less, the lane change completion level is determined. If the turned direction indicator does not turn off or the angle between the estimated change target lane direction and the vehicle traveling direction exceeds a certain angle, the progress of the lane change may be determined as the lane change incomplete level.

After the aforementioned collision risk detection step S506, the driver warning step of informing the driver of the driving situation of the collision risk with the preceding vehicle may be further included.

A lane change transient control method according to an embodiment of the present invention described above with reference to FIG. 5 will be described in more detail with reference to another flowchart shown in FIG. 6.

Referring to FIG. 6, following control is performed on the preceding vehicle in the lane before the change while performing forward monitoring using the front sensor in the lane before the change (S600). At this time, the curvature of the road for the lane before the change is determined and stored (S602), and when steering angle input is generated (S604), it is determined whether the direction of the generated steering angle and the direction indicator are the same (S606) to start the lane change. Recognize.

In the above-described step S606, if it is determined that the direction of the steering angle that is generated and the direction of the direction indicator are not the same, it is assumed that no attempt is made to change lanes from the lane before the change to another lane, that is, the road curvature is regarded as driving in the same lane. Next, the process is repeated (S608), and the steps S600, S602, S604, and S606 are repeated.

In the above-described step S606, if it is determined that the direction of the steering angle generated and the direction of the direction indicator are the same, it is regarded as attempting to change the lane from the lane before the change to another lane, and is recognized as the beginning of the lane change to control the lane change transient state. Will start in earnest.

Subsequently, in step S606 described above, immediately before it is determined that the direction of the steering angle and the direction indicator light are the same, based on the curvature of the road stored in step S602, another lane to attempt lane change in the lane before change (that is, The change target lane) is estimated (S610). Thereafter, while calculating the vehicle driving direction of the current vehicle (S612), an angle formed between the estimated change target lane direction and the vehicle driving direction is calculated (S614). The position of the preceding vehicle in the change target lane is corrected using the calculated angle (S606). Thereafter, it is determined whether there is a risk of collision with the preceding vehicle (S618), and if there is no risk of collision, the above-described steps S610, S612, S614, and S616 are repeatedly performed. If there is a risk of collision in step S618, it is determined whether the mode set in the lane change transient state control apparatus 100 is a control mode by a driver operation or the like (S620).

If, as a result of the check in step S620, the control mode is not set, the driver warning to inform the driver of the driving situation of the danger of collision with the preceding vehicle through the speaker or the display device (S624).

If, as a result of the check in step S620, the control mode is set, it is checked whether the steering control of the vehicle is possible (S622), if not possible, the speaker to inform the driver of the driving situation of the collision risk with the preceding vehicle. In operation S624, the driver alerts through the display device. If it is possible to determine whether steering control is possible, it is determined whether the progress of the current lane change is considerably advanced to the level corresponding to the lane change completion level (S626). As a result of determining the progress of the lane change, if it is determined that the progress of the current lane change is sufficiently advanced to correspond to the lane change completion level, vehicle control such as following the same lane is performed (S628). However, if it is determined that the progress of the lane change is not as advanced as the lane change completion level, the vehicle control forcibly restricting the lane change to the change target lane is performed. (S630).

The above-described lane change transient state control apparatus 100 and the lane change transient state control method provided by the apparatus may be applied to an adaptive cruise control (ACC) system. have. A block diagram for such an adaptive cruise control system is exemplarily shown in FIG. 7.

7 is a block diagram of an adaptive cruise control system 700 according to an embodiment of the present invention.

Referring to FIG. 7, the adaptive cruise control system 700 according to an embodiment of the present invention may include a driver input interface 710, a vehicle information input interface 720, a front sensor 730, and a driver output interface ( 740, a vehicle control output interface 750, a controller 760, and the like.

The driver input interface 710 may be connected to a driver operating device 7100 such as an ACC function switch, a turn-signal switch, a steering wheel, an accelerator pedal, and a brake pedal. Recognize the driver's manipulation.

The vehicle information input interface 720 includes vehicle behavior information from a vehicle information sensor 7200 such as a wheel speed sensor, a yaw rate sensor, a steering angle sensor, and a G sensor. Get input.

The front detection sensor 730 detects the front and detects a road curvature and a preceding vehicle.

The driver output interface 740 notifies the driver of driving conditions through the device 7400 such as a speaker or a display.

The vehicle control output interface 750 outputs a vehicle control command received from the controller 760 to a corresponding vehicle system 7500 such as an engine control system, a braking control system, a steering control system, and the like.

The controller 760 exchanges information with the aforementioned various interfaces 710, 720, 740, and 750 and the front sensor 730 through a vehicle network (for example, a controller area network (CAN) or a cable). Perform control.

The controller 760 recognizes the start of the lane change based on the steering angle input included in the vehicle behavior information received through the vehicle information input interface 720, and immediately before the start of the lane change is recognized, the front sensor ( Estimating the change target lane based on the curvature of the road detected through 730, and if the risk of collision with the preceding vehicle detected by the front sensor 730 is detected in the estimated change target lane, driving for the collision risk The vehicle control command for notifying the driver of the situation through the driver output interface 740 or for controlling the following change of the preceding vehicle or the forced restriction of the lane change according to the progress of the lane change is output through the vehicle control output interface 750. Output to control the vehicle system 7500.

As described above, according to one embodiment of the present invention, a lane change transition state is recognized until a lane change starts and is completed, and appropriate vehicle control can be performed during the recognized lane change transition state, thereby ensuring safe lanes. It has the effect of enabling change.

In the above description, all elements constituting the embodiments of the present invention are described as being combined or operating in combination, but the present invention is not necessarily limited to the embodiments. In other words, within the scope of the present invention, all of the components may be selectively operated in combination with one or more. In addition, although all of the components may be implemented in one independent hardware, each part or all of the components may be selectively combined to perform some or all functions combined in one or a plurality of hardware. It may be implemented as a computer program having a module. Codes and code segments constituting the computer program may be easily inferred by those skilled in the art. Such a computer program may be stored in a computer readable storage medium and read and executed by a computer, thereby implementing embodiments of the present invention. The storage medium of the computer program may include a magnetic recording medium, an optical recording medium, a carrier wave medium, and the like.

In addition, the terms "comprise", "comprise" or "having" described above mean that the corresponding component may be included, unless otherwise stated, and thus excludes other components. It should be construed that it may further include other components instead. All terms, including technical and scientific terms, have the same meanings as commonly understood by one of ordinary skill in the art unless otherwise defined. Terms commonly used, such as terms defined in a dictionary, should be interpreted to coincide with the contextual meaning of the related art, and shall not be construed in an ideal or excessively formal sense unless explicitly defined in the present invention.

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. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

1 is a block diagram of a lane change transient state control apparatus according to an embodiment of the present invention;

2 is an exemplary diagram for explaining a lane change start recognition method and a change target lane estimation method in the lane change transient state control apparatus according to an embodiment of the present invention;

3 is an exemplary view for explaining a preceding vehicle recognition method in a lane change transient state control apparatus according to an embodiment of the present invention;

4 is a progress of the lane change is not complete to explain the vehicle control according to the progress of the lane change when detecting the danger of collision with the preceding vehicle in the lane change transition state control apparatus according to an embodiment of the present invention Drawing showing the situation and the situation of the lane change completion level,

5 is a flowchart illustrating a lane change transient state control method according to an embodiment of the present invention;

6 is another flowchart illustrating a lane change transient state control method according to an embodiment of the present invention;

7 is a block diagram of an adaptive cruise control system according to an embodiment of the present invention.

<Description of Symbols for Main Parts of Drawings>

100: lane change transient control device

110: road curvature grasp

120: lane change start recognition unit

130: change target lane estimation unit

140: preceding vehicle recognition unit

150: preceding vehicle collision control unit

700: adaptive cruise control system

710: driver input interface

720: vehicle information input interface

730: front sensor

740: driver output interface

750: vehicle control output interface

760: control unit

Claims (11)

A lane change start recognizing unit recognizing the start of a lane change based on a steering angle input; A change target lane estimating unit estimating a change target lane based on a road curvature stored immediately before the start of the lane change is recognized; A preceding vehicle recognition unit configured to calculate an angle between the estimated direction of the change target lane and the vehicle traveling direction, and correct the position of the preceding vehicle detected in the change target lane based on the calculated angle to perform the preceding vehicle recognition; And When the risk of collision with the preceding vehicle is detected, the preceding vehicle collision control unit which performs only a driver warning or performs the following control of the preceding vehicle or the forced restriction of the lane change according to the progress of the lane change. Lane change transient control device comprising a. The method of claim 1, The lane change start recognition unit, When the steering angle input is suddenly changed over a predetermined range, or when the steering angle input occurs in the direction of the direction indicator light, And a lane change transient state control device recognizing the start of the lane change. The method of claim 1, The vehicle further includes a road curvature grasping unit which detects road curvatures through the front detection while driving in a lane before changing lanes, and stores the curvatures when the road curvature is updated. The change target lane estimation unit, And a lane change transition state estimating lane change path based on the stored road curvature by the road curvature determining unit immediately before the start of the lane change is recognized. The method of claim 1, The lane change transient state control device, It is set to one of the standby modes for forward detection and driver warning, and the control mode for forward detection, driver warning and vehicle control. When set to the standby mode, the preceding vehicle collision control unit, When the risk of collision with the preceding vehicle is detected, only the driver warning is performed, When set to the control mode, the preceding vehicle collision control unit, And detecting the collision with the preceding vehicle, and performing one of the driver warning, the following control of the preceding vehicle, and the forced restriction of the lane change. The method of claim 4, wherein When set to the control mode, the preceding vehicle collision control unit, If steering control is not possible, perform the above driver warning, If the steering control is possible and the progress of the lane change is determined to be the lane change completion level, the following vehicle is controlled following the preceding vehicle, And the lane change transient state control device is configured to perform the forced change of the lane change when the steering control is possible and the progress of the lane change is determined to be the lane change incomplete level. The method of claim 5, The preceding vehicle collision control unit, When the turned direction light is turned off or the angle between the estimated change target lane direction and the vehicle traveling direction is reduced to a predetermined angle or less, the progress of the lane change is determined as the lane change completion level, When the on direction indicator light is not turned off or the angle between the estimated change target lane direction and the vehicle traveling direction exceeds a certain angle, the progress of the lane change is determined to be a lane change incomplete level Transient control device. A lane change start recognition step of recognizing the start of a lane change based on a steering angle input; A change target lane estimating step of estimating a change target lane based on the road curvature sensed immediately before the start of the lane change is recognized; A preceding vehicle sensing step of detecting a preceding vehicle in the estimated change target lane; A collision risk detection step of detecting a collision risk with the detected preceding vehicle; A lane change progress level determining step of determining a progress level of the lane change; A preceding vehicle collision control step of performing the following control of the preceding vehicle in which the collision risk is detected or the forced limit of the lane change according to the progress of the lane change. Lane change transient state control method comprising a. The method of claim 7, wherein The lane change start recognition step, When the steering angle input is suddenly changed over a predetermined range, or when the steering angle input occurs in the direction of the direction indicator light, And recognizing that the lane change has been started. The method of claim 7, wherein The lane change progress degree determining step, When the turn signal is turned off or the angle between the estimated change target lane direction and the vehicle traveling direction decreases below a certain angle, the progress of the lane change is determined as the lane change completion level, When the on direction indicator light is not turned off or the angle between the estimated change target lane direction and the vehicle traveling direction exceeds a certain angle, the lane change characterized in that it is determined that the progress of the lane change is a lane change incomplete level Transient control method. The method of claim 7, wherein After the collision risk detection step, And a driver warning step of informing a driver of a driving situation of the collision risk. A vehicle information input interface configured to receive vehicle behavior information; A front sensor for detecting road curvature and a preceding vehicle; A driver output interface for notifying the driver of driving conditions; A vehicle control output interface for outputting a vehicle control command; And Recognizing the start of a lane change based on a steering angle input included in the vehicle behavior information, estimating a change target lane based on the road curvature sensed immediately before the start of the lane change is recognized, and in the change target lane When the detected risk of collision with the preceding vehicle is detected, the driver is notified of the driving situation of the collision risk, or the following control of the detected preceding vehicle or the forced change of the lane according to the progress of the lane change. A control unit for outputting the vehicle control command for restriction Adaptive cruise control system comprising a.

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