KR20160071164A - Apparatus and Method for Drive Controlling of Vehicle Considering Cut in - Google Patents

Abstract

The present invention relates to a device and a method for controlling a vehicle running in consideration of interruption, comprising: a sensor module including at least one sensor for acquiring sensor data in front of a running vehicle in real time; And a control module for controlling the speed according to each state and may be applied to other embodiments.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle running control apparatus and a vehicle running control apparatus,

More particularly, the present invention relates to an apparatus and method for controlling a vehicle running on a vehicle, and more particularly, to an apparatus and method for controlling a vehicle, The present invention relates to a vehicle running control apparatus and method.

In recent years, automobiles have been developed as intelligent vehicles that can provide improved safety and convenience by using advanced information and communication technology as well as improving fuel efficiency and performance as vehicles. In particular, the Smart Cruise Control System is mainly used at high speeds of more than 40 km / h, and most of the technologies are used to detect a remote vehicle in order to prevent a relatively large accident. However, most of the actual traffic accidents occur in the city center, and more than 70% of traffic accidents occurring in the city center occur at a low speed of less than 30 km / h.

Accordingly, there is a need to develop a technology that can actively cope with the interruption of a vehicle at a short distance while traveling at a low speed.

In order to solve the above problems, various embodiments of the present invention provide a method of controlling at least one of a speed of a self-vehicle and a distance to another vehicle according to each state, And to provide a vehicle running control device and method that take into consideration the lifting of the vehicle.

The vehicle running control apparatus according to an embodiment of the present invention may include a sensor module including at least one sensor for acquiring sensor data in front of a running vehicle in real time, And a control module for controlling the speed according to each state.

In addition, the control module may generate an object representing at least one other vehicle existing in a next lane of the lane in which the child vehicle is traveling, and extract feature points for the other vehicle based on the object.

In addition, the control module can confirm the position of the object and the minutia point, and check the state of the target vehicle in any state of intervention prediction, progress, and completion.

In addition, the control module can confirm that the minutiae are predicted to be in the interrupted state of the other vehicle if the estimated arrival time of the characteristic point to the traveling lane is within a threshold time.

In addition, the control module can confirm that the other vehicle is in the interrupted state when the minutiae and a part of the object enter the driving lane.

In addition, the control module can confirm that the other vehicle is in the interrupted state when the minutiae and the whole object enter the driving lane.

Also, the control module can control the speed and the distance from the other vehicle when it is confirmed that the other vehicle is in the interrupted state.

According to another aspect of the present invention, there is provided a vehicle running control method including: acquiring sensor data in front of a running vehicle in real time; analyzing the sensor data to check a state of the other vehicle in each state; And controlling the speed according to each of the states.

The step of detecting the interruption of the other vehicle may include the steps of generating an object representing at least one other vehicle existing in a next lane of the lane in which the vehicle is traveling, And extracting feature points for the feature point.

Also, the step of verifying the interruption of the other vehicle may be a step of verifying the position of the object and the minutia point and confirming the interruption prediction, the progression, and the completion of the other vehicle.

The step of confirming the interruption of the other vehicle may include confirming that the minutia point is an intervention prediction state of the other vehicle when the expected arrival time to the traveling lane is within a threshold time, Confirming that the other vehicle is in the interrupted state when the vehicle enters the driving lane, confirming that the intervening completed state of the other vehicle when the characteristic point and the entire object enter the traveling lane, .

According to another aspect of the present invention, there is provided a method of controlling a speed of an automotive vehicle, the method comprising: controlling a speed of the automotive vehicle according to each state; controlling the speed of the automobile vehicle when the intervention prediction state of the other vehicle, The speed of the subject vehicle and the distance from the other vehicle.

As described above, the present invention relates to an apparatus and method for controlling a vehicle running on a vehicle, and more particularly, to an apparatus and method for controlling a vehicle running on a vehicle, It is possible to reduce the probability of an accident caused by intervention, thereby improving the convenience of the driver.

1 is a diagram showing a main configuration of a vehicle drive control apparatus according to an embodiment of the present invention.
FIG. 2 is a diagram for explaining a method of detecting an interruption of another vehicle according to an embodiment of the present invention. Referring to FIG.
3 is a view for explaining a vehicle running control method according to an embodiment of the present invention.

Best Mode for Carrying Out the Invention Various embodiments of the present invention will be described below with reference to the accompanying drawings. The various embodiments of the present invention are capable of various changes and may have various embodiments, and specific embodiments are illustrated in the drawings and the detailed description is described with reference to the drawings. It should be understood, however, that it is not intended to limit the various embodiments of the invention to the specific embodiments, but includes all changes and / or equivalents and alternatives falling within the spirit and scope of the various embodiments of the invention. In connection with the description of the drawings, like reference numerals have been used for like elements.

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

1, a vehicle running control apparatus 100 according to the present invention includes a communication module 110, a sensor module 120, an input module 130, an output module 140, a memory 150, and a control module 160 < / RTI >

The communication module 110 can communicate with various communication devices such as CAN (Controller Area Network), CAN-Flexible Data Rate (CAN-FD), FlexRay, Media Oriented Systems Transport (MOST), and Time Triggered Ethernet Communication between the sensor module 120, the input module 130, the output module 140, the memory 150 and the control module 160 can be performed.

The sensor module 120 may include a sensor for acquiring driving information of a running vehicle, and may include an image sensor for acquiring image data for a road on the road, and a laser sensor for acquiring laser data, for example, Lidar, Radar sensors may be included. The sensor module 120 may provide at least one of image data and laser data obtained from at least one of the image sensor and the laser sensor to the control module 160 through the communication module 110.

The input module 130 may generate a control signal according to an input from the outside. For this purpose, the input module 130 may be formed as an input device such as a keypad, a touch pad, a touch screen, or the like. When the input module 130 is formed as a touch screen, have.

The output module 140 can output driving information of the own vehicle under the control of the control module 160. [ In particular, the output module 140 may output image data for at least one of the left lane and the right lane based on the driving lane. For this purpose, the output module 140 may be formed as an output device such as an LCD, a touch screen, or the like. In addition, the output module 140 may include a speaker SPK for providing guidance to the occupant of the vehicle when the speed of the subject vehicle is controlled by the control module 160 due to intervention of another vehicle have.

The memory 150 may store a program or the like for operating the vehicle running control apparatus 100. [ In particular, the memory 150 may store an algorithm for analyzing the image data and analyzing the image data of at least one of the left lane and the right lane of the driving lane to identify at least one other vehicle. The memory 150 may generate an object for another vehicle identified in the image data, and may store an algorithm for extracting a plurality of feature points based on the object. The memory 150 may store an algorithm that can identify an interruption state to a lane in which the other vehicle is traveling using at least one of the object and the minutiae.

The control module 160 analyzes the sensor data obtained from at least one sensor to check the interruption of the other vehicle to the lane in which the vehicle is traveling, and controls the speed of the own vehicle according to the checked state can do. For this purpose, the control module 160 may include an other vehicle management unit 161 and a cut-in management unit 162. FIG. 2 is a diagram for explaining a method of detecting an interruption of another vehicle according to an embodiment of the present invention. Referring to FIG. Referring to FIG. 2, the other vehicle management unit 161 may analyze the image data 210 obtained from the image sensor as shown in FIG. 2 (a). The other vehicle management unit 161 can confirm the other vehicle OV running on the side lane 212 of the lane 211 in which the vehicle is traveling in the image data 210. [ The other-vehicle management unit 161 can analyze the FIG. 2 (a) and convert it as shown in FIG. 2 (b). The other-vehicle management unit 161 can generate the other vehicle OV as a rectangular-shaped object OV_obj. The other vehicle management unit 161 can extract a plurality of feature points 215 from the edge of the object OV_obj. The other vehicle management unit 161 can extract the vertex 216 among the plurality of feature points 215. [ At this time, when the laser data is received from the laser sensor, the other vehicle management unit 161 analyzes the laser data to identify the object OV_obj existing in front of the running vehicle V as shown in FIG. 2 (b) , And a plurality of feature points 215 can be extracted from the edge of the object OV_obj. The other vehicle management unit 161 can extract the vertex 216 among the plurality of feature points 215. [

According to one embodiment, the acceleration for tracking the other vehicle traveling in front of the subject vehicle V may be set to the distance tracking and the speed tracking, as shown in Equation (1) below.

는 자 차량(V)의 가속도,

는 거리 추종의 비중을 조정하기 위한 게인 값,

은 자 차량(V)이 주행 중인 차선에서 자 차량(V)의 전방에 위치하는 타 차량(PV)과의 실제 거리,

는 자 차량(V)의 현재 속도에 가변적인 값을 갖는 기준 거리,

는 속도 추종의 비중을 조정하기 위한 게인 값,

는 자 차량(V)의 전방에 위치하는 타 차량(PV)의 속도, 는 자 차량(V)의 속도를 의미할 수 있다.) (only,

The acceleration of the subject vehicle V,

Is a gain value for adjusting the specific gravity of the distance tracking,

The actual distance between the silver vehicle V and the other vehicle PV located in front of the vehicle V in the driving lane,

Is a reference distance having a variable value with respect to the current speed of the subject vehicle V,

Is a gain value for adjusting the specific gravity of the speed follower,

The speed of the other vehicle PV located in front of the subject vehicle V, May mean the speed of the subject vehicle V.)

The cut-in, for example, cut-in according to the present invention may mean that the other vehicle OV is interrupted by the lane on which the child vehicle V is running in the vicinity. If the intervention of the other vehicle (OV) occurs in the vicinity, the acceleration / deceleration may occur in the subject vehicle (V), so that the proportion of the speed follower can be set to a larger value than the distance follower.

The cut-in management unit 162 can calculate the estimated arrival time of the vertex 216 extracted as shown in FIG. 2 (b) to the lane 211 in which the vehicle V is running. The cut-in management unit 162 can confirm that the vertex point 216 is in a predicted state in which the other vehicle OV is in the interruption state when the scheduled arrival time to the lane 211 in which the child vehicle V is traveling is within a threshold time. The cut-in management unit 162 can perform the speed adjustment for adjusting the distance to the other vehicle PV running ahead of the subject vehicle V in the lane 211 in which the subject vehicle V is running. The cut-in management unit 162 can control the acceleration of the subject vehicle V to be zero if the acceleration of the other vehicle PV is greater than zero. The cut-in management unit 162 can control the acceleration of the vehicle V to be equal to the acceleration of the other vehicle PV when the acceleration of the other vehicle PV is less than zero.

이 0보다 작으면 자 차량(V)의 가속도를 0으로 유지할 수 있다. 컷인관리부(162)는 타 차량(OV)의 가속도가 0보다 크지 않거나

이 0보다 작지 않으면, 자 차량(V)의 가속도를 타 차량(OV)의 가속도와 동일하게 유지할 수 있다. The cut-in management unit 162 confirms that the extracted vertex 216 and a part of the object OV_obj have entered the lane 211 in which the child vehicle V is traveling as shown in FIG. 2C, (OV) is in progress. The cut-in management unit 162 can check the acceleration of the other vehicle OV when the other vehicle OV is in the state where the other vehicle OV is interrupted forward. The cut-in management unit 162 determines that the acceleration of the other vehicle OV is greater than 0,

Is smaller than 0, the acceleration of the vehicle V can be maintained at zero. The cut-in management unit 162 determines whether or not the acceleration of the other vehicle OV is greater than zero

Is not smaller than 0, the acceleration of the subject vehicle V can be kept equal to the acceleration of the other vehicle OV.

The cut-in management unit 162, when all of the extracted feature point 215 and the object OV_obj are entered into the lane 211 in which the child vehicle V runs, as shown in FIG. 2D, OV) is in the completed state. The cut-in management unit 162 controls the acceleration of the subject vehicle V to be the same as the acceleration of the other vehicle OV when the other vehicle OV is in the state of being interrupted forward of the subject vehicle V, Can be maintained.

3 is a view for explaining a vehicle running control method according to an embodiment of the present invention.

1 to 3, in step 11, the control module 160 can confirm whether or not the vehicle is traveling. If it is determined in step 11 that the vehicle is traveling, the control module 160 may proceed to step 13. If the vehicle is not detected, the control module 160 may proceed to step 27. [ In step 27, the control module 160 may perform a corresponding function corresponding to the input of the occupant of the vehicle, such as opening and closing of a window, reproduction of multimedia data, and the like.

In step 13, the control module 160 can analyze the image data obtained in real time on the road on which the subject vehicle is traveling. According to one embodiment, the control module 160 can check whether or not at least one other vehicle traveling in the next lane of the lane in which the child vehicle is traveling is present in the image data. The control module 160 may generate a rectangular shaped object for at least one other vehicle traveling in the next lane. The control module 160 may extract feature points for other vehicles based on the generated objects. At this time, the control module 160 can extract a plurality of minutiae at regular intervals on the edge of the generated object. The control module 160 can analyze the laser data obtained in real time on the road on which the subject vehicle is traveling. The control module 160 analyzes data extracted through the analysis of the image data through the analysis of the laser data, for example, a square-shaped object for at least one other vehicle traveling in the next lane, Feature points and the like can be extracted.

In step 15, the control module 160 can confirm whether or not the interruption of the other vehicle is predicted. As a result of the checking in step 15, if it is predicted that the other vehicle is caught in front of the vehicle, the control module 160 can perform step 17, and if the intervention is not predicted, the control module 160 returns to step 13, It is possible to continuously analyze the sensor data of at least one of the data and the laser data. At this time, the control module 160 can confirm that among the minutiae points of the object generated in the square shape, the expected arrival time to the lane in which the vertex is running is within the threshold time, that is, the intervention prediction state of the other vehicle. Since this has been described with reference to FIG. 2 (b), a detailed description thereof will be omitted. In step 17, the control module 160 may control the speed of the vehicle so that the interruption of the other vehicle predicted by the intervention can be smooth.

In step 19, the control module 160 can confirm whether or not the interruption of the other vehicle is in progress. As a result of the checking in step 19, if it is confirmed that the other vehicle is proceeding to the front of the vehicle, the control module 160 can perform step 21, and if it is not confirmed that the other vehicle is proceeding to the step 17, So that the speed of the vehicle can be continuously controlled. At this time, if the control module 160 confirms that a part of the object and the vertex are entered into the driving lane, the control module 160 can confirm that the interruption of the other vehicle is in progress. Since this has been described with reference to FIG. 2 (c), detailed description thereof will be omitted. In step 21, the control module 160 can control the speed of the vehicle so that the interruption of another vehicle confirmed to be in the process of intervention can be smoothly completed.

In step 23, the control module 160 can confirm whether or not the interruption of the other vehicle is completed. As a result of checking in step 23, if it is confirmed that the other vehicle has been completely separated from the front of the vehicle, the control module 160 may perform step 25, and if it is not confirmed that the other vehicle is completed, The speed of the vehicle can be continuously controlled. At this time, the control module 160 can confirm that the entirety of the object and the minutiae points of the object are completed, and that the interruption of the other vehicle is completed. Since this has been described with reference to FIG. 2 (d), a detailed description thereof will be omitted. In step 25, the control module 160 can control the speed and the distance to the other vehicle that the interruption is completed.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. Therefore, the scope of the present invention should be construed as being included in the scope of the present invention without departing from the scope of the present invention.

100: vehicle running control device 110: communication module
120: sensor module 130: input module
140: output module 150: memory
160: Control module 161:
162: Cut-

Claims (12)

A sensor module including at least one sensor for acquiring sensor data in front of a running vehicle in real time;
A control module for analyzing the sensor data to identify interruptions of other vehicles according to the states and controlling the speed according to the respective states;
And a vehicle running control device. The method according to claim 1,
The control module
Generates an object representing at least one other vehicle existing in a next lane of the lane in which the subject vehicle is traveling, and extracts a characteristic point for the other vehicle based on the object. 3. The method of claim 2,
The control module
And confirms the position of the object and the minutiae in any one of an interruption prediction, a progression, and a completion of the other vehicle. The method of claim 3,
The control module
And if the estimated arrival time of the feature point to the driving lane is within a threshold time, it is confirmed that the vehicle is in the intervention prediction state of the other vehicle. The method of claim 3,
The control module
And when the minutiae and a part of the object enter the driving lane, it confirms that the other vehicle is in the interrupted state. The method of claim 3,
The control module
And when the minutiae and the object as a whole enter the driving lane, confirms that the other vehicle is in the interruption completion state. The method according to claim 6,
The control module
And controls the speed and the distance from the other vehicle when it is determined that the other vehicle is in the completed state. Acquiring sensor data in front of a running vehicle in real time;
Analyzing the sensor data to confirm the interruption of the other vehicle by state;
Controlling a speed according to each of the states;
To the vehicle. 9. The method of claim 8,
The step of detecting the interruption of the other vehicle by state
Generating an object representing at least one other vehicle existing in a next lane of the lane in which the present vehicle is traveling;
Extracting feature points for the other vehicle based on the object;
Further comprising the steps of: 10. The method of claim 9,
The step of checking the interruption of the other vehicle by state
And checking the position of the object and the minutiae to confirm the state of any one of intervention prediction, progress and completion of the other vehicle. 11. The method of claim 10,
The step of checking the interruption of the other vehicle by state
Confirming that the feature point is an intervention prediction state of the other vehicle if the estimated arrival time of the characteristic point to the driving lane is within a critical time;
Confirming that the other vehicle is in the interrupted state when the feature point and a part of the object enter the driving lane;
Confirming completion of the interruption of the other vehicle when the minutiae point and the entire object enter the driving lane;
Further comprising the steps of: 12. The method of claim 11,
The step of controlling the speed according to each state
Controls the speed of the subject vehicle in the intervention prediction state of the other vehicle and the intervention progress of the vehicle amount, and controls the speed of the subject vehicle and the distance from the other vehicle in the intervention completion state of the other vehicle The vehicle running control method comprising:

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