Device and method for controlling lane change of a vehicle

Abstract

The present invention relates to an apparatus and method for controlling lane change of a vehicle. The apparatus for controlling lane change of a vehicle comprises: a sensor configured to sense an object located behind the vehicle; and a control circuit configured to be electrically connected to the sensor. The control circuit is configured to receive sensing data from the sensor, and when the sensor senses an object located beyond a specified distance behind the vehicle, switch a system for lane change in the vehicle to a standby state.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] The present invention claims priority to and the benefit of Korean Patent No. 10-2018-0143874, filed on November 20, 2018, and U.S. Provisional Patent No. 62 / 655,831, filed on April 11, 2018, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The invention relates to a device and a method for controlling a lane change system of a vehicle. Background Art

[0004] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0005] With the development of the automobile industry, automatic driving systems and driving assistance systems that facilitate partial automatic driving have been developed (for the convenience of description below, automatic driving and driving assistance are both referred to as "automatic driving"). The automatic driving system can provide various functions, such as setting speed maintenance, vehicle-to-vehicle distance maintenance, lane keeping, and lane changing. The automatic driving system can perform automatic driving using various devices, such as sensors for sensing the external environment of the vehicle, sensors for sensing information about the vehicle, a global positioning system (GPS), a detailed map, a driver state monitoring system, a steering actuator, an acceleration / deceleration actuator, a communication circuit, and a control circuit (e.g., an electronic control unit (ECU)). Sensors that can sense other vehicles located around the vehicle may be required to perform automatic lane changes in the above functions.

[0006] In order to safely perform automatic lane changes, it may be necessary for the sensors to function properly. In particular, it is desirable for the rear sensors, which sense conditions behind the vehicle that are difficult to view with the driver's eyes, to function properly. The rear sensors should have a sufficient sensing range to provide the safety of the vehicle.

[0007] The above information disclosed in the background technology section is only intended to deepen the understanding of the background technology of the present invention, and therefore the information it may contain does not constitute the prior art known to those skilled in the art. Summary of the invention

[0008] The present invention provides an apparatus and method for changing the state of a lane change system taking into account whether a sensor is operating normally to improve driver safety.

[0009] According to one aspect of the present invention, an apparatus for controlling lane change of a vehicle may include: a sensor configured to sense an object located behind the vehicle; and a control circuit configured to be electrically connected to the sensor. The control circuit may be configured to receive sensing data from the sensor, and when the sensor senses an object located beyond a specified distance rearward from the vehicle, switch a system for lane change in the vehicle to a standby state.

[0010] According to another aspect of the present invention, the control circuit may be configured to receive sensing data from the sensor when the vehicle is started.

[0011] According to another aspect of the present invention, the control circuit may be configured to switch the system for lane change to a standby state when data on an object located outside a specified distance is included in the sensing data.

[0012] According to another aspect of the present invention, the control circuit may be configured to determine whether the sensor operates normally based on the sensed data.

[0013] According to another aspect of the present invention, the control circuit may be configured to switch the system for lane changing to a standby state when the sensor senses an object located outside a specified distance and when the vehicle is located within a specified operation interval of the system for lane changing.

[0014] According to another aspect of the present invention, the control circuit may be configured to switch the system for lane changing from an off state to a standby state when the sensor senses an object located outside a specified distance.

[0015] According to another aspect of the present invention, the control circuit may be configured to switch the system for lane changing to an on state when receiving approval from a vehicle driver in a standby state.

[0016] According to another aspect of the present invention, the device may further include an output device. The control circuit may be configured to output a visual indication indicating an off state, a standby state or an on state of the system for lane change using the output device.

[0017] According to another aspect of the present invention, the control circuit may be configured to maintain the system for lane change in an off state when the sensor senses only an object located within a specified distance.

[0018] According to another aspect of the present invention, the device may further include an output device. The control circuit may be configured to output a visual indication indicating the sensed object using the output device when the sensor senses the object located outside the specified distance.

[0019] According to another aspect of the present invention, the device may further include an output device. The control circuit may be configured to output a visual indication indicating sensor failure using the output device when the sensor senses only an object located within a specified distance.

[0020] According to another aspect of the present invention, a method for controlling lane changes of a vehicle may include the following steps: obtaining sensing data about the rear of the vehicle; and switching a system for lane changes in the vehicle to a standby state when a sensor included in the vehicle senses an object located outside a specified distance rearward from the vehicle.

[0021] According to another aspect of the present invention, the method may further include the step of determining whether the sensor operates normally based on the sensing data. The method may include the step of switching the system for lane change to a standby state when the sensor operates normally.

[0022] According to another aspect of the present invention, the method may include the step of switching the system for lane changing to a standby state when the sensor senses an object located outside a specified distance and when the vehicle is located within a specified operation interval of the system for lane changing.

[0023] According to another aspect of the present invention, the method may further include the step of switching the system for lane change to an on state when approval of a vehicle driver is received in the standby state.

[0024] Further areas of applicability will become apparent from the description provided herein.It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order that the present invention may be better understood, various embodiments thereof will now be described by way of example given, with reference to the accompanying drawings, in which:

[0026] Figure 1 is a block diagram showing a configuration of an apparatus for controlling lane change of a vehicle according to an embodiment of the present invention;

[0027] Figure 2 is a block diagram illustrating a lane change system for a vehicle according to an embodiment of the present invention;

[0028] Figure 3 is a block diagram showing a state of a lane change system in an apparatus for controlling lane change of a vehicle according to an embodiment of the present invention;

[0029] Figure 4An exemplary operation of an apparatus for controlling lane change of a vehicle according to an embodiment of the present invention is shown;

[0030] Figure 5 An exemplary operation of an apparatus for controlling lane change of a vehicle according to an embodiment of the present invention is shown;

[0031] Figure 6 An exemplary operation of an apparatus for controlling lane change of a vehicle according to an embodiment of the present invention is shown;

[0032] Figure 7 is a flow chart illustrating a method for controlling lane change of a vehicle according to an embodiment of the present invention; and

[0033] Figure 8 is a block diagram showing a configuration of a computing system according to an embodiment of the present invention.

[0034] The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. DETAILED DESCRIPTION

[0035] The following description is merely exemplary in nature and is not intended to limit the invention, its application or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate the same or corresponding parts and features.

[0036] In describing the elements of the embodiments of the present invention, the term first, second, first, second, A, B, (a), (b) etc. may be used herein. These terms are only used to distinguish one element from another element, but do not limit the corresponding element, and are independent of the property, order or sequence of the corresponding element. Unless otherwise defined, all terms used herein, including technology or scientific terms, have the same meaning as those of ordinary skill in the art to which the present invention belongs. Those terms defined in commonly used dictionaries should be interpreted as having the meaning equivalent to the contextual meaning in the relevant technical field, and should not be interpreted as having an ideal or overly formal meaning, unless clearly defined as having such meaning in the present application.

[0037] Figure 1 is a block diagram illustrating a configuration of an apparatus for controlling lane change of a vehicle according to an embodiment of the present invention.

[0038] refer to Figure 1 The device 100 for controlling lane change of a vehicle may include: a sensor 110 , an input device 120 , an output device 130 , and a control circuit 140 . Figure 1 The device 100 for controlling lane change may be a part of an automatic driving system and may be loaded into a vehicle.

[0039] The sensor 110 may be configured to sense information about the exterior of the vehicle. In particular, the sensor 110 may be a rear sensor configured to sense an object located behind the vehicle. In order to provide safety for lane changes, a sensing range of the sensor 110 greater than or equal to a specified distance (e.g., approximately 55 m) rearward from the vehicle may be required.

[0040] The input device 120 may be configured to receive input from a driver of the vehicle. For example, the input device 120 may be configured to receive a command from the driver to enable a lane change system. The input device 120 may include a switch, a lever, a button, or the like.

[0041] The output device 130 may be configured to output information that the driver is visually sensitive to. The output device 130 may include, for example, a display, a light, and the like.

[0042] The control circuit 140 may be electrically connected to the sensor 110, the input device 120, and the output device 130. The control circuit 140 may control the sensor 110, the input device 120, and the output device 130, and may perform various data processing and various arithmetic operations. The control circuit 140 may be, for example, an electronic control unit (ECU), a microcontroller unit (MCU), or a sub-controller loaded into a vehicle.

[0043] like Figure 1 As shown, the control circuit 140 may receive sensing data from the sensor 110. For example, when the vehicle is started, the control circuit 140 may receive sensing data from the sensor 110. When an idle stop and go (ISG) system is operated, the control circuit 140 may determine that the vehicle is started.

[0044] In addition, the control circuit 140 may determine whether the sensor 110 is operating normally based on the sensing data. For example, when the sensor 110 senses an object located outside a specified distance from the rear of the vehicle, the control circuit 140 may determine that the sensor 110 is operating normally. For another example, when data of an object located outside the specified distance is included in the sensing data, the control circuit 140 may determine that the sensor 110 is operating normally.

[0045] When the sensor 110 operates normally, the control circuit 140 may switch the system for lane change of the vehicle to a standby state. For example, when the sensor 110 senses an object located beyond a specified distance rearward from the vehicle, the control circuit 140 may switch the system for lane change to a standby state. The control circuit 140 may switch the system for lane change from an off state to a standby state.

[0046] When the sensor 110 senses an object outside the specified distance and when the vehicle is located within a specified operation interval of the system for lane change, the control circuit 140 may switch the system for lane change to a standby state. The specified operation interval may be, for example, a road with limited access. When the vehicle is located within the operation interval of the system for lane change and when the sensor 110 operates normally, the control circuit 140 may switch the system for lane change to a standby state.

[0047] When the vehicle driver's approval is received in the standby state, the control circuit 140 may switch the system for lane change to an on state. For example, when the driver's approval is received via the input device 120, the control circuit 140 may enable the system for lane change. When the system for lane change is enabled, the control circuit 140 may perform automatic lane change control according to the driver's input.

[0048] When the sensor 110 senses only an object within the specified distance, the control circuit 140 may maintain the system for lane change in an off state. When the sensor 110 does not sense an object outside the specified distance, the vehicle may maintain the system for lane change in an off state because the normal operation of the sensor 110 is not provided.

[0049] Accordingly, control circuit 140 may output a user interface for the state of sensor 110 and the state of the system for lane change using output device 130 .

[0050] Figure 2 is a block diagram illustrating a lane changing system for a vehicle according to an embodiment of the present invention.

[0051] refer to Figure 2 , the system according to the exemplary embodiment of the present invention may include: a vehicle start determination device 210, a rear sensor device 220, a sensor performance check device 230, a lane change system state conversion device 240, and a system state display device 250. The system may be loaded into a vehicle.

[0052] The vehicle start determination device 210 can detect the start of the vehicle. When the vehicle system changes from the off state to the on state and remains in the on state, the vehicle start determination device 210 can determine that the vehicle is started. When the ISG system is running, the vehicle start determination device 210 can determine that the vehicle is started. The vehicle start determination device 210 can determine whether the vehicle is started and can provide the result to the sensor performance inspection device 230.

[0053] The rear sensor device 220 may measure a relative distance, a relative speed, a relative acceleration, etc. between the vehicle and objects around the vehicle, and may provide the measured data to the sensor performance inspection device 230 .

[0054] The sensor performance checking device 230 can check whether the sensor is operating normally based on the information received from the vehicle start determination device 210 and the rear sensor device 220. In the case where the sensing data is received in the state where the vehicle is started, when the surrounding objects are recognized one or more times outside the specified distance behind the vehicle, the sensor performance checking device 230 can determine that the sensor is operating normally until the vehicle system is turned off, and can provide relevant information to the lane change system state conversion device 240.

[0055] The lane change system state switching device 240 can set the state of the lane change system to an off state, a standby state, or an on state. When the sensor performance inspection device 230 identifies that the sensor is operating normally, the lane change system state switching device 240 can switch the lane change system from the off state to the standby state. The lane change system state switching device 240 can transmit information about the state of the sensor and the state of the lane change system to the system state display device 250.

[0056] The system status display device 250 can visually display the status of the sensor and the status of the lane change system to the driver based on the information received from the lane change system state conversion device 240. For example, the system status display device 250 can visually display whether the sensor is operating normally. For another example, the system status display device 250 can visually display the off state, the standby state, and the on state of the lane change system.

[0057] Figure 3 is a block diagram illustrating a state of a lane change system in an apparatus for controlling lane change of a vehicle according to an exemplary embodiment of the present invention.

[0058] refer to Figure 3 , the lane change system can be in the off state. When the vehicle enters the operation range of the lane change system and recognizes that the rear sensor is operating normally, the lane change system can switch from the off state to the standby state. When the vehicle leaves the operation range, the lane change system can switch from the standby state to the off state.

[0059] When the driver of the vehicle turns on the lane change input device in the standby state, the lane change system may switch from the standby state to the on state. The lane change system may provide a pop-up window for receiving the driver's approval. When the driver's approval is received through the pop-up window, the lane change system may switch from the standby state to the on state. When the driver turns off the lane change input device, the lane change system may switch from the on state to the standby state or may maintain the standby state.

[0060] Figure 4 An exemplary operation of an apparatus for controlling lane change of a vehicle according to an embodiment of the present invention is illustrated.

[0061] refer to Figure 4 , the vehicle 410 may utilize the rear sensor to sense an object located behind the vehicle 410. For example, when the rear sensor senses only an object within a specified distance of 55 m rearward from the vehicle 410, the vehicle 410 may determine that the sensor is not functioning properly and may maintain the lane change system in an off state.

[0062] For another example, when the rear sensor senses an object outside the specified distance from the rear of the vehicle 410, the vehicle 410 can determine that the sensor is operating normally and can switch the lane change system to the standby state. When the object outside the specified distance is sensed once, the vehicle 410 can determine that the sensor is operating normally. Although the object outside the specified distance disappears thereafter, since the normal operation of the sensor has been verified, the vehicle 410 can determine that the sensor is operating normally until the vehicle 410 is turned off.

[0063] Figure 5 An exemplary operation of an apparatus for controlling lane change of a vehicle according to an embodiment of the present invention is illustrated.

[0064] When the vehicle's sensor senses only objects within a specified distance, the vehicle can output a visual indication of sensor failure using its output device. When the sensor senses an object outside the specified distance, the vehicle can output a visual indication of the sensed object using the output device.

[0065] refer to Figure 5 , the vehicle may display information associated with the vehicle on its display. The vehicle may display an indication indicating whether the rear sensor of the vehicle is operating normally. For example, when the rear sensor only senses an object located within a specified distance, that is, when an object located outside the specified distance is not sensed, the vehicle may display a first color indication 510 under the vehicle icon, the first color indication 510 serving as a visual indication indicating a sensor failure.

[0066] For example, when an object located outside a specified distance is sensed, the vehicle may display a second color indication 520 under the vehicle icon as a visual indication that the sensor is functioning properly.

[0067] Figure 6 An exemplary operation of an apparatus for controlling lane change of a vehicle according to an embodiment of the present invention is illustrated.

[0068] The vehicle may use its output device to output a visual indication indicating an off state, a standby state, or an on state of the lane change system.

[0069] refer to Figure 6 The vehicle may display information associated with the vehicle on its display. The vehicle may display an indication on the display indicating the status of the lane change system. For example, when the lane change system is in the off state, the vehicle may not display the related icon on the display.

[0070] When the lane change system switches from the off state to the standby state, the vehicle may display a first color icon 610 as a visual indication indicating the standby state of the lane change system.

[0071] When the lane change system switches from the standby state to the on state, the vehicle may display a second color icon 620 as a visual indication of the on state of the lane change system. Only when the lane change system is in the on state can the vehicle perform lane change control according to the input of its driver.

[0072] The driver can determine whether the sensor is operating normally through the visual indication, and can recognize the state of the lane change system. In addition, the driver can visually recognize whether the sensor is operating normally to easily determine the reason why the lane change system is not enabled.

[0073] Figure 7 is a flowchart illustrating a method for controlling lane change of a vehicle according to an embodiment of the present invention.

[0074] In the following, it is assumed that Figure 1 The vehicle execution of the device 100 for controlling lane change Figure 7 In addition, Figure 7 In the description, the operation described as being performed by the vehicle can be understood as being controlled by the control circuit 140 of the apparatus 100 for controlling lane change.

[0075] refer to Figure 7 , the vehicle may obtain sensing data about the rear of the vehicle at step 710. When the vehicle starts, it may collect sensing data using its sensors.

[0076] In step 720, the vehicle may determine whether a sensor in the vehicle senses an object located outside a specified distance rearward from the vehicle. In order to verify the performance of the sensor, the vehicle may determine whether an object located outside a specified distance that can provide lane change safety is sensed. When an object located outside the specified distance is not sensed, the vehicle may obtain sensing data until an object is sensed and may determine whether the sensor is operating normally.

[0077] When an object located outside the specified distance is sensed, the vehicle may switch the system for lane change in the vehicle to a standby state in step 730. When the system for lane change is switched to the standby state, the vehicle may switch the lane change system to an on state according to the operation of its driver, and may perform lane change in the on state according to the operation of the driver.

[0078] Figure 8 is a block diagram showing the configuration of a computing system of an embodiment of the present invention.

[0079] refer to Figure 8 The computing system 1000 may include: at least one processor 1100 , a memory 1300 , a user interface input device 1400 , a user interface output device 1500 , a storage device 1600 , and a network interface 1700 , which are connected to each other via a bus 1200 .

[0080] The processor 1100 may be a central processing unit (CPU) or a semiconductor device for executing the processing of instructions stored in the memory 1300 and / or the storage device 1600. Each of the memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a read-only memory (ROM) and a random access memory (RAM).

[0081] Therefore, the operation of the method or algorithm described in conjunction with the embodiments disclosed in the specification can be directly implemented with a hardware module, a software module, or a combination thereof executed by the processor 1100. The software module can reside on a storage medium (i.e., memory 1300 and / or storage device 1600), such as RAM, flash memory, ROM, erasable and programmable ROM (EPROM), electric EPROM (EEPROM), register, hard disk, removable disk, or CD-ROM (CD-ROM). An exemplary storage medium can be connected to the processor 1100. The processor 1100 can read information from the storage medium and can write information in the storage medium. Alternatively, the storage medium can be integrated with the processor 1100. The processor and the storage medium can reside in an application specific integrated circuit (ASIC). The ASIC can reside in a user terminal. Alternatively, the processor and the storage medium can reside as a separate component of the user terminal.

[0082] The apparatus for controlling lane change of a vehicle according to an embodiment of the present invention can improve the safety of a vehicle driver by switching a lane change system to a standby state when an object located beyond a specified distance rearward from the vehicle is sensed.

[0083] Furthermore, various effects directly or indirectly determined by the present invention can be provided.

[0084] While the invention has been described in connection with what are presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the forms disclosed, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention.

Claims

1. A device for controlling lane change of a vehicle, the device include: a sensor configured to sense an object located behind the vehicle; as well as a control circuit configured to be electrically connected to the sensor; Wherein, the control circuit is configured as follows: When the vehicle is started, receiving sensing data from the sensor to determine whether the sensor operates normally based on the sensing data; maintaining a system for lane changing in the vehicle in a turned-off state when the sensor senses only an object located within a specified distance rearward from the vehicle; When the sensor senses an object located beyond a specified distance rearward from the vehicle, determining that the sensor is operating normally; When the sensor operates normally and when the vehicle is located within a specified operation range of the system for lane changing, the system for lane changing is switched to a standby state.

2. The device for controlling lane change of a vehicle according to claim 1, in, The control circuit is configured as follows: When data on an object located outside a specified distance is included in the sensing data, the system for lane change is switched to a standby state.

3. The device for controlling lane change of a vehicle according to claim 1, in, The control circuit is configured as follows: When the sensor senses an object located outside a specified distance, the system for lane changing is switched from an off state to a standby state.

4. The device for controlling lane change of a vehicle according to claim 1, in, The control circuit is configured as follows: When the vehicle driver's approval is received in the standby state, the system for lane changing is switched to the on state.

5. The device for controlling lane change of a vehicle according to claim 1, further comprising: include: Output device, Wherein, the control circuit is configured as follows: A visual indication indicating an off state, a standby state or an on state of the system for lane changing is outputted using an output device.

6. The device for controlling lane change of a vehicle according to claim 1, in, The control circuit is configured as follows: When the sensor senses only an object located within a specified distance, the system for lane changing is maintained in an off state.

7. The device for controlling lane change of a vehicle according to claim 1, further include: Output device, Wherein, the control circuit is configured as follows: When the sensor senses an object located outside the specified distance, a visual indication indicating the sensed object is outputted using an output device.

8. The device for controlling lane change of a vehicle according to claim 1, further comprising: include: Output device, Wherein, the control circuit is configured as follows: When the sensor senses only an object located within a specified distance, a visual indication indicating a sensor failure is outputted using an output device.

9. A method for controlling lane change of a vehicle, the method The following steps are involved: when the vehicle is started, obtaining sensing data about the rear of the vehicle from a sensor included in the vehicle to determine whether the sensor operates normally based on the sensing data; maintaining a system for lane changing in the vehicle in a turned-off state when the sensor senses only an object located within a specified distance rearward from the vehicle; When the sensor senses an object located beyond a specified distance rearward from the vehicle, determining that the sensor is operating normally; When the sensor operates normally and when the vehicle is located within a specified operation range of the system for lane changing, the system for lane changing is switched to a standby state.

10. The method according to claim 9, in, The method comprises the following steps: When data on an object located outside a specified distance is included in the sensing data, the system for lane change is switched to a standby state.

11. The method according to claim 9, in, The method comprises the following steps: When the sensor senses an object located outside a specified distance and when the vehicle is located within a specified operation interval of the system for lane changing, the system for lane changing is switched to a standby state.

12. The method according to claim 9, further comprising: The following steps are involved: When the vehicle driver's approval is received in the standby state, the system for lane changing is switched to the on state.

13. The method according to claim 9, further comprising: The following steps are involved: A visual indication is output indicating an off state, a standby state, or an on state of a system for lane changing.

14. The method according to claim 9, further comprising: The following steps are involved: When the sensor senses an object located outside the specified distance, a visual indication indicating that the object is sensed is output.

15. The method according to claim 9, further comprising: The following steps are involved: When the sensor senses only objects within a specified distance, a visual indication indicating sensor failure is output.

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