Device and method for controlling lane change of a vehicle

Abstract

The present invention relates to an apparatus and method for controlling lane changes of a vehicle. An apparatus for controlling lane changes of a vehicle includes: a sensor that senses an external vehicle; an input device that receives a lane change command from a driver of the vehicle; and a control circuit that is electrically connected to the sensor and the input device. The control circuit can: receive the lane change command using the input device; calculate the minimum operating speed of the vehicle for lane change control; and determine whether to accelerate the vehicle based on the speed of a preceding vehicle traveling in the same lane as the vehicle when the vehicle's driving speed is lower than the minimum operating speed.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of Korean Patent Application No. 10-2018-0107268, filed on September 7, 2018, which claims priority to and the benefit of U.S. Patent Application No. 62 / 655,831, filed on April 11, 2018, each of which is incorporated herein by reference in its entirety. Technical Field

[0003] The present application relates to an apparatus and method for regulating vehicle speed to control lane changes. Background Art

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

[0005] With the development of the automobile industry, a lane change control system that can automatically change the lane in which a vehicle is traveling has been developed. When the driver operates a turn signal to change lanes, the lane change control system can perform a lane change by automatically controlling the vehicle in a horizontal direction toward the direction in which the turn signal is turned on. The lane change control system can perform a lane change by determining whether the speed, position, etc. of the surrounding vehicles are suitable for performing a lane change, setting a control path for the lane change, and controlling the steering torque along the control path. The lane change control system can detect a leading vehicle and a following vehicle, and can perform control based on the information obtained.

[0006] The applicant has found that when the vehicle is traveling at a slow speed, lane change control may put the driver in danger, so the driver can set a minimum operating speed at which lane change control can be performed. In addition, the applicant has found that when the minimum operating speed is set, if the driver's lane change command is generated when the vehicle is traveling at a speed lower than the minimum operating speed, a control strategy is required to accelerate the vehicle to the minimum operating speed or faster. Summary of the invention

[0007] One aspect of the present application provides an apparatus and method for controlling lane change of a vehicle, so that a strategy for lane change control can be provided when the driving speed of the vehicle is lower than a minimum operating speed.

[0008] The technical problems to be solved by the present invention are not limited to the above-mentioned technical problems. Those skilled in the art to which the present application belongs can clearly understand any other technical problems not mentioned herein through the following description.

[0009] According to one aspect of the present application, a device for controlling lane change of a vehicle may include: a sensor configured to sense an external vehicle; an input device configured to receive a lane change command from a driver of the vehicle; and a control circuit configured to be electrically connected to the sensor and the input device. The control circuit may be configured to: receive a lane change command using the input device; calculate a minimum operating speed of the vehicle for lane change control; and when the vehicle's driving speed is lower than the minimum operating speed, determine whether to accelerate the vehicle based on the speed of a preceding vehicle traveling in the same lane as the vehicle.

[0010] The control circuitry may be configured to calculate a minimum operating speed in response to receiving a lane change command.

[0011] The control circuit may be configured to periodically calculate the minimum operating speed while the vehicle is traveling.

[0012] The control circuit may be configured to calculate the minimum operating speed based on a speed of the following vehicle and a distance between the vehicle and the following vehicle when the sensor senses a following vehicle traveling in a target lane corresponding to the lane change command.

[0013] The control circuit may be configured to calculate a minimum operating speed based on a predetermined speed at which the vehicle is traveling and a sensed distance corresponding to a maximum distance senseable by the sensor when the sensor does not sense a following vehicle traveling in a target lane corresponding to the lane change command.

[0014] The control circuit may be configured to: when the minimum operating speed is lower than the speed of the preceding vehicle, control the vehicle so that the vehicle's travel speed is higher than the minimum operating speed; and perform lane change control.

[0015] The control circuit may be configured to: when the sensor does not sense a preceding vehicle, control the vehicle so that a driving speed of the vehicle is higher than a minimum operating speed; and perform lane change control.

[0016] The control circuit may be configured to determine whether to accelerate the vehicle based on the speed of the preceding vehicle and a distance between the vehicle and the preceding vehicle when the minimum operating speed is higher than the speed of the preceding vehicle.

[0017] The control circuit can be configured to: determine the possibility of a collision between the vehicle and the preceding vehicle based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle; when there is no possibility of a collision, control the vehicle so that the vehicle's driving speed is higher than a minimum operating speed; and perform lane change control.

[0018] The control circuit can be configured to: estimate the vehicle's predicted driving path and the predicted driving path of the preceding vehicle based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle; and determine the possibility of a collision between the vehicle and the preceding vehicle based on the vehicle's predicted driving path and the predicted driving path of the preceding vehicle.

[0019] The control circuit may be configured to: determine a possibility of a collision between the vehicle and the preceding vehicle based on a speed of the preceding vehicle and a distance between the vehicle and the preceding vehicle; and control the vehicle to decelerate when there is a possibility of a collision.

[0020] The control circuitry may be configured to determine the likelihood of a collision after the vehicle has decelerated.

[0021] The control circuit may be configured to recalculate the minimum operating speed after the vehicle has been decelerated.

[0022] According to another aspect of the present application, a method for controlling lane changes of a vehicle may include: receiving a lane change command from a vehicle driver through a control circuit; calculating a minimum operating speed of the vehicle for lane change control through the control circuit; and determining whether to accelerate the vehicle through the control circuit based on the speed of a preceding vehicle traveling in the same lane as the vehicle when the vehicle's driving speed is lower than the minimum operating speed.

[0023] Calculating the minimum operating speed may include calculating the minimum operating speed based on a speed of the following vehicle and a distance between the vehicle and the following vehicle when a following vehicle traveling in a target lane corresponding to the lane change command is sensed.

[0024] Calculating the minimum operating speed may include calculating the minimum operating speed based on a predetermined speed of the vehicle set by a country in which the vehicle is located and a sensed distance corresponding to a maximum distance that can be sensed by a sensor of the vehicle when a following vehicle traveling in a target lane corresponding to a lane change command is not sensed.

[0025] The method may further include: when the minimum operating speed is lower than the speed of the preceding vehicle, controlling the vehicle by a control circuit so that the vehicle's travel speed is higher than the minimum operating speed; and performing lane change control.

[0026] The method may further include: when a preceding vehicle is not sensed, controlling the vehicle by a control circuit so that a travel speed of the vehicle is higher than a minimum operating speed; and performing lane change control.

[0027] Determining whether to accelerate the vehicle may include determining, by a control circuit, whether to accelerate the vehicle based on the speed of the preceding vehicle and a distance between the vehicle and the preceding vehicle when the minimum operating speed is higher than the speed of the preceding vehicle.

[0028] The method may further include: determining the possibility of a collision between the vehicle and the preceding vehicle through a control circuit based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle; when there is no possibility of a collision, controlling the vehicle so that the vehicle's driving speed is higher than a minimum operating speed; and performing lane change control.

[0029] 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 application. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to better understand the present application, various embodiments of the present application given by way of example will be described with reference to the accompanying drawings, in which:

[0031] Figure 1 is a block diagram showing a configuration of an apparatus for controlling lane change of a vehicle;

[0032] Figure 2 is a schematic diagram illustrating an exemplary operation of an apparatus for controlling lane change of a vehicle;

[0033] Figure 3 is a schematic diagram illustrating an exemplary operation of an apparatus for controlling lane change of a vehicle;

[0034] Figure 4 is a schematic diagram illustrating an exemplary operation of an apparatus for controlling lane change of a vehicle;

[0035] Figure 5 is a schematic diagram illustrating an exemplary operation of an apparatus for controlling lane change of a vehicle;

[0036] Figure 6 is a schematic diagram illustrating an exemplary operation of an apparatus for controlling lane change of a vehicle;

[0037] Figure 7 is a schematic diagram illustrating an exemplary operation of an apparatus for controlling lane change of a vehicle;

[0038] Figure 8 is a schematic diagram illustrating an exemplary operation for determining the possibility of a collision in an apparatus for controlling lane change of a vehicle;

[0039] Fig. 9 is a schematic diagram illustrating an exemplary operation for determining the possibility of a collision in an apparatus for controlling lane change of a vehicle;

[0040] Fig.10 is a flow chart illustrating a method for controlling lane changes of a vehicle;

[0041] Fig.11 is a flow chart illustrating a method for controlling lane changes of a vehicle; and

[0042] Fig.12 is a block diagram showing the configuration of a computing system.

[0043] The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present application in any way. DETAILED DESCRIPTION

[0044] The following description is merely exemplary in nature and is not intended to limit the present application, application or uses. It should be understood that throughout the drawings, corresponding reference numerals refer to the same or corresponding parts and features.

[0045] In addition, when describing the exemplary embodiments of the present application, if it is determined that the detailed description of related well-known configurations or functions makes the gist of the present application obscure, it will be omitted.

[0046] When describing the elements of the embodiments of the present application, the terms first, second, first, second, A, B, (a), (b) etc. can be used here. These terms are only used to distinguish one element from another element, but do not limit the corresponding elements, and are independent of the properties, order or sequence of the corresponding elements. Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as the meanings commonly understood by those skilled in the art to which the application belongs. These terms should be interpreted as having the meanings equivalent to the contextual meanings in the relevant technical field, as the terms defined in the commonly used dictionary, and should not be interpreted as having ideal meanings or too written meanings, unless clearly defined in the present application with such meanings.

[0047] Figure 1 is a block diagram showing a configuration of an apparatus for controlling lane change of a vehicle according to one embodiment of the present application.

[0048] Reference Figure 1 , an apparatus 100 for controlling lane changing of a vehicle (hereinafter referred to as “apparatus 100 ” for ease of description) may include a sensor 110 , an input device 120 , a steering device 130 , an acceleration and deceleration device 140 , and a control circuit 150 . Figure 1 The device 100 can be loaded into a vehicle.

[0049] The sensor 110 may be configured to sense an external vehicle. The sensor 110 may include, for example, a front sensor 110 and a blind spot assist (BSA) sensor (or side rear sensor) 110. The sensor 110 may sense a preceding vehicle traveling in the same lane as the vehicle and a following vehicle traveling in a lane adjacent to the vehicle.

[0050] The input device 120 may be configured to receive a lane change command from a driver of the vehicle. The input device 120 may be implemented, for example, with a turn signal lever, a switch, a button, etc., which can receive input from the driver.

[0051] The steering device 130 may be configured to control a steering angle of the vehicle. The steering device 130 may include, for example, a steering wheel, an actuator interlocked with the steering wheel, and a controller for controlling the actuator.

[0052] The acceleration and deceleration device 140 may be configured to control the speed of the vehicle. The acceleration and deceleration device 140 may include, for example, a throttle, a brake, an actuator interlocked with the throttle and the brake, and a controller for controlling the actuator.

[0053] The control circuit 150 may be electrically connected to the sensor 110, the input device 120, the steering device 130, and the acceleration and deceleration device 140. The control circuit 150 may control the sensor 110, the input device 120, the steering device 130, and the acceleration and deceleration device 140, and may perform various data processing and various arithmetic operations. The control circuit 150 may be, for example, an electronic control unit (ECU) or a sub-controller loaded into a vehicle.

[0054] According to an exemplary embodiment, the control circuit 150 may receive a lane change command using the input device 120. The control circuit 150 may receive a lane change command in a left direction or a right direction from the driver through the input device 120.

[0055] According to one embodiment, the control circuit 150 may calculate the minimum operating speed for lane change control. For example, the control circuit 150 may calculate the minimum operating speed in response to receiving a lane change command, or may periodically calculate the minimum operating speed while the vehicle is traveling. During lane change control, the device 100 may initiate control only when the vehicle's traveling speed is greater than or equal to the minimum operating speed for safe lane change. smin An exemplary equation for may be the following Equation 1.

[0056] [Equation 1]

[0057]

[0058] According to equation 1 above, we can rear 、V app , a, t B and t G To determine the minimum operating speed V smin Here, a, t B and t GEach of may be an environmental variable indicating the predicted behavior of the following vehicle and may correspond to a predetermined constant. The distance S between the vehicle and the following vehicle rear and the speed V of the following vehicle app Each of may be a value indicating a motion state of a following vehicle and may be measured by the sensor 110 .

[0059] Here, the sensing distance of the sensor 110 is limited, so it is necessary to calculate the minimum operating speed V for each case when the following vehicle is within the sensing distance of the sensor 110 and when the following vehicle is not within the sensing distance of the sensor 110. smin When the following vehicle is within the sensing distance, the control circuit 150 may determine the distance S measured by the sensor 110. rear and speed V app To calculate the minimum operating speed V smin When the following vehicle is not within the sensing distance, the control circuit 150 may calculate the minimum operating speed V by assuming the worst case scenario (i.e., the following vehicle happens to exceed the sensing distance of the sensor 110 and travels at the maximum legal speed). smin In this case, the control circuit 150 can set the distance S rear is set to the maximum sensing distance of the sensor 110, and the speed V app Set to the maximum legal speed for the country in which the vehicle is being driven. Figure 2 and Figure 3 An exemplary embodiment of calculating a minimum operating speed is described in detail.

[0060] When the current speed of the vehicle is faster than the minimum operating speed, the control circuit 150 may immediately initiate lane change control. When the current speed of the vehicle is slower than the minimum operating speed, the control circuit 150 may provide various control strategies in consideration of the preceding vehicle.

[0061] According to an exemplary embodiment, when the driving speed of the vehicle is lower than the minimum operating speed, the control circuit 150 may determine whether to accelerate the vehicle based on the speed of the preceding vehicle traveling in the same lane as the vehicle. In the case where the vehicle should accelerate its driving speed to reach the minimum operating speed to initiate lane change control, the control circuit 150 may divide the surrounding situation into four situations, and may provide a control strategy suitable for each of the four situations. The control circuit 150 may appropriately accelerate or decelerate the vehicle, and may perform lane change control by controlling the steering device 130 and the acceleration and deceleration device 140.

[0062] [Table 1]

[0063]

[0064]

[0065] First, the control circuit 150 can verify whether the minimum operating speed is higher than the vehicle's driving speed. When the vehicle's driving speed is higher than the minimum operating speed, the control circuit 150 can immediately initiate a lane change. When the vehicle's driving speed is lower than the minimum operating speed, the control circuit 150 can perform a lane change control according to the control strategy disclosed in Table 1 above.

[0066] The control circuit 150 may verify the presence of a preceding vehicle using the sensor 110. When a preceding vehicle is not detected, the control circuit 150 may accelerate the vehicle sufficiently to accelerate the vehicle to a minimum operating speed or faster to change lanes.

[0067] When a preceding vehicle is detected, the control circuit 150 can verify the speed of the preceding vehicle. When the speed of the preceding vehicle is higher than the minimum operating speed, since there is no risk of collision even if the control circuit 150 accelerates the vehicle, the control circuit 150 can accelerate the vehicle to the minimum operating speed or faster and can change lanes.

[0068] When the speed of the preceding vehicle is lower than the minimum operating speed, the control circuit 150 may consider the speed of the preceding vehicle and the headway between the vehicle and the preceding vehicle. Since the headway is long enough, when there is no possibility of collision while the vehicle accelerates and changes lanes, the control circuit 150 may accelerate the vehicle to the minimum operating speed or faster and may change lanes.

[0069] Because the vehicle distance is not long enough, when there is a possibility of collision while the vehicle is accelerating and changing lanes, the control circuit 150 can decelerate the vehicle. After the following vehicle exceeds the vehicle or after ensuring the distance with the preceding vehicle, the control circuit 150 can retry the lane change control.

[0070] Reference Figures 4 to 7 Describe each of the above control strategies in detail.

[0071] In the following, reference will be made to Figure 2 and Figure 3 The operation of calculating the minimum operating speed is described in detail.

[0072] Figure 2 is a schematic diagram illustrating an exemplary operation of an apparatus for controlling lane change of a vehicle according to an exemplary embodiment of the present application.

[0073] refer to Figure 2 , the vehicle 200 may include Figure 1 The device 100. Figures 2 to 9In the description, operations described as being performed by the vehicle 200 may be understood to be controlled by the control circuit 150 of the device 100 .

[0074] In one embodiment, when the sensor of the vehicle 200 senses the following vehicle 300 traveling in the target lane corresponding to the lane change command, the vehicle 200 may calculate the minimum operating speed based on the speed of the following vehicle 300 and the distance between the vehicle 200 and the following vehicle 300. For example, when the distance d1 between the vehicle 200 and the following vehicle 300 is shorter than the maximum sensing distance of the BSA sensor (or the side rear sensor), the vehicle 200 may use the sensor to measure the distance S rear and speed V app The vehicle 200 can be based on the measured S rear and V app Calculate the minimum operating speed of lane change control. For example, the vehicle 200 can calculate the minimum operating speed of lane change control by measuring S rear and V app The minimum operating speed is calculated by applying the above equation 1. When a lane change command is input, the vehicle 200 may calculate the minimum operating speed by detecting the following vehicle 300 in the lane to be changed, or may calculate the minimum operating speed by detecting the following vehicle 300 in the lane adjacent to the vehicle 200.

[0075] Figure 3 is a schematic diagram illustrating an exemplary operation of an apparatus for controlling lane change of a vehicle according to another embodiment of the present application.

[0076] Reference Figure 3 , when the sensor of the vehicle 200 according to the exemplary embodiment does not sense the following vehicle 300 traveling in the target lane corresponding to the lane change command, the vehicle 200 may calculate the minimum operating speed based on the designated speed and the sensing distance of the sensor. For example, when the distance d2 between the vehicle 200 and the following vehicle 300 is longer than the maximum sensing distance of the BSA sensor (or the side rear sensor), the vehicle 200 may not be able to use the sensor to measure the distance S rear and speed V app In this case, the vehicle 200 can calculate the minimum operating speed V by assuming that the following vehicle 300 happens to exceed the sensing distance of the sensor and travels at the maximum legal speed. smin The vehicle 200 can rear Set to the maximum sensing distance of the sensor, and the speed V app The maximum legal speed of the country in which the vehicle 200 is traveling can be set by setting S rear and V appThe minimum operating speed is calculated by applying the above equation 1. When a lane change command is input, the vehicle 200 may calculate the minimum operating speed by detecting the following vehicle 300 in the lane to be changed, or may calculate the minimum operating speed by detecting the following vehicle 300 in the lane adjacent to the vehicle 200.

[0077] In the following, reference will be made to Figure 4 The control strategy provided when no preceding vehicle is detected is described in detail.

[0078] Figure 4 is a schematic diagram illustrating an exemplary operation of an apparatus for controlling lane change of a vehicle according to one embodiment of the present application.

[0079] Reference Figure 4 , when the sensor of the vehicle 200 does not sense the preceding vehicle, the vehicle 200 may control the driving speed of the vehicle 200 to be higher than the minimum operating speed, and may perform lane change control when the driving speed of the vehicle 200 is higher than the minimum operating speed. When the preceding vehicle is not within the sensing distance of the front sensor, the vehicle 200 may not be able to detect the preceding vehicle. When the preceding vehicle is not within the sensing distance of the sensor, since the vehicle 200 sufficiently accelerates its driving speed, the driving speed may be accelerated to the minimum operating speed and the lane may be changed.

[0080] In the following, reference will be made to Figures 5 to 8 To describe the control strategy when a preceding vehicle is detected.

[0081] Figure 5 is a schematic diagram illustrating an exemplary operation of an apparatus for controlling lane change of a vehicle according to another exemplary embodiment of the present application.

[0082] Reference Figure 5 , when the minimum operating speed V smin The speed V is 400 lower than the vehicle ahead. f When the vehicle 200 is running at a speed higher than the minimum operating speed V smin , and the vehicle 200 can be driven at a speed higher than the minimum operating speed V smin When the preceding vehicle 400 is within the sensing distance of the front sensor, the vehicle 200 can detect the speed of the preceding vehicle 400. The speed V of the preceding vehicle 400 is f Faster than the minimum operating speed V smin When the vehicle 200 is sufficiently accelerated, the driving speed can be accelerated to the minimum operating speed V smin and can change lanes.

[0083] Figure 6is a schematic diagram illustrating an exemplary operation of an apparatus for controlling lane change of a vehicle according to another embodiment of the present application.

[0084] Reference Figure 6 , when the minimum operating speed V smin Higher than the speed of the preceding vehicle 400 V f When the preceding vehicle 400 is within the sensing distance of the front sensor, the vehicle 200 may sense the speed V of the preceding vehicle 400. f The speed V of the current vehicle 400 is f Slower than the minimum operating speed V smin , the vehicle 200 cannot sufficiently accelerate its driving speed, so the distance between the vehicle 200 and the preceding vehicle 400 may be considered to determine whether to accelerate.

[0085] According to an exemplary embodiment, the vehicle 200 may be driven based on the speed V of the preceding vehicle 400. f and the distance between the vehicle 200 and the preceding vehicle 400 to determine the possibility of a collision between the vehicle 200 and the preceding vehicle 400. When there is no possibility of a collision, the vehicle 200 can control the driving speed to be higher than the minimum operating speed V smin , and the vehicle 200 can be driven at a speed higher than the minimum operating speed V smin Before the lane change is completed, the vehicle 200 can predict the driving path of the vehicle 200 and the driving path of the preceding vehicle 400. When there is no possibility of collision with the preceding vehicle 400 due to the long vehicle distance according to the prediction result, the vehicle 200 can accelerate its driving speed to the minimum operating speed V smin And it can change lanes along the predicted driving path.

[0086] Figure 7 is a schematic diagram illustrating an exemplary operation of an apparatus for controlling lane change of a vehicle according to another aspect of the present application.

[0087] refer to Figure 7 , the vehicle 200 can be based on the speed V of the preceding vehicle 400 fThe possibility of a collision between the vehicle 200 and the preceding vehicle 400 is determined based on the distance between the vehicle 200 and the preceding vehicle 400. When there is a possibility of a collision, the vehicle 200 may control its driving speed to decelerate. Before the lane change is completed, the vehicle 200 may predict its driving path and the driving path of the preceding vehicle 400. When there is a possibility of a collision with the preceding vehicle 400 due to a short vehicle distance according to the prediction result, the vehicle 200 may perform a deceleration control. After the vehicle 200 decelerates, the possibility of a collision may be determined again and the minimum operating speed may be calculated again. The vehicle 200 may ensure the vehicle distance by decelerating and may allow the following vehicle 300 to overtake the vehicle 200. After the vehicle distance is sufficiently ensured, or after the minimum operating speed is reset after the following vehicle 300 overtakes the vehicle 200, the vehicle 200 may retry the lane change.

[0088] In the following, reference will be made to Figure 8 and Fig. 9 The operations for determining the likelihood of a collision are described in detail.

[0089] Figure 8 and Fig. 9 is a schematic diagram illustrating an exemplary operation for determining the possibility of a collision in an apparatus for controlling lane change of a vehicle according to an exemplary embodiment of the present application.

[0090] According to one embodiment, the vehicle can estimate the vehicle's predicted driving path and the predicted driving path of the preceding vehicle based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle, and can determine the possibility of a collision between the vehicle and the preceding vehicle based on the vehicle's predicted driving path and the predicted driving path of the preceding vehicle.

[0091] refer to Figure 8 , the vehicle 810 can identify the preceding vehicle 820, the driving lane, and the target lane. The vehicle 810 can predict the path of the vehicle 810 accelerating to the minimum operating speed and changing lanes, and can predict the path of the preceding vehicle 820. The vehicle 810 can verify whether the path is repeated. When the path is repeated, the vehicle 810 can determine that there is a possibility of a collision between the vehicle 810 and the preceding vehicle 820. When the path is not repeated, the vehicle 810 can determine that there is no possibility of a collision between the vehicle 810 and the preceding vehicle 820.

[0092] For example, the first point 811, the second point 812, the third point 813, the fourth point 814, and the fifth point 815 may represent the predicted moving points of the vehicle 810 at a specific time interval (e.g., 100 ms). The sixth point 821, the seventh point 822, the eighth point 823, the ninth point 824, and the tenth point 825 may represent the predicted moving points of the preceding vehicle 820 at the same time interval. The vehicle 810 may determine the possibility of a collision between the vehicle 810 and the preceding vehicle 820 by considering the position of the vehicle 810 (e.g., the first point 811) and the position of the preceding vehicle 820 at the same time (e.g., the sixth point 821). Figure 8 In the case shown, the distance between the first point 811 and the sixth point 821, the distance between the second point 812 and the seventh point 822, the distance between the third point 813 and the eighth point 823, the distance between the fourth point 814 and the ninth point 824, and the distance between the fifth point 815 and the tenth point 825 are all sufficient, so that the vehicle 810 can determine that there is no possibility of a collision between the vehicle 810 and the preceding vehicle 820.

[0093] refer to Fig. 9 , the first point 911, the second point 912, the third point 913, and the fourth point 914 may represent the predicted moving points of the vehicle 910 at a specific time interval (e.g., 100 ms). The sixth point 921, the seventh point 922, the eighth point 923, and the ninth point 924 may represent the predicted moving points of the preceding vehicle 920 at the same time interval. The vehicle 910 may determine the possibility of a collision between the vehicle 910 and the preceding vehicle 920 by considering the position of the vehicle 910 (e.g., the first point 911) and the position of the preceding vehicle 920 at the same time (e.g., the sixth point 921). Fig. 9 In the illustrated case, the distance between the third point 913 and the eighth point 923 is close to each other (less than a specific value), so the vehicle 910 can determine that there is a possibility of a collision between the vehicle 910 and the preceding vehicle 920.

[0094] Fig.10 is a flowchart illustrating a method for controlling lane change of a vehicle according to an exemplary embodiment of the present application.

[0095] In the following, it can be assumed that Figure 1 The device 100 performs Fig.10 In addition, Fig.10 In the description of , operations described as being performed by the device may be understood to be controlled by the control circuit 150 of the device 100 .

[0096] Reference Fig.10In operation 1010, the device may receive a lane change command from a driver of the vehicle. For example, the device may verify the driver's intention to perform a lane change through a turn signal lever, button, switch, etc.

[0097] In operation 1020, the device may calculate a minimum operating speed for lane change control. For example, the device may calculate the minimum operating speed based on a measured value of a following vehicle when a following vehicle is detected or based on a set value when a following vehicle is not detected.

[0098] In operation 1030, when a lane change command is received, the device may determine whether the vehicle's travel speed is below a minimum operating speed. For example, the device may compare the calculated minimum operating speed with the vehicle's current speed.

[0099] When the travel speed of the vehicle is lower than the minimum operating speed, the device may determine whether to accelerate the vehicle based on the speed of the preceding vehicle in operation 1040. For example, the device may determine whether to accelerate the vehicle based on the speed of the preceding vehicle, the distance between the vehicle and the preceding vehicle, etc. The vehicle may change lanes after the acceleration control, or may retry the lane change control after the deceleration control.

[0100] When the driving speed of the vehicle is higher than the minimum operating speed, the device may perform lane change control in operation 1050. For example, when it is verified that the driving speed of the vehicle is higher than the minimum operating speed, the device may immediately start the lane change control.

[0101] Fig.11 is a flowchart illustrating a method for controlling lane change of a vehicle according to an embodiment of the present application.

[0102] In the following, it can be assumed that Figure 1 The device 100 performs Fig.11 In addition, Fig.11 In the description of , operations described as being performed by the device may be understood to be controlled by the control circuit 150 of the device 100 .

[0103] refer to Fig.11 In operation 1105, the device may receive a lane change command. In operation 1110, the device may calculate a minimum operating speed V for lane change control. smin In operation 1115, the device may determine a minimum operating speed V smin Is it greater than the vehicle's speed V? ego When the minimum operating speed V smin Less than or equal to the vehicle's speed V ego When the minimum operating speed Vsmin Greater than the vehicle's speed V ego When, in operation 1125, the device can determine whether there is a leading vehicle.

[0104] When there is no preceding vehicle, in operation 1130, the device may calculate the vehicle's travel speed V ego Accelerate to minimum operating speed V smin or faster speed, and can change lanes. When there is a leading vehicle, in operation 1135, the device can determine whether the speed of the leading vehicle is less than the minimum operating speed V smin The speed of the current vehicle is greater than or equal to the minimum operating speed V smin , in operation 1140, the device may ego Accelerate to minimum operating speed V smin or faster, and can change lanes. The speed of the current vehicle is less than the minimum operating speed V smin When the vehicle is accelerating, the device may determine the possibility of a collision between the vehicle and the preceding vehicle in operation 1145. When there is no possibility of a collision between the vehicle and the preceding vehicle in operation 1150, the device may determine the possibility of a collision between the vehicle and the preceding vehicle in operation 1151. ego Accelerate to minimum operating speed V smin or faster speed, and can change lanes. When there is a possibility of collision between the vehicle and the preceding vehicle during acceleration, in operation 1155, the device can perform deceleration control.

[0105] Fig.12 is a block diagram showing a configuration of a computing system according to an embodiment of the present application.

[0106] refer to Fig.12 , 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 1600 , and a network interface 1700 interconnected via a bus 1200 .

[0107] The processor 1100 may be a central processing unit (CPU) or a semiconductor device for executing a process of instructions stored in the memory 1300 and / or the storage 1600. Each of the memory 1300 and the storage 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).

[0108] Therefore, the operation of the method or algorithm described in conjunction with the embodiments disclosed in the specification can be directly implemented using a hardware module, a software module, or a combination thereof executed by a processor 1100. The software module can be present on a storage medium (i.e., memory 1300 and / or storage 1600), such as a RAM, a flash memory, a ROM, an erasable programmable ROM (EPROM), an electrical EPROM (EEPROM), a register, a hard disk, a removable disk, or a 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 be present in an application specific integrated circuit (ASIC). The ASIC can be present at the user end. Alternatively, the processor and the storage medium can exist in the form of separate elements at the user end.

[0109] The device according to the exemplary embodiment of the present application can improve the convenience of the driver and ensure the safety of lane change control by determining whether to accelerate the vehicle in consideration of the speed, position, etc. of the preceding vehicle when the vehicle's driving speed is lower than the minimum operating speed.

[0110] In addition, various effects directly or indirectly determined by the present application can be provided.

[0111] Although the present application is described above with reference to the exemplary embodiments and the accompanying drawings, the present application is not limited thereto but may be variously modified and changed by those skilled in the art without departing from the spirit and scope of the present application.

Claims

1. A device for controlling lane change of a vehicle, the device comprising: a sensor configured to sense an external vehicle; an input device configured to receive a lane change command from a driver of the vehicle; as well as a control circuit configured to be electrically connected to the sensor and the input device, Wherein, the control circuit is configured as follows: receiving a lane change command using the input device; Calculate the minimum operating speed of a vehicle for lane change control; When the vehicle's travel speed is lower than the minimum operating speed, determining whether to accelerate the vehicle is based on the speed of a preceding vehicle traveling in the same lane as the vehicle, The control circuit determines whether the speed of the preceding vehicle is less than the minimum operating speed, and determines the possibility of a collision between the vehicle and the preceding vehicle when the speed of the preceding vehicle is less than the minimum operating speed; The control circuit predicts a path for the vehicle to accelerate to a minimum operating speed and change lanes; The control circuit predicts an expected moving point of the vehicle and an expected moving point of a preceding vehicle at a specific time interval, The control circuit determines that there is no possibility of a collision between the vehicle and the preceding vehicle when all distances between the predicted movement point of the vehicle and the predicted movement point of the preceding vehicle predicted at the same time point are greater than a specific value.

2. The device for controlling lane change of a vehicle according to claim 1, wherein: The control circuit is configured as follows: In response to receiving the lane change command, a minimum operating speed for the vehicle is calculated.

3. The device for controlling lane change of a vehicle according to claim 1, wherein: The control circuit is configured as follows: The minimum operating speed of the vehicle is periodically calculated while the vehicle is traveling.

4. The device for controlling lane change of a vehicle according to claim 1, wherein: The control circuit is configured as follows: When the sensor senses a following vehicle traveling in a target lane corresponding to a lane change command, a minimum operating speed is calculated based on a speed of the following vehicle and a distance between the vehicle and the following vehicle.

5. The device for controlling lane change of a vehicle according to claim 1, wherein: The control circuit is configured as follows: When the sensor does not sense a following vehicle traveling in a target lane corresponding to a lane change command, a minimum operating speed is calculated based on a predetermined speed at which the vehicle is traveling and a sensing distance corresponding to a maximum distance that the sensor can sense.

6. The device for controlling lane change of a vehicle according to claim 1, wherein: The control circuit is configured as follows: When the minimum operating speed is lower than the speed of the preceding vehicle, controlling the vehicle so that the vehicle's travel speed is higher than the minimum operating speed; Perform lane change control.

7. The device for controlling lane change of a vehicle according to claim 1, wherein: The control circuit is configured as follows: When the sensor does not sense the preceding vehicle, controlling the vehicle so that the vehicle's running speed is higher than the minimum operating speed; Perform lane change control.

8. The device for controlling lane change of a vehicle according to claim 1, wherein: The control circuit is configured as follows: When the minimum operating speed is higher than the speed of the preceding vehicle, it is determined whether to accelerate the vehicle based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle.

9. The device for controlling lane change of a vehicle according to claim 8, wherein: The control circuit is configured as follows: determining a likelihood of collision between the vehicle and the preceding vehicle based on a speed of the preceding vehicle and a distance between the vehicle and the preceding vehicle; When there is no possibility of collision, controlling the vehicle so that the vehicle travels at a speed higher than a minimum operating speed; Perform lane change control.

10. The device for controlling lane change of a vehicle according to claim 9, wherein: The control circuit is configured as follows: estimating a predicted driving path of the vehicle and a predicted driving path of the preceding vehicle based on a speed of the preceding vehicle and a distance between the vehicle and the preceding vehicle; A likelihood of a collision between the vehicle and the preceding vehicle is determined based on the predicted travel path of the vehicle and the predicted travel path of the preceding vehicle.

11. The device for controlling lane change of a vehicle according to claim 8, wherein: The control circuit is configured as follows: determining a likelihood of collision between the vehicle and the preceding vehicle based on a speed of the preceding vehicle and a distance between the vehicle and the preceding vehicle; When there is a possibility of a collision, the vehicle is controlled to slow down.

12. The device for controlling lane change of a vehicle according to claim 11, wherein: The control circuit is configured as follows: The likelihood of a collision is determined after the vehicle has decelerated.

13. The device for controlling lane change of a vehicle according to claim 11, wherein: The control circuit is configured as follows: The minimum operating speed is recalculated after the vehicle has decelerated.

14. A method for controlling lane change of a vehicle, the method comprising: receiving a lane change command from a vehicle driver via a control circuit; calculating, by the control circuit, a minimum operating speed of the vehicle for lane change control; When the vehicle's travel speed is lower than the minimum operating speed, the control circuit determines whether to accelerate the vehicle based on the speed of the preceding vehicle traveling in the same lane as the vehicle. wherein the control circuit determines whether the speed of the preceding vehicle is less than the minimum operating speed, and when the speed of the preceding vehicle is less than the minimum operating speed, determines the possibility of a collision between the vehicle and the preceding vehicle; The control circuit predicts a path for the vehicle to accelerate to a minimum operating speed and change lanes; The control circuit predicts an expected moving point of the vehicle and an expected moving point of a preceding vehicle at a specific time interval, The control circuit determines that there is no possibility of a collision between the vehicle and the preceding vehicle when all distances between the predicted movement point of the vehicle and the predicted movement point of the preceding vehicle predicted at the same time point are greater than a specific value.

15. The method for controlling lane change of a vehicle according to claim 14, wherein: Calculating the minimum operating speed includes: When a following vehicle traveling in a target lane corresponding to a lane change command is sensed, a minimum operating speed is calculated based on a speed of the following vehicle and a distance between the vehicle and the following vehicle.

16. The method for controlling lane change of a vehicle according to claim 14, wherein: Calculating the minimum operating speed includes: When a following vehicle traveling in a target lane corresponding to a lane change command is not sensed, a minimum operating speed is calculated based on a predetermined speed of vehicle travel set by a country in which the vehicle is located and a sensing distance corresponding to a maximum distance that can be sensed by a sensor of the vehicle.

17. The method for controlling lane change of a vehicle according to claim 14, further comprising: When the minimum operating speed is lower than the speed of the preceding vehicle, the vehicle is controlled by the control circuit so that the vehicle's running speed is higher than the minimum operating speed; Perform lane change control.

18. The method for controlling lane change of a vehicle according to claim 14, further comprising: When no preceding vehicle is sensed, the vehicle is controlled by a control circuit so that the vehicle travels at a speed higher than a minimum operating speed; Perform lane change control.

19. The method for controlling lane change of a vehicle according to claim 14, wherein: Determining whether to accelerate the vehicle includes: When the minimum operating speed is higher than the speed of the preceding vehicle, it is determined whether to accelerate the vehicle based on the speed of the preceding vehicle and the distance between the vehicle and the preceding vehicle.

20. The method for controlling lane change of a vehicle according to claim 19, further comprising: determining, by a control circuit, a likelihood of a collision between the vehicle and the preceding vehicle based on a speed of the preceding vehicle and a distance between the vehicle and the preceding vehicle; When there is no possibility of collision, the vehicle is controlled by the control circuit so that the vehicle travels at a speed higher than the minimum operating speed; Lane change control is performed by the control circuit.

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