Lane following control devices and methods

Abstract

This disclosure relates to a lane following control device and method, the method comprising: acquiring forward image information via a camera mounted on the vehicle while the vehicle is in motion; setting a target trajectory for the vehicle using lane marking information extracted from the image information and driving information of the vehicle in front; and calculating a steering torque for controlling the vehicle to steer along the set target trajectory.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit and priority of Korean Patent Application No. 10-2019-0126137, filed on October 11, 2019, the entire contents of which are incorporated herein by reference as if fully set forth herein. Technical Field

[0003] This disclosure relates to a lane following control device and method. Background Technology

[0004] Recently, with the development of vehicle technology, various control systems have been developed to ensure vehicle stability and driver convenience.

[0005] Among these various control systems, Lane Following Assist (LFA) is a system configured to control the vehicle's steering by recognizing lane markings on both sides of the road using cameras. This system operates the steering wheel based on the contours of the relevant road and the vehicle's driving status, allowing the vehicle to autonomously follow the center of the lane.

[0006] However, conventional LFA (Lane Facing) technology has the following problem: because it controls vehicle movement based on lane markings, it may frequently disengage steering control on roads with poor lane markings (e.g., interrupted or damaged / broken lane markings at intersections). To eliminate this problem while maintaining the continuity of vehicle movement control, a scheme has been proposed to perform steering control by following the trajectory of the vehicle in front when lane markings cannot be recognized.

[0007] However, the above solution has the following limitations: because the main vehicle does not change lanes unintentionally when the vehicle in front changes lanes, there is a risk of collision between the main vehicle and surrounding vehicles. Also, because the driving trajectory of the vehicle in front is limited to a straight path, the above solution may be difficult to apply to curved paths. Summary of the Invention

[0008] This disclosure relates to a lane following control device and method that substantially eliminates one or more problems caused by the limitations and disadvantages of the prior art.

[0009] One object of this disclosure is to provide a lane following control device and method that, even when only one side of the lane markings on either side of the lane in which the primary vehicle is traveling is identified, enables active steering control by using the driving information of the vehicles ahead to set the target trajectory of the primary vehicle, thereby preventing the primary vehicle from colliding with surrounding vehicles.

[0010] Further advantages, objects, and features of the embodiments are set forth in part in the description which follows, and will in part become apparent to those skilled in the art upon review of the following, or may be learned from practice of the embodiments. The objects and other advantages of the embodiments may be realized and obtained by means of the structures particularly pointed out in the draft specification, its claims, and the accompanying drawings.

[0011] To achieve these objectives and other advantages, and for the purposes of embodiments, as implemented and broadly described herein, a lane following control method is disclosed. The method includes: acquiring forward image information via a camera mounted on the vehicle while the vehicle is in motion; setting a target trajectory for the vehicle using lane marking information extracted from the image information and driving information of the vehicle ahead; and calculating a steering torque for controlling the vehicle to steer along the set target trajectory.

[0012] Acquiring image information may include identifying either side of the lane markings on either side of the lane in which the vehicle is currently traveling.

[0013] Acquiring image information may include identifying a vehicle ahead traveling in at least one of the surrounding lanes set up in the vehicle's own driving lane and adjacent driving lanes.

[0014] The lane marking information may include at least one of the first deviation distance between the identified lane marking and the vehicle itself, and the curvature of the driving lane.

[0015] The driving information of the vehicle ahead can include the lateral distance between your vehicle and the vehicle ahead.

[0016] Setting the target trajectory may include: calculating the second deviation distance between the identified markings and the vehicle in front based on the first deviation distance, the curvature of the driving lane, and the lateral distance between the vehicle and the vehicle in front.

[0017] Setting a target trajectory may include: when only a vehicle ahead traveling in the driving lane is identified, setting the target trajectory by the minimum of a first deviation distance and a second deviation distance that is laterally offset from the identified lane marking.

[0018] Setting the target trajectory may include: when multiple vehicles ahead are identified traveling in the driving lane and surrounding lanes respectively, calculating the lateral distance between the multiple vehicles ahead; generating a virtual marking based on a second deviation distance and the lateral distance between the multiple vehicles ahead; and setting the center line between the generated virtual marking and the identified marking as the target trajectory.

[0019] When the lateral distance between multiple vehicles ahead is greater than or equal to the predetermined safe distance, virtual lane markings can be generated.

[0020] It should be understood that the foregoing overview and the following detailed description of this disclosure are exemplary and explanatory, and are intended to provide further explanation of the claimed disclosure. Attached Figure Description

[0021] The accompanying drawings are included to provide a further understanding of this disclosure and are incorporated in and constitute a part of this application. The drawings illustrate embodiments of the disclosure and, together with the description, serve to explain the principles of the disclosure. In the drawings:

[0022] Figure 1 This is a block diagram schematically illustrating the configuration of a lane following assist system as a lane following control device according to an embodiment of the present disclosure;

[0023] Figure 2 This is a view illustrating a method for setting a target trajectory using a lane following control device according to an embodiment of the present disclosure when only a vehicle ahead traveling in the lane in front of the main vehicle is identified;

[0024] Figure 3 This is a view illustrating a method for setting a target trajectory using a lane following control device according to an embodiment of the present disclosure when multiple vehicles traveling in the lane ahead of the main vehicle and surrounding lanes are identified; and

[0025] Figure 4 This is a flowchart illustrating a lane following control method for a vehicle according to embodiments of the present disclosure. Detailed Implementation

[0026] In the following, embodiments of the present disclosure are described in detail with reference to the accompanying drawings. Since various modifications are possible, and different embodiments can be applied to embodiments based on the concept of the present disclosure, specific embodiments are described with reference to the accompanying drawings and are described in detail herein. However, these specific embodiments should not be construed as limiting the embodiments based on the concept of the present disclosure, but should be construed as extending to all modifications, equivalents, and alternatives included within the concept and scope of the present disclosure.

[0027] Terms including ordinal numbers such as first and / or second may be used to describe individual elements, but these elements should not be limited by these terms. These terms are used only for the purpose of distinguishing one element from another. Furthermore, terms specifically defined herein in consideration of the configuration and function in the embodiments are used only to disclose the embodiments and not to limit the scope of the embodiments. When a component, apparatus, element, etc., of this disclosure is described as having a purpose or performing an operation, function, etc., the component, apparatus, or element herein should be considered as "configured" to satisfy that purpose or perform that operation or function.

[0028] It should be noted that the terminology used herein is for describing specific embodiments only and is not intended to limit this disclosure. Incidentally, unless explicitly used otherwise, singular expressions include the meaning of plural. In this application, the terms "comprising," "including," etc., are intended to indicate the presence of features, numbers, steps, operations, elements, components, or combinations thereof, and do not exclude another feature, number, step, operation, element, component, or any combination thereof, or any addition thereof.

[0029] Unless otherwise defined, the terms used herein, including technical or scientific terms, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. The terms used herein shall be interpreted not only based on the definitions in any dictionary but also on their meaning as used in the art to which this disclosure pertains. Furthermore, unless explicitly defined, the terms used herein should not be interpreted in an overly idealized or formalistic manner.

[0030] In the following description, lane following assist systems according to various embodiments of the present disclosure are described with reference to the accompanying drawings.

[0031] Figure 1 This is a block diagram schematically illustrating the configuration of a lane following assist system as a lane following control device according to an embodiment of the present disclosure.

[0032] like Figure 1 As shown, the lane following assist system according to the embodiment, namely the lane following control device 10, may include a sensor device 100, a lane following control device 200, and a steering device 300.

[0033] The sensor device 100 may include an image sensor 110 implemented by a camera installed inside or outside the vehicle and a vehicle sensor 120 that measures information about the dynamic driving characteristics of the vehicle.

[0034] Image sensor 110 can acquire image information captured by a camera fixedly mounted on the front of the vehicle and can send the image information to lane following control device 200. Image sensor 110 can identify information about lane markings (hereinafter referred to as "markings"), obstacles, vehicles ahead, etc. on the road by image processing of the image information (noise removal, image quality and saturation adjustment, file compression, etc.).

[0035] Vehicle sensor 120 measures information about the dynamic driving characteristics of the vehicle. Vehicle sensor 120 may include a speed sensor, an acceleration sensor, a steering angle sensor, a torque sensor, etc. Vehicle sensor 120 can sense the vehicle's speed, acceleration, yaw rate, and steering angle in real time during vehicle operation. Vehicle sensor 120 can send the sensed results to steering torque calculator 230, described later.

[0036] The lane following control device 200 may include an information collector 210, a target trajectory generator 220, and a steering torque calculator 230. The lane following control device 200 can analyze image information received from the sensor device 100, set a target trajectory for the lane in which the vehicle is currently traveling based on the analysis results, calculate the steering torque for controlling the vehicle to turn along the set target trajectory, and send the calculated steering torque to the steering device 300.

[0037] Information collector 210 can analyze the image information of the main vehicle ahead collected from image sensor 110, and can extract the lane marking information of the lane the main vehicle is currently traveling in and the driving information of the vehicles ahead based on the analysis results. Information collector 210 may include lane marking recognizer 211 and vehicle ahead recognizer 212. Here, the main vehicle may be referred to as "its own vehicle" relative to surrounding vehicles.

[0038] The lane marking recognizer 211 can identify either side of the lane markings on either side of the lane in which its vehicle is currently traveling (hereinafter referred to as the "driving lane" for convenience) based on the aforementioned image information, and can extract lane marking information about the identified lane marking. Here, the lane marking information may include information about at least one of the following: the deviation distance between its own vehicle and the identified lane marking, and the curvature of the driving lane.

[0039] For example, the lane marking recognizer 211 can extract an image of the road ahead through an image processing procedure, and can identify at least one side of the lane markings by performing a Hough transform on the extracted image. Here, the Hough transform refers to an algorithm that uses specific points on a two-dimensional image coordinate system to detect lane markings. Furthermore, the lane marking recognizer 211 can use the lateral position information of an image sensor 110 fixedly mounted inside or outside the vehicle and the coordinate information of the identified side lane markings to measure the deviation distance between the vehicle and the identified side lane markings in real time. The lane marking recognizer 211 can also convert multiple lane marking recognition points detected in association with the identified side lane markings into real road coordinates, and can measure the curvature of the lane based on the linear and / or curve equations of the road coordinates.

[0040] The forward vehicle recognizer 212 can identify at least one vehicle traveling in front of its own vehicle based on image information, and extract the driving information of the vehicle in front. Here, the driving information of the vehicle in front includes information about the lateral distance between the own vehicle and the vehicle in front, and the lateral direction refers to the direction perpendicular to the driving direction of the own vehicle.

[0041] For example, the forward vehicle recognition device 212 can identify the rear surface of at least one vehicle traveling in its own driving lane and can generate a virtual line extending from the center of the rear surface in the direction of travel of its own vehicle. Therefore, the lateral distance between its own vehicle and the vehicle in front can be measured.

[0042] The target trajectory generator 220 can use the marking information extracted by the marking recognizer 211 and the driving information of the vehicle ahead extracted by the vehicle ahead recognizer 212 to set the target trajectory of its own vehicle for lane following.

[0043] In this embodiment, the target trajectory generator 220 can perform its operation when the lane marking recognizer 211 only recognizes the lane markings on either side of its own vehicle's driving lane. For example, the target trajectory generator 220 can be applied to situations where it cannot recognize the lane markings on both sides of its own vehicle's driving lane due to surrounding environmental factors (adverse weather conditions, detection of curved roads, broken lane markings, etc.).

[0044] Additionally, the target trajectory generator 220 can measure changes in the driving trajectory of the vehicle ahead detected by the forward vehicle recognizer 212 and set its own target trajectory based on the measurement results, ensuring stability in relation to surrounding vehicles. (See below for further details.) Figure 2 and Figure 3 This will be described in more detail.

[0045] The steering torque calculator 230 calculates the steering torque for controlling the steering of its own vehicle based on the dynamic driving characteristics of the vehicle measured by the vehicle sensor 120 and the target trajectory of the vehicle set by the target trajectory generator 220. The steering torque calculator 230 outputs an operating signal corresponding to the calculated steering torque to the steering device 300, thus controlling the vehicle to follow the lane it is currently traveling in. Here, the dynamic driving characteristics of the vehicle can be any one or a combination of speed, acceleration, yaw rate, and steering angle.

[0046] In the following text, reference will be made to Figure 2 and Figure 3 The operation of the lane following control device 200 is described in more detail.

[0047] Figure 2 This is a view illustrating a method for setting a target trajectory using a lane following control device according to an embodiment of the present disclosure when only a vehicle ahead traveling in the lane in front of the vehicle is identified.

[0048] Reference Figure 2 When fixedly installed on its own vehicle V ego When the internal or external image sensor 110 provides image information with a predetermined viewing angle α, the lane marking recognizer 211 can identify its own vehicle V. ego The vehicle is currently traveling on either side of the lane markings, specifically the right-side marking 1, and the vehicle recognition device 212 can identify the vehicle V. ego The vehicle ahead, V1, is traveling in the driving lane. However, such conditions are exemplary, and those skilled in the art will understand that the lane marking recognizer 211 may identify the left lane marking, rather than the right lane marking 1, based on surrounding environmental factors.

[0049] The lane marking recognition device 211 can measure the V of its own vehicle. ego The first deviation distance L1 between the identified right-side marking 1 and the curvature r of the point on the right-side marking 1 corresponding to the current position of the vehicle V1 ahead.

[0050] The forward vehicle recognition device 212 can generate a signal on its own vehicle V ego A virtual line 2 extends from the center P of the rear surface of the identified preceding vehicle V1 in the direction of travel, and can measure the own vehicle V. ego The lateral clearance distance D between the vehicle V1 ahead and the vehicle in front.

[0051] The target trajectory generator 220 can calculate the second deviation distance L2 between the vehicle ahead V1 and the identified right-side marking 1 based on a state function. The variable of this state function can be the vehicle itself V1. egoThe first deviation distance L1 between the identified right-side marking 1 and the vehicle's own V ego The lateral clearance distance D between the vehicle ahead V1 and the curvature r of the driving lane. The second deviation distance L2 can be expressed as the following expression 1.

[0052] [Expression 1]

[0053] L2 = f(L1, D, r)

[0054] The target trajectory generator 220 can set its own vehicle V by comparing the measured first deviation distance L1 with the calculated second deviation distance L2, and from the minimum of the first deviation distance L1 and the second deviation distance L2 of the identified right-side marking 1 lateral offset. ego The target trajectory.

[0055] For example, when the comparison result determines that the first deviation distance L1 exceeds the second deviation distance L2, the target trajectory generator 220 can set the lateral range of the target trajectory relative to the identified right-side marking 1, so that the lateral range is reduced to the second deviation distance L2. In this embodiment, the steering torque calculator 230 can calculate the steering torque for its own vehicle V. ego Steering torque that allows the vehicle to travel along a predetermined target trajectory with an offset.

[0056] Conversely, when the comparison result determines that the first deviation distance L1 is less than or equal to the second deviation distance L2, the target trajectory generator 220 can set the lateral range of the target trajectory relative to the identified right-side marking 1, such that the lateral range remains at the first deviation distance L1. In this embodiment, the steering torque calculator 230 can maintain its own vehicle V ego The current turning state.

[0057] at the same time, Figure 3 This is a view illustrating a method for setting a target trajectory using a lane following control device according to an embodiment of the present disclosure when multiple vehicles traveling in the lane ahead of the vehicle and in the surrounding lanes are identified.

[0058] Reference Figure 3 When fixedly installed on its own vehicle V ego When the internal or external image sensor 110 provides image information with a predetermined viewing angle α, the lane marking recognizer 211 can identify its own vehicle V. ego The lane markings on either side of the lane currently in which the vehicle is traveling, i.e., the right-side marking 1. The vehicle recognition device 212 ahead can identify the lane markings on either side of its own vehicle V. ego Multiple vehicles V1 and V2 traveling in the surrounding lanes of the driving lane and adjacent driving lanes.

[0059] The lane marking recognition device 211 can measure the V of its own vehicle. ego The first deviation distance L1 between the identified right-side marking 1 and the curvature r1 and r2 of the points on the right-side marking 1 corresponding to the current positions of multiple vehicles V1 and V2 ahead can be extracted.

[0060] The forward vehicle recognition device 212 can generate a signal on its own vehicle V ego A virtual line 2 extends from the center P1 of the rear surface of the first vehicle (V1) traveling in the driving lane among multiple vehicles V1 and V2 in the driving direction, and can measure the own vehicle V. ego The first lateral distance D1 between the vehicle in front and the first vehicle V1 in front. Additionally, the forward vehicle identifier 212 can generate a distance D1 between itself and the vehicle V1 in front. ego A virtual line 2' extends from the center P2 of the rear surface of the second vehicle (V2) traveling in the surrounding lanes among multiple vehicles V1 and V2 in the direction of travel. The forward vehicle identifier 212 can measure the travel direction of its own vehicle V1. ego The second lateral clearance distance D2 between the vehicle V2 ahead and the vehicle V2 ahead.

[0061] The target trajectory generator 220 can calculate a second deviation distance L2 between the first preceding vehicle V1 and the identified right-side marking 1 based on a state function. The variable of this state function can be the vehicle itself, V1. ego The first deviation distance L1 between the identified right-side marking 1 and the vehicle's own V ego The first lateral distance D1 between the vehicle ahead and the first vehicle V1, and the curvature r1 of the point on the right-hand marker 1 corresponding to the current position of the first vehicle V1. The second deviation distance L2 can be expressed as the following expression 2.

[0062] [Expression 2]

[0063] L2 = f(L1, D1, r1)

[0064] Additionally, the target trajectory generator 220 can calculate the third deviation distance L3 between multiple vehicles ahead, V1 and V2, based on a state function. The variable in this state function can be the vehicle itself, V... ego The first deviation distance L1 between the identified right-side marking 1 and the vehicle's own V ego The second lateral clearance distance D2 between the vehicle V2 and the vehicle ahead, and the curvature r2 of the point on the right-hand marker 1 corresponding to the current position of the vehicle V2. The third deviation distance L3 can be expressed as the following expression 3.

[0065] [Expression 3]

[0066] L3 = f(L1, D2, r2)

[0067] Furthermore, the target trajectory generator 220 can determine whether multiple vehicles V1 and V2 are traveling in the same lane by comparing a third lateral distance D3 between them with a predetermined safety distance. Here, the predetermined safety distance refers to the minimum distance required to prevent collisions between multiple vehicles traveling in adjacent lanes, and can be set to a default value of 1m. Of course, this safety distance is exemplary and can be variably adjusted using lane width information from previous travel lanes.

[0068] When the third lateral spacing distance D3 is greater than or equal to a predetermined safety distance, the target trajectory generator 220 determines that the first forward vehicle V1 and the second forward vehicle V2 are traveling in different lanes. Therefore, a virtual marking 3 can be generated based on the second deviation distance L2 and the third lateral spacing distance D3. In this embodiment, the virtual marking 3 is generated by creating a virtual marking that is laterally offset by a predetermined distance L3 from the right marking 1 sensed by the marking recognizer 211. The predetermined distance L3 can be calculated using the following expression 4.

[0069] [Expression 4]

[0070] L3 = L2 + w * D3

[0071] In expression 4, "L2" represents the deviation distance between the identified right-side marking 1 and the first vehicle ahead V1, "D3" represents the lateral distance between the first vehicle ahead V1 and the second vehicle ahead V2, and "w" represents any weight set between 0 and 1. For example, "w" can be 0.5.

[0072] The target trajectory generator 220 can set the centerline between the generated virtual marking 3 and the right marking 1 as its own vehicle V. ego The target trajectory, and the steering torque calculator 230 can calculate the V for its own vehicle. ego Steering torque that allows the vehicle to travel along a predetermined target trajectory with an offset.

[0073] On the other hand, when the third lateral spacing distance D3 is less than the predetermined safety distance, the target trajectory generator 220 determines that the first ahead vehicle V1 and the second ahead vehicle V2 are traveling in the same lane, and therefore, it can be combined with... Figure 2 The same method is used to set lateral control limits.

[0074] According to the lane following assist system disclosed herein, namely the lane following control device 10, the stability of the vehicle can be ensured because even when only one side of the vehicle's driving lane is identified due to adverse weather conditions, broken lane markings, etc., steering control for lane following can still be achieved. For example, even if... Figure 2 and Figure 3 As shown, when there is an surrounding vehicle V3 that the forward vehicle recognition device 212 cannot detect, the lateral range of the target trajectory can be variably adjusted within the lane where the vehicle is currently traveling, based on the driving information of the forward vehicles V1 and V2. Therefore, collisions between the vehicle and the surrounding vehicle V3 can be prevented. Furthermore, lane following control can be implemented using only a front-facing camera, eliminating the need for expensive omnidirectional sensors. This reduces manufacturing costs, such as material costs.

[0075] Figure 4 This is a flowchart illustrating a lane following control method for a vehicle according to embodiments of the present disclosure.

[0076] According to the lane following control method 400 shown, the lane following control device 10 determines, based on image information acquired by the image sensor 110, whether it has identified the lane markings on both sides of the lane in which its vehicle is currently traveling (step 410). When the lane markings on both sides are identified ("yes" in step 410), the control mode is switched to the lane marking control mode. In this case, steering control is performed to prevent the vehicle from deviating from the identified lane markings on both sides (step 411).

[0077] On the other hand, when no lane markings are identified on either side of the driving lane ("No" in step 410), it is determined whether either lane marking is identified (step 420). When no lane marking is identified ("No" in step 420), the control mode switches to a forward vehicle following control mode. In this case, steering control is performed to make the vehicle follow the target trajectory of the vehicle in front of it (step 421).

[0078] On the other hand, when at least one side marking is identified ("yes" in step 420), the lane following control device 10 measures a first deviation distance L1 between its own vehicle and the identified side marking (step 422).

[0079] Subsequently, the lane following control device 10 determines, based on the image information acquired by the image sensor 110, whether at least one vehicle in front of its own vehicle has been identified (step 430). If no vehicle in front is identified ("No" in step 430), the lane following control device 10 returns its control routine to step 410 and attempts again to determine whether to identify the lane markings on both sides or one side.

[0080] When at least one vehicle ahead is identified ("Yes" in step 430), the target trajectory setting for the vehicle can be changed according to the lane in which the identified vehicle ahead is traveling.

[0081] First, when it is determined that the vehicle ahead is only in its own lane (step 441), the lane following control device 10 calculates the second deviation distance L2 between the vehicle ahead and the identified lane markings (step 442). This has already been combined with... Figure 2 This has been described in detail, therefore, to avoid repetition, the detailed description is omitted.

[0082] Subsequently, the lane following control device 10 compares the calculated second deviation distance L2 with the extracted first deviation distance L1 (step 443).

[0083] When the first deviation distance L1 is greater than the second deviation distance L2 ("No" in step 443), the lane following control device 10 sets the lateral range of the target trajectory to be reduced to the second deviation distance L2, calculates the steering torque for its own vehicle to travel along the set target trajectory, and controls the steering of its own vehicle based on the calculated steering torque (step 444).

[0084] On the other hand, when the first deviation distance L1 is less than or equal to the second deviation distance L2 ("yes" in step 443), the lane following control device 10 sets the lateral range of the target trajectory to remain at the first deviation distance L1 and maintains the current steering state of its own vehicle (step 445).

[0085] Simultaneously, when it is determined that multiple vehicles ahead, namely the first and second vehicles ahead, are respectively in the surrounding lanes set in the vehicle's own driving lane and the adjacent driving lane (step 451), the lane following control device 10 calculates the second deviation distance L2 between the identified lane markings and the first vehicle ahead (step 452), and calculates the lateral clearance distance between the first and second vehicles ahead (step 453). This has already been combined with... Figure 3 This has been described in detail, therefore, to avoid repetition, the detailed description is omitted.

[0086] In addition, while considering the predetermined safe distance, the lane following control device 10 generates a virtual lane marking based on the second deviation distance L2 and the lateral clearance distance (step 454). The lane following control device 10 also sets the center line between the virtual lane marking and the identified lane marking as the target trajectory and controls the steering so that its own vehicle travels in an offset manner (step 455).

[0087] As described above, the vehicle lane-following control method according to the embodiment analyzes image information acquired by a camera mounted at the front of the vehicle, and variably adjusts the lateral range of the target trajectory based on the analysis results and different driving conditions (see steps 444, 445, and 455). Therefore, collisions between the vehicle and surrounding vehicles not detected by the camera can be prevented. Furthermore, since expensive, precise sensors are not required, it reduces manufacturing costs.

[0088] The lane-following control method for a vehicle according to an embodiment can be programmed to run in a computer and can be stored in a computer-readable recording medium. Examples of computer-readable recording media may include read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

[0089] Computer-readable recording media are distributed across computer systems connected via a network, and computer-readable code can be stored and executed in a distributed manner. Furthermore, functional programs, code, and code segments for implementing the above methods can be readily deduced by programmers skilled in the art to which these embodiments pertain.

[0090] It is evident from the above description that, according to at least one embodiment of the present disclosure, even when only one side of the lane markings on either side of the lane in which the vehicle is traveling is identified, the application of the lane following assist system can be expanded by using the driving information of the vehicle ahead to set the target trajectory of the vehicle.

[0091] In addition, the lateral range of the target trajectory can be variably adjusted according to the detected lateral position of the vehicle in front, thus enabling adjustable steering control based on surrounding vehicles and ensuring the stability of the vehicle and the convenience of the driver.

[0092] Furthermore, lane following control can be implemented using only a front-facing camera, eliminating the need for expensive omnidirectional sensors, thus reducing manufacturing costs such as material costs.

[0093] While several embodiments have been described, other embodiments can be implemented in various forms. As long as there is compatibility between the technical content of the above embodiments, the technical content of the above embodiments can be combined in various forms, and new embodiments can be implemented through such combinations.

[0094] Those skilled in the art to which this disclosure pertains will understand that this disclosure may be implemented in other specific forms without altering the technical concept or essential characteristics. Therefore, the above detailed description should be understood as providing examples and not as limiting in all respects. The scope of this disclosure should also be interpreted by the appended claims. All modifications derived from equivalent concepts intended to be included within the scope of this disclosure should also be interpreted as falling within the scope of this disclosure.

Claims

1. A lane following control method, comprising: While the vehicle is in motion, it acquires forward image information through a camera installed on the vehicle. The target trajectory of the vehicle is set by using the road marking information extracted based on the image information and the driving information of the vehicle in front. as well as Calculate the steering torque used to control the vehicle to steer along the set target trajectory. Setting the target trajectory includes: based on identifying a first vehicle ahead traveling in the vehicle's own lane, setting the target trajectory by offsetting the minimum of a first deviation distance and a second deviation distance in the lateral direction. Wherein, the first deviation distance is located between the vehicle itself and one of the two lane markings on either side, and The second deviation distance is located between the first vehicle ahead and one of the side markings of the driving lane.

2. The method according to claim 1, wherein, The image information obtained includes: Identify one of the two lane markings on either side of the lane in which the vehicle is currently traveling.

3. The method according to claim 2, wherein, The image information obtained includes: Identify the vehicle ahead traveling in at least one of the vehicle's own driving lane and the surrounding lanes adjacent to the driving lane, and The vehicle in front includes the first vehicle in front.

4. The method according to claim 3, wherein, The lane marking information includes at least one of the curvature of the driving lane or the first deviation distance between the identified side lane marking and the vehicle itself.

5. The method according to claim 4, wherein, The driving information of the vehicle ahead includes the lateral distance between the vehicle and the vehicle ahead.

6. The method according to claim 5, wherein, Setting the target trajectory includes: The second deviation distance is calculated based on the first deviation distance, the curvature of the driving lane, and the lateral distance between the vehicle and the vehicle in front.

7. The method according to claim 6, wherein, Setting the target trajectory includes: When multiple vehicles ahead are identified traveling in the driving lane and the surrounding lanes respectively, the lateral distance between the multiple vehicles ahead is calculated; A virtual lane marking is generated based on the second deviation distance and the lateral spacing between the multiple vehicles ahead; and The centerline between the generated virtual marking and the identified marking is set as the target trajectory.

8. The method according to claim 7, wherein, When the lateral distance between multiple vehicles ahead is greater than or equal to a predetermined safe distance, virtual lane markings are generated.

9. A non-transitory recording medium for a processor to run an application program according to claim 1, the application program of claim 1 being written into the recording medium, the recording medium being readable by a computer.

10. A lane following control device, comprising: The information collector acquires forward image information via a camera installed on its own vehicle while the vehicle is in motion; The target trajectory generator uses the marking information extracted based on the image information and the driving information of the vehicle in front to set the target trajectory of its own vehicle. as well as A steering torque calculator calculates the steering torque used to control the vehicle to steer along the set target trajectory. The target trajectory generator, based on the identification of a first vehicle ahead traveling in its own lane, sets the target trajectory by offsetting the minimum of a first deviation distance and a second deviation distance in the lateral direction. Wherein, the first deviation distance is located between the vehicle itself and one of the two lane markings on either side, and The second deviation distance is located between the first vehicle ahead and one of the side markings of the driving lane.

11. The device according to claim 10, wherein, The information collector includes a lane marking recognizer that identifies one side of the lane markings on either side of the lane in which the vehicle is currently traveling.

12. The device according to claim 11, wherein, The information collector includes a forward vehicle identifier that identifies a vehicle traveling in front of it in at least one of the vehicle's own driving lane and surrounding lanes adjacent to the driving lane. The vehicle in front includes the first vehicle in front.

13. The device according to claim 12, wherein, The lane marking information includes at least one of the curvature of the driving lane or the first deviation distance between the identified side lane marking and the vehicle itself.

14. The device according to claim 13, wherein, The driving information of the vehicle ahead includes the lateral distance between the vehicle and the vehicle ahead.

15. The device according to claim 14, wherein, The target trajectory generator calculates the second deviation distance based on the first deviation distance, the curvature of the driving lane, and the lateral distance between the vehicle itself and the vehicle in front.

16. The device according to claim 15, wherein, When multiple vehicles ahead are identified traveling in the driving lane and the surrounding lanes respectively, the target trajectory generator calculates the lateral distance between the multiple vehicles ahead, generates a virtual marking based on the second deviation distance and the lateral distance between the multiple vehicles ahead, and sets the center line between the generated virtual marking and the identified marking as the target trajectory.

17. The device according to claim 16, wherein, When the lateral distance between multiple vehicles ahead is greater than or equal to a predetermined safe distance, the target trajectory generator generates the virtual markings.

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