Apparatus for assisting driving and method thereof

Abstract

An apparatus for assisting driving and a method thereof. The apparatus includes a first sensor having a field of view in front of a host vehicle, configured to collect front image data; a second sensor selected from a group consisting of a radar sensor and a light detection and ranging (LiDAR) sensor, configured to have a sensing field in front of the host vehicle and to acquire front sensing data; a third sensor selected from a group consisting of a radar sensor and a LiDAR sensor, configured to have a sensing field in a rear of the vehicle and to acquire rear sensing data; and a controller including a processor that processes the front sensing data and the rear sensing data; the controller is configured to, in response to a lane change command being input, acquire position information and speed information of another vehicle traveling in another lane corresponding to the lane change command based on the rear sensing data, and output a driving signal for changing a distance between the host vehicle and a front vehicle based on the position information and the speed information of the another vehicle.

Description

Technical Field

[0001] The present invention relates to a driver assistance system, and more particularly, to a driver assistance system capable of avoiding rear-side collisions. Background Art

[0002] Generally, a vehicle refers to a mobile tool or transport vehicle that uses fossil fuels, electricity, or the like as a power source and travels on roads or tracks. A vehicle can be moved to various locations primarily by using one or more wheels mounted on the vehicle body. Such vehicles may include three-wheeled or four-wheeled vehicles, two-wheeled vehicles such as motorcycles, construction machinery, bicycles, and trains that travel on tracks.

[0003] Vehicles are the most common means of transportation in modern society, and the number of people using them is increasing. Thanks to the development of vehicle technology, long-distance travel has become easier and life has become more convenient. However, in areas with high population density, such as South Korea, road traffic conditions have deteriorated and traffic jams are common.

[0004] Recently, in order to reduce the burden on the driver and improve convenience, research on vehicles equipped with an advanced driver assistance system (ADAS) that actively provides information on the vehicle state, the driver state, and the surrounding environment has been actively conducted.

[0005] Examples of advanced driver assistance systems installed on vehicles include forward collision avoidance (FCA), autonomous emergency braking (AEB), and driver attention warning (DAW). Summary of the Invention

[0006] Accordingly, an aspect of the present invention provides a driver assistance system and a control method thereof, which are capable of safely and efficiently performing autonomous driving by adjusting a distance between a host vehicle and a preceding vehicle when changing lanes.

[0007] Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

[0008] According to one aspect of the present invention, there is provided an apparatus for assisting driving of a host vehicle, the apparatus comprising: a first sensor mounted to the host vehicle and having a field of view in front of the host vehicle, the first sensor being configured to acquire front image data; a second sensor selected from the group consisting of a radar sensor and a light detection and ranging (LiDAR) sensor and mounted to the host vehicle, the second sensor being configured to have a sensing field in front of the host vehicle and to acquire front sensing data; a third sensor selected from the group consisting of a radar sensor and a LiDAR sensor and mounted to the host vehicle, the third sensor being configured to have a sensing field behind the vehicle and to acquire rear sensing data; and a controller comprising a processor configured to process the front sensing data and the rear sensing data; wherein the controller is configured to, in response to an input lane change command, acquire position information and speed information of another vehicle traveling in another lane corresponding to the lane change command based on the rear sensing data, and output a drive signal for changing the distance between the host vehicle and a leading vehicle based on the position information and speed information of the other vehicle.

[0009] In response to a decrease in the distance between the other vehicle and the host vehicle, the controller may output a drive signal for increasing the distance between the host vehicle and a preceding vehicle.

[0010] The controller may output a driving signal for reducing the speed of the host vehicle at a predetermined ratio.

[0011] In response to an increase in the distance between the other vehicle and the host vehicle, the controller may output a drive signal for decreasing the distance between the host vehicle and the preceding vehicle.

[0012] In response to an increase in the distance between the other vehicle and the host vehicle, the controller may output a drive signal for increasing the speed of the host vehicle at a predetermined ratio.

[0013] The controller may output a driving signal for changing a distance between the host vehicle and a preceding vehicle based on speed information of the host vehicle.

[0014] In response to a speed of the host vehicle being less than a speed of another vehicle, the controller may output a driving signal for increasing a distance between the host vehicle and a preceding vehicle.

[0015] In response to a speed of the host vehicle being greater than a speed of another vehicle, the controller may output a drive signal for reducing a distance between the host vehicle and a preceding vehicle.

[0016] The controller may output a driving signal for changing a distance between the host vehicle and a preceding vehicle based on a width of a lane in which the host vehicle travels.

[0017] The controller can generate a virtual path from the self-lane to another lane based on a changing distance between the host vehicle and the front vehicle and location information of the other lane.

[0018] An aspect of the present disclosure provides a method of controlling an apparatus for assisting driving of a host vehicle, the method including the steps of: acquiring front image data; acquiring front sensing data; acquiring rear sensing data; and in response to an input lane change command, acquiring location information and speed information of another vehicle traveling in another lane corresponding to the lane change command based on the rear sensing data, and outputting a driving signal for changing a distance between the host vehicle and a front vehicle based on the location information and speed information of the another vehicle.

[0019] The step of outputting the driving signal can include outputting a driving signal for increasing the distance between the host vehicle and the front vehicle in response to a decrease in the distance between the another vehicle and the host vehicle.

[0020] The step of outputting the driving signal can include outputting a driving signal for decreasing the speed of the host vehicle at a predetermined ratio.

[0021] The step of outputting the driving signal can include outputting a driving signal for decreasing the distance between the another vehicle and the host vehicle in response to an increase in the distance between the another vehicle and the host vehicle.

[0022] The step of outputting the driving signal can include outputting a driving signal for increasing the speed of the host vehicle at a predetermined ratio in response to an increase in the distance between the another vehicle and the host vehicle.

[0023] The step of outputting the driving signal can include outputting a driving signal for changing the distance between the host vehicle and the front vehicle based on speed information of the host vehicle.

[0024] The step of outputting the driving signal can include outputting a driving signal for increasing the distance between the host vehicle and the front vehicle in response to the speed of the host vehicle being less than the speed of the another vehicle.

[0025] The step of outputting the driving signal can include outputting a driving signal for decreasing the distance between the host vehicle and the front vehicle in response to the speed of the host vehicle being greater than the speed of the another vehicle.

[0026] The step of outputting the driving signal can include outputting a driving signal for changing the distance between the host vehicle and the front vehicle based on a width of a self-lane on which the host vehicle travels.

[0027] The step of outputting the driving signal can include generating a virtual path from the self-lane to another lane based on a changing distance between the host vehicle and the front vehicle and location information of the other lane. BRIEF DESCRIPTION OF DRAWINGS

[0028] These and / or other aspects of the present invention will become more apparent and easier to understand through the following description of embodiments in conjunction with the accompanying drawings, in which:

[0029] Figure 1 The configuration of a vehicle according to the embodiment is shown.

[0030] Figure 2 A configuration of a driver assistance system according to an embodiment is shown.

[0031] Figure 3 A camera and a radar included in a driver assistance system according to an embodiment are shown.

[0032] Figure 4 is a diagram for explaining the distance between a host vehicle and a preceding vehicle according to an embodiment.

[0033] Figure 5 is a diagram illustrating an operation in a case where another vehicle approaches a host vehicle according to an embodiment.

[0034] Figure 6 is a diagram for explaining an operation in a case where another vehicle moves away from a host vehicle according to an embodiment.

[0035] Figure 7 is a diagram for explaining a lane change operation based on the width of a lane in which a host vehicle is traveling, according to an embodiment.

[0036] Figure 8 1 is a diagram for explaining an operation of generating a virtual path for vehicle change according to an embodiment.

[0037] Figure 9 is a flowchart according to an embodiment. DETAILED DESCRIPTION

[0038] Throughout the specification, the same reference numerals denote the same elements. Not all elements of the embodiments of the present invention will be described, and descriptions that are well known in the art or overlap with each other in the embodiments will be omitted.

[0039] Terms used throughout the specification, such as “~part”, “~module”, “~component”, “~block”, etc., can be implemented in software and / or hardware, and multiple “~parts”, “~modules”, “~components” or “~blocks” can be implemented in a single element, or a single “~part”, “~module”, “~component” or “~block” can include multiple elements.

[0040] It will also be understood that the term "connected" or its derivatives refer to both direct and indirect connections, and that indirect connections include connections through wireless communication networks.

[0041] It should also be understood that when used in this specification, the terms “include” and / or “comprises” specify the presence of stated features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof, unless the context clearly indicates otherwise.

[0042] In this specification, it will be understood that when an element is referred to as being 'on / under' another element, it can be directly on / under the other element, or one or more intervening elements may also be present.

[0043] Although terms “first,” “second,” “A,” “B,” etc. may be used to describe various components, the terms do not limit the corresponding components but are used only for the purpose of distinguishing one component from another.

[0044] As used herein, the singular forms “a,” “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0045] The reference numerals used for the method steps are for convenience of explanation only and do not limit the order of the steps. Therefore, unless the context clearly indicates otherwise, the written order can be implemented in other ways.

[0046] Hereinafter, the operation principle and embodiments of the present invention will be described with reference to the accompanying drawings.

[0047] Figure 1 The configuration of a vehicle according to the embodiment is shown.

[0048] like Figure 1 As shown, host vehicle 1 includes an engine 10, a transmission 20, a brake system 30, and a steering system 40. Engine 10 includes cylinders and pistons and generates power for driving host vehicle 1. Transmission 20 includes multiple gears and transmits the power generated by engine 10 to the wheels. Braking system 30 can slow down or stop host vehicle 1 through friction with the wheels. Steering system 40 can change the direction of travel of host vehicle 1.

[0049] The vehicle 1 may include a plurality of electrical components, such as an engine management system (EMS) 11, a transmission control unit (TCU) 21, an electronic brake control module 31, an electronic power steering (EPS) 41, a body control module (BCM), and a driver assistance system (DAS).

[0050] The EMS 11 may control the engine 10 in response to a driver's acceleration intention via an accelerator pedal or a request from the driver assistance system 100. For example, the EMS 11 may control the torque of the engine 10.

[0051] The TCU 21 may control the transmission 20 in response to a shift command from a driver via a shift lever and / or a driving speed of the host vehicle 1. For example, the TCU 21 may adjust a shift ratio from the engine 10 to the wheels.

[0052] The electronic brake control module 31 can control the brake device 30 in response to the driver's braking intention via the brake pedal and / or wheel slip. For example, the electronic brake control module 31 can temporarily release the brakes on a wheel in response to wheel slip detected when the host vehicle 1 is braking (anti-lock braking system, ABS). The electronic brake control module 31 can selectively release the brakes on a wheel in response to oversteer and / or understeer detected when the host vehicle 1 is turning (electronic stability control, ESC). In addition, the electronic brake control module 31 can temporarily brake a wheel in response to wheel slip detected when the host vehicle 1 is being driven (traction control system, TCS).

[0053] The electronic steering device 41 can assist the operation of the steering device 40 and can respond to the driver's steering intention through the steering wheel to facilitate the driver's steering. For example, the electronic steering device 41 can assist the operation of the steering device 40 to reduce the steering force during low-speed driving or parking, and increase the steering force during high-speed driving.

[0054] The BCM 51 may control the operation of electronic components that provide convenience to the driver or ensure the driver's safety. For example, the BCM 51 may control headlights, wipers, meters, multi-function switches, and direction indicators.

[0055] The DAS 100 can assist the driver in manipulating (driving, braking, steering) the host vehicle 1. For example, the DAS 100 can detect the surrounding environment around the host vehicle 1 (e.g., another vehicle, pedestrians, cyclists, lanes, road signs, etc.) and control the driving, braking, and / or steering of the host vehicle 1 in response to the sensed surrounding environment.

[0056] Meanwhile, the above configuration may be provided with a driving portion 200 configured to perform acceleration and deceleration of the vehicle.

[0057] The DAS 100 can provide various functions to the driver. For example, the DAS 100 can provide lane departure warning (LDW), lane keeping assist (LKA), high beam assist (HBA), autonomous emergency braking (AEB), traffic sign recognition (TSR), smart cruise control (SCC), blind spot detection (BSD), etc.

[0058] The DAS 100 may include a camera module 101 for acquiring image data around the host vehicle 1 and a radar module 102 for acquiring obstacle data around the host vehicle 1. The camera module 101 may include a camera 101a and an electronic control unit (ECU) 101b, and may capture images of the front of the host vehicle 1 and identify other vehicles, pedestrians, cyclists, lanes, road signs, etc. The radar module 102 may include a radar 102a and an electronic control unit (ECU) 102b, and may acquire the relative positions and relative speeds of obstacles (e.g., other vehicles, pedestrians, cyclists, etc.) around the host vehicle 1.

[0059] DAS 100 is not limited to Figure 1 as shown in the figure, and may further include a LiDAR configured to scan and detect obstacles around the host vehicle 1.

[0060] The aforementioned electronic components can communicate with each other via the vehicle communication network (NT). For example, the electrical components can exchange data among themselves via Ethernet, Media Oriented Systems Transport (MOST), Flexray, Controller Area Network (CAN), Local Interconnect Network (LIN), etc. For example, the DAS 100 can transmit drive control signals, drive signals, and steering signals to the EMS 11, the electronic brake control module 31, and the EPS 41, respectively, via the vehicle communication network NT.

[0061] Figure 2 The configuration of the DAS according to the embodiment is shown. Figure 3 Shown are cameras and radars included in a DAS according to an embodiment.

[0062] like Figure 2 As shown, the host vehicle 1 may include a driving portion 200 and a driver assistance system 100 .

[0063] The driving portion 200 may include a Figure 1 Various components of the vehicle described in.

[0064] The DAS 100 may include a front camera 110 , a front radar 120 , and multiple corner radars 130 .

[0065] The front camera 110 may have a field of view 110a pointing forward of the host vehicle 1, such as Figure 3The front camera 110 may be installed on the front windshield of the host vehicle 1 , for example.

[0066] The front camera 110 can capture images in front of the host vehicle 1 and acquire image data about the front of the host vehicle 1. The image data about the front of the host vehicle 1 may include a position relative to another vehicle, pedestrian, cyclist, or lane located in front of the host vehicle 1.

[0067] The front camera 110 may include a plurality of lenses and an image sensor. The image sensor may include a plurality of photodiodes for converting light into electrical signals, and the plurality of photodiodes may be arranged in a two-dimensional matrix.

[0068] The front camera 110 may be electrically connected to the controller 140. For example, the front camera 110 may be connected to the controller 140 through the vehicle communication network NT, through a hard wire, or through a printed circuit board (PCB).

[0069] The front camera 110 may transmit image data of the front of the host vehicle 1 to the controller 140 .

[0070] The front radar 120 may have a sensing field 120a pointing forward of the host vehicle 1, such as Figure 3 The front radar 120 may be mounted on, for example, the grille or bumper of the host vehicle 1 .

[0071] Front radar 120 may include a transmitting antenna (or transmitting antenna array) that radiates radio waves toward the front of host vehicle 1, and a receiving antenna (or receiving antenna array) that receives reflected radio waves from obstacles. Front radar 120 can acquire front radar data from the transmitted radio waves emitted by the transmitting antenna and the reflected radio waves received by the receiving antenna. This front radar data may include positional and speed information about another vehicle, pedestrian, or cyclist located in front of host vehicle 1.

[0072] The front radar 120 can calculate the relative distance to the obstacle based on the phase difference (or time difference) between the transmitted radio wave and the reflected radio wave, and calculate the relative speed of the object based on the frequency difference between the transmitted radio wave and the reflected radio wave.

[0073] The front radar 120 may be connected to the controller 140 via the vehicle communication network NT, a hard line, or a printed circuit board. The front radar 120 may transmit forward radar data to the controller 140.

[0074] The multiple corner radars 130 include a first corner radar 131 installed on the right front side of the main vehicle 1, a second corner radar 132 installed on the left front side of the main vehicle 1, a third corner radar 133 installed on the right rear side of the main vehicle 1, and a fourth corner radar 134 installed on the left rear side of the main vehicle 1.

[0075] The first corner radar 131 may have a sensing field 131a directed toward the right front side of the host vehicle 1. The first corner radar 131 may be mounted on the right side of the front bumper of the host vehicle 1. The second corner radar 132 may have a sensing field 132a directed toward the left front side of the host vehicle 1 and, for example, may be mounted on the left side of the front bumper of the host vehicle 1. The third corner radar 133 may have a sensing field 133a directed toward the right rear side of the host vehicle 1 and, for example, may be mounted on the right side of the rear bumper of the host vehicle 1. The fourth corner radar 134 may have a sensing field 134a directed toward the left rear side of the host vehicle 1 and, for example, may be mounted on the left side of the rear bumper of the host vehicle 1.

[0076] Each of the first radar 131, the second radar 132, the third radar 133 and the fourth corner radar 134 may include a transmitting antenna and a receiving antenna. The first radar 131, the second radar 132, the third radar 133 and the fourth corner radar 134 respectively acquire first corner radar data, second corner radar data, third corner radar data and fourth corner radar data. The first corner radar data may include distance and speed information about another vehicle, pedestrian or cyclist (hereinafter referred to as "obstacle") present on the right front side of the main vehicle 1. The second corner radar data may include distance information and speed information about an obstacle present on the left front side of the main vehicle 1. The third and fourth corner radar data may respectively include distance and speed information about an obstacle present on the right rear side of the main vehicle 1 and distance and speed information about an object located on the left rear side of the main vehicle 1.

[0077] Each of first radar 131, second radar 132, third radar 133, and fourth corner radar 134 may be connected to controller 140, for example, via a vehicle communication network NT, a hardwire, or a printed circuit board. First radar 131, second radar 132, third radar 133, and fourth corner radar 134 may transmit first corner radar data, second corner radar data, third corner radar data, and fourth corner radar data, respectively, to controller 140.

[0078] The controller 140 may include a camera module 101 (see Figure 1 ) of ECU 101b (see Figure 1 ) and / or radar module 102 (see Figure 1 ) of ECU 102b (see Figure 1 ) and / or separate integrated ECU.

[0079] The controller 140 includes a processor 141 and a memory 142. The processor 141 may process front image data of the front camera 110, front radar data of the front radar 120, and corner radar data of the plurality of corner radars 130, and generate a driving signal for controlling the driving portion 200.

[0080] For example, the processor 141 may include an image signal processor for processing front image data of the front camera 110 and / or a digital signal processor for processing radar data of the radars 120 and 130 and / or a micro control unit (MCU) for generating a driving signal and / or a steering signal.

[0081] The processor 141 may detect an obstacle (eg, another vehicle, a pedestrian, a cyclist, etc.) in front of the host vehicle 1 based on the front image data of the front camera 110 and the front radar data of the radar 120 .

[0082] Specifically, the processor 141 can obtain the position (distance and direction) and relative speed of obstacles in front of the host vehicle 1 based on the forward radar data from the front radar 120. The processor 141 can also obtain the position (direction) and type information (e.g., whether the obstacle is another vehicle, a pedestrian, a cyclist, etc.) of obstacles in front of the host vehicle 1 based on the forward image data from the forward camera 110. Furthermore, the processor 141 can match obstacles detected using the forward image data with obstacles detected using the forward radar data and, based on the matching results, obtain the type information, position, and relative speed of the obstacles in front of the host vehicle 1.

[0083] The processor 141 may generate a driving signal based on the type information, position, and relative speed of the front obstacle.

[0084] For example, the processor 141 may calculate a time to collision (TTC) between the host vehicle 1 and a front obstacle based on the position (distance) and relative speed of the front obstacle, and transmit a driving signal to the driving portion 200 based on a result of comparing the TTC with a predetermined reference time.

[0085] As another example, the processor 141 may calculate a distance to collision (DTC) based on a relative speed of a front obstacle, and warn the driver of a collision or transmit a driving signal to the driving part 200 based on a result of comparing the DTC with the distance to the front obstacle.

[0086] The processor 141 may acquire the positions (distance and direction) and relative speeds of obstacles on the sides (right front, left front, right rear, and left rear) of the host vehicle 1 based on the corner radar data of the plurality of corner radars 130 .

[0087] The processor 141 may transmit a driving signal to the driving portion 200 based on the position (distance and direction) and relative speed of the obstacle on the side of the host vehicle 1 .

[0088] For example, if a collision with a front obstacle is determined based on the TTC or the DTC, the processor 141 may transmit a driving signal to the driving portion 200 to avoid the collision with the front obstacle.

[0089] The processor 141 may determine whether to avoid a collision with a front obstacle by changing the driving direction of the host vehicle 1 based on the position (distance and direction) and relative speed of the obstacle on the side of the host vehicle 1 .

[0090] For example, if there is no obstacle on the side of the host vehicle 1, the processor 141 may send a driving signal to the driving portion 200 to avoid collision with the front obstacle.

[0091] If no collision with a side obstacle is predicted based on the position (distance and direction) and relative speed of the side obstacle after the host vehicle 1 turns, the processor 141 may send a driving signal to the driving portion 200 to avoid a collision with the front obstacle.

[0092] If a collision with a side obstacle is predicted based on the position (distance and direction) and relative speed of the side obstacle after the host vehicle 1 turns, the processor 141 may not send a driving signal to the driving portion 200 .

[0093] The memory 142 may store programs and / or data for the processor 141 to process image data, programs and / or data for the processor 141 to process radar data, and programs and / or data for the processor 141 to generate braking signals and / or steering signals.

[0094] The memory 142 may temporarily store image data received from the front camera 110 and / or radar data received from the radars 120 and 130 , and may temporarily store results of processing the image data and / or radar data by the processor 141 .

[0095] The memory 142 may include not only volatile memory such as S-RAM, D-RAM, etc., but also non-volatile memory such as flash memory, read-only memory (ROM), erasable programmable read-only memory (EPROM), etc.

[0096] DAS 100 is not limited to Figure 2 as shown in the figure, and may further include a LiDAR configured to scan and detect obstacles around the host vehicle 1.

[0097] Thus, the controller 140 may send a driving signal to the driving unit 200 based on whether a collision with a front obstacle is predicted.

[0098] If there is no side obstacle or a collision with a side obstacle is not predicted, the controller 140 may send a driving signal to the driving portion 200 to avoid a collision with a front obstacle.

[0099] The inputter 300 may receive a lane change command from a user.

[0100] The input device 300 includes hardware devices for user input, such as various buttons, switches, pedals, keyboards, mice, trackballs, various control rods, handles, joysticks, etc.

[0101] According to an embodiment, the user may use the control stalk to turn on the direction indicator to change lanes, and the vehicle may perform a lane change maneuver based on this.

[0102] In addition, the inputter 300 may include a graphical user interface (GUI), ie, a software device for user input, such as a touch panel. The touch panel may be implemented as a touch screen panel (TSP) to form an interlayer structure with a display portion.

[0103] If it is composed of a touch screen panel (TSP) forming an intermediate layer structure with a touch pad, the display portion can also be used as an input device.

[0104] If the user inputs a lane change command through the inputter, the controller 140 may acquire position information and speed information of another vehicle traveling in another lane corresponding to the lane change command based on the rear side sensing data.

[0105] Specifically, the third corner radar and the fourth corner radar can acquire position information and speed information of another vehicle traveling behind the vehicle.

[0106] Specifically, the position information may include distance and direction information between the host vehicle and another vehicle.

[0107] The speed information may include a relative speed with respect to another vehicle, etc.

[0108] The controller may output a driving signal for changing a distance between the host vehicle and the other vehicle based on position information and speed information of the other vehicle.

[0109] The driving signal includes a driving signal and an acceleration signal, and refers to an overall signal related to driving the vehicle.

[0110] If the distance between the host vehicle and the other vehicle decreases, the controller may output a driving signal that increases the distance between the host vehicle and the other vehicle.

[0111] If the distance between the host vehicle and the other vehicle decreases, the controller may output a driving signal for decreasing the vehicle speed at a predetermined ratio.

[0112] A decrease in the distance between the other vehicle and the host vehicle may mean that the other vehicle is moving faster than the host vehicle.

[0113] If the distance between the host vehicle and the other vehicle increases, the controller may output a driving signal for decreasing the distance between the vehicles.

[0114] If the distance between the other vehicle and the host vehicle increases, the controller can output a driving signal for increasing the vehicle speed at a predetermined ratio.

[0115] The controller can output a driving signal for changing the distance between the host vehicle and the other vehicle by further considering speed information of the vehicle.

[0116] That is, when the host vehicle changes the distance between the vehicles, the distance between the vehicles can be changed not only by considering the speed of the other vehicle but also by considering the speed of the host vehicle itself.

[0117] Specifically, when the speed of the host vehicle is less than the speed of the other vehicle, the controller can output a driving signal for increasing the distance between the host vehicle and the other vehicle.

[0118] In this case, the speed of the other vehicle is in a case where the speed of the host vehicle is higher, and since it is safe and efficient for the host vehicle to attempt to change the lane after the other vehicle has previously advanced, the distance between the host vehicle and the other vehicle can be increased.

[0119] If the speed of the host vehicle exceeds the speed of the other vehicle, the controller can output a driving signal for decreasing the distance between the host vehicle and the other vehicle.

[0120] In this case, the speed of the other vehicle is in a case where the speed of the host vehicle is slower, and since it is safe and efficient to attempt to quickly change the lane, the distance between the host vehicle and the other vehicle can be increased.

[0121] The controller can output a driving signal for changing the distance between the host vehicle and the other vehicle based on the width of the self-lane in which the host vehicle travels.

[0122] The controller can generate a virtual path from the self-lane to the other lane based on the changed distance between the host vehicle and the other vehicle and the position information of the other lane.

[0123] The above operations will be described in detail below.

[0124] With Figure 3 At least one component can be added or deleted in correspondence with the performance of the components of the driver assistance system shown in FIG. 1.

[0125] In addition, it would be readily understood by one skilled in the art that the mutual positions of the components can be changed according to the performance or structure of the system.

[0126] Meanwhile, Figure 3 Each component shown in FIG. 1 refers to a software and / or hardware component such as a field programmable gate array (FPGA) and an application specific integrated circuit (ASIC).

[0127] Figure 4 This is a diagram for explaining the distance between a host vehicle and a preceding vehicle according to an embodiment of the present invention.

[0128] Reference Figure 4 , the vehicle can obtain position information of the vehicle ahead based on signals from the camera module 101 , the front radar 120 a , the first corner radar 131 , and the second corner radar 132 .

[0129] Therefore, the host vehicle can obtain the distance to the front vehicle F4. The distance between the host vehicle and the front vehicle F4 may be referred to as the distance d4 between the vehicles.

[0130] Meanwhile, the vehicles may increase the distance d4 between the vehicles by reducing the speed, and may decrease the distance d4 between the vehicles by increasing the speed.

[0131] At the same time, the driving signal output from the controller can be used to change the distance between vehicles of such vehicles.

[0132] The driving signal may refer to a signal for controlling the driving portion 200 of the vehicle. The driving signal includes a signal for accelerating and braking the vehicle.

[0133] According to an embodiment, when the controller outputs a driving signal for accelerating the vehicles, the distance between the vehicles may be reduced.

[0134] On the other hand, when the controller outputs a driving signal for decelerating or braking the vehicles, the distance between the vehicles may increase.

[0135] Figure 5 is a diagram illustrating an operation in a case where another vehicle approaches a host vehicle according to an embodiment, and Figure 6 is a diagram for explaining an operation in a case where another vehicle moves away from a host vehicle according to an embodiment.

[0136] See also Figure 5 and Figure 6 , the vehicle can obtain position information of other vehicles S5 and S6 located on the rear side of the vehicle based on the signals obtained from the third corner radar 133 and the fourth corner radar 134.

[0137] See also Figure 5 , Figure 5 A situation is shown in which another vehicle S5 approaches the host vehicle 1. In this case, the other vehicle S5 approaches the host vehicle, and the speed of the other vehicle exceeds that of the host vehicle.

[0138] When the user inputs a lane change command, the vehicle may not immediately attempt to change lanes, may recognize that another vehicle is approaching, and increase the vehicle distance d5 between the vehicles.

[0139] exist Figure 5 In the case of , when the host vehicle changes lanes after another vehicle changes lanes first, a collision with the other vehicle can be avoided and the host vehicle can increase the distance between the vehicles.

[0140] Increasing the distance between vehicles can be achieved by the controller outputting a driving signal that decelerates the vehicle speed.

[0141] Also, see Figure 6 , Figure 6 1 shows a situation where another vehicle S6 is separated from the host vehicle. At this time, the other vehicle S6 leaves the host vehicle, and the speed of the other vehicle S6 is slower than that of the host vehicle 1.

[0142] When the user inputs a lane change command, the host vehicle may first quickly perform a lane change before the slow other vehicle S6 approaches.

[0143] exist Figure 6 In the case of , when the host vehicle changes lanes before another vehicle S6, a collision with the other vehicle can be avoided and the host vehicle can reduce the distance between the vehicles.

[0144] The reduction in the distance between the vehicles may be achieved by the controller outputting a drive signal that increases the speed of the host vehicle.

[0145] at the same time, Figure 5 and Figure 6 The operations described in are merely exemplary embodiments for describing the operations of the present invention, and there is no limitation on the operations for changing the distance between the preceding vehicle and the host vehicle in consideration of the position and speed of another vehicle.

[0146] Figure 7 is a diagram for explaining a lane change operation based on the width of a lane in which a host vehicle is traveling, according to an embodiment.

[0147] Reference Figure 7 , the host vehicle may change lanes considering the lane width L7.

[0148] Specifically, if the width of the lane in which the host vehicle 1 is traveling is wide, the vehicle may attempt to change lanes in consideration of the position and speed of the other vehicle S7 and the lane width L7.

[0149] For example, if the lane width L7 is greater than a predetermined value, the host vehicle 1 may take a lot of time to change lanes, so the controller may output a drive signal for accelerating the host vehicle when the lane is changed.

[0150] On the other hand, when the lane width is narrow, for example, when the lane width L7 exceeds a predetermined value when changing lanes, the drive signal for accelerating the host vehicle may not be output.

[0151] at the same time, Figure 7 The operation described in is merely an embodiment of the operation of the present invention taking into account the lane distance, and there is no limitation on the operation of outputting a drive signal using the lane width.

[0152] Figure 8 FIG. 1 is a diagram for explaining an operation of generating a virtual path for vehicle change according to an embodiment of the present invention.

[0153] Reference Figure 8 , the vehicle can generate a virtual path in an attempt to change lanes.

[0154] The vehicle can determine a starting position (SP) at which to begin the lane change and an end position (EP) at which to change lanes.

[0155] Meanwhile, the start position SP may be determined based on the change in the distance between vehicles as described above. Specifically, when another vehicle S8 approaches in forming a virtual path, the point where the distance between the vehicles increases may be determined as the start point.

[0156] At the same time, the vehicle can acquire a virtual path R8 that can change lanes while avoiding a collision with another vehicle S8.

[0157] This path allows the vehicle to change lanes to the next lane.

[0158] at the same time, Figure 8 An embodiment of a virtual path generated by a vehicle is shown, and there is no limitation on the virtual path acquired by the vehicle to change lanes.

[0159] Figure 9 is a flow chart according to one embodiment.

[0160] Reference Figure 9 , the user may input a lane change command ( 1001 ).

[0161] The host vehicle may obtain position information and speed information of another vehicle ( 1002 ).

[0162] The host vehicle may identify whether another vehicle is approaching the host vehicle ( 1003 ).

[0163] Meanwhile, if another vehicle having a higher speed than the host vehicle approaches the host vehicle, the host vehicle may increase the distance between the preceding vehicle and the host vehicle ( 1004 ).

[0164] Additionally, when another vehicle moves away from the host vehicle without approaching the host vehicle, the host vehicle may reduce the distance between the preceding vehicle and the host vehicle to change lanes ( 1005 ).

[0165] Meanwhile, the host vehicle may set a virtual path if the distance between the preceding vehicle and the host vehicle increases or decreases ( 1006 ).

[0166] At the same time, the disclosed embodiments may be implemented in the form of a recording medium storing computer-executable instructions. The instructions may be stored in the form of program code, and when executed by a processor, a program module may be generated to perform the operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

[0167] The computer-readable recording medium includes all types of recording media in which instructions decodable by a computer are stored, such as read-only memory (ROM), random-access memory (RAM), magnetic tapes, magnetic disks, flash memories, optical data storage devices, and the like.

[0168] As described above, the driver assistance system and the control method thereof according to the embodiment may safely and efficiently perform autonomous driving by adjusting the distance between the host vehicle and the preceding vehicle when changing lanes.

[0169] Although the exemplary embodiments of the present invention have been described for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible without departing from the scope and spirit of the present invention. Therefore, the exemplary embodiments of the present invention are not described for limiting purposes.

[0170] CROSS-REFERENCE TO RELATED APPLICATIONS

[0171] This application is based on and claims the benefit of priority under 35 U.S.C. §119 from Korean Patent Application No. 10-2020-0048066, filed on April 21, 2020, in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference.

Claims

1. A device for assisting driving of a host vehicle, the device comprising: a first sensor mounted to the host vehicle and having a field of view in front of the host vehicle, the first sensor configured to acquire forward image data; a second sensor selected from the group consisting of a radar sensor and a light detection and ranging (LiDAR) sensor and mounted to the host vehicle, the second sensor configured to have a sensing field in front of the host vehicle and to acquire front sensing data; a third sensor selected from the group consisting of a radar sensor and a LiDAR sensor and mounted to the host vehicle, the third sensor configured to have a sensing field behind the vehicle and to acquire rear-side sensing data; as well as a controller comprising a processor configured to process the front-side sensing data and the back-side sensing data; Wherein, the controller is configured to: In response to an input lane change command, acquiring position information and speed information of another vehicle traveling in another lane corresponding to the lane change command based on the rear side sensing data, and A drive signal for changing a distance between the host vehicle and a preceding vehicle traveling in the same lane in which the host vehicle is also traveling is output based on the position information and speed information of the other vehicle.

2. The device according to claim 1, wherein In response to a decrease in the distance between the other vehicle and the host vehicle, the controller is configured to output a drive signal for increasing the distance between the host vehicle and the preceding vehicle.

3. The device according to claim 1, wherein The controller is configured to output a drive signal for reducing a speed of the host vehicle at a predetermined ratio.

4. The device according to claim 1, wherein In response to an increase in the distance between the other vehicle and the host vehicle, the controller is configured to output a drive signal for decreasing the distance between the host vehicle and the preceding vehicle.

5. The device according to claim 4, wherein In response to an increase in the distance between the other vehicle and the host vehicle, the controller is configured to output a drive signal for increasing a speed of the host vehicle at a predetermined ratio.

6. The apparatus according to claim 1, wherein The controller is configured to output a drive signal for changing a distance between the host vehicle and the preceding vehicle based on speed information of the host vehicle.

7. The apparatus according to claim 6, wherein In response to a speed of the host vehicle being less than a speed of the other vehicle, the controller is configured to output a drive signal for increasing a distance between the host vehicle and the leading vehicle.

8. The apparatus according to claim 6, wherein In response to a speed of the host vehicle being greater than a speed of the other vehicle, the controller is configured to output a drive signal for reducing a distance between the host vehicle and the leading vehicle.

9. The apparatus according to claim 1, wherein The controller is configured to output a drive signal for changing a distance between the host vehicle and the preceding vehicle based on a width of a lane in which the host vehicle is traveling.

10. The apparatus according to claim 9, wherein The controller is configured to generate a virtual path from the host lane to the other lane based on the changed distance between the host vehicle and the preceding vehicle and position information of the other lane.

11. A method of controlling a device for assisting driving of a host vehicle, the method comprising the steps of: Acquire front image data; Acquire forward sensing data; Acquiring rear-side sensing data; as well as In response to an input lane change command, position information and speed information of another vehicle traveling in another lane corresponding to the lane change command are acquired based on the rear side sensing data, and a drive signal for changing a distance between the host vehicle and a leading vehicle traveling in the same lane in which the host vehicle is also traveling is output based on the position information and speed information of the other vehicle.

12. The method according to claim 11, wherein The step of outputting the drive signal includes outputting a drive signal for increasing the distance between the host vehicle and the preceding vehicle in response to a decrease in the distance between the other vehicle and the host vehicle.

13. The method according to claim 12, wherein: The step of outputting the drive signal includes outputting a drive signal for reducing a speed of the host vehicle at a predetermined ratio.

14. The method according to claim 11, wherein The step of outputting the drive signal includes outputting a drive signal for reducing the distance between the other vehicle and the host vehicle in response to an increase in the distance between the other vehicle and the host vehicle.

15. The method according to claim 14, wherein The step of outputting the drive signal includes outputting a drive signal for increasing a speed of the host vehicle at a predetermined ratio in response to an increase in a distance between the other vehicle and the host vehicle.

16. The method according to claim 11, wherein The step of outputting the drive signal includes outputting a drive signal for changing a distance between the host vehicle and the preceding vehicle based on speed information of the host vehicle.

17. The method according to claim 16, wherein The step of outputting the driving signal includes outputting a driving signal for increasing a distance between the host vehicle and the preceding vehicle in response to a speed of the host vehicle being smaller than a speed of the another vehicle.

18. The method according to claim 16, wherein The step of outputting the drive signal includes outputting a drive signal for reducing a distance between the host vehicle and the preceding vehicle in response to a speed of the host vehicle being greater than a speed of the another vehicle.

19. The method according to claim 11, wherein The step of outputting the drive signal includes outputting a drive signal for changing a distance between the host vehicle and the preceding vehicle based on a width of a lane in which the host vehicle is traveling.

20. The method according to claim 19, wherein The step of outputting the driving signal includes generating a virtual path from the host lane to the other lane based on the changed distance between the host vehicle and the preceding vehicle and position information of the other lane.

Images