Lane keeping control device, vehicle system having the device, and lane keeping control method

Abstract

The present invention relates to a lane keeping control device, a vehicle system having the same, and a lane keeping control method. The lane keeping control device includes a processor that supports a lane deviation mode during lane keeping control by determining an intention of a driver based on a steering direction of the driver and a steering torque value of the driver, and a storage device that stores data and algorithms driven by the processor.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2021-0032849, filed on March 12, 2021, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to a lane keeping control device, a vehicle system including the device, and a lane keeping control method, and more specifically, to a technology that, during lane keeping control, can support lane departure mode by reflecting the driver's intention. Background Technology

[0004] During Lane Following Assist (LFA) control, a target line-of-sight distance proportional to the vehicle speed is set on the target path, and the target turning radius is calculated and followed to that point. Traditional lane keeping control technology controls vehicle-to-vehicle assisted keeping by utilizing the lateral deviation of the target target path from the target line-of-sight distance. Because traditional lane keeping control technology only follows and controls the center of the road without considering road features or driver characteristics, it often ignores the driver's intentions.

[0005] The information disclosed in this section is only intended to enhance the understanding of the background of the present invention, and therefore, the information it may contain does not constitute prior art known to those skilled in the art in this country. Summary of the Invention

[0006] Exemplary embodiments of the present invention aim to provide a lane keeping control device, a vehicle system including the device, and a lane keeping control method capable of supporting a lane departure pattern by determining the driver's steering direction and torque value.

[0007] The technical objectives of this invention are not limited to those described above, and those skilled in the art can clearly understand other unmentioned technical objectives through the following description.

[0008] An exemplary embodiment of the present invention provides a lane keeping control device, which may include a processor and a storage device. The processor is configured to support a lane departure mode during lane keeping control by determining the driver's intention based on the driver's steering direction and the driver's steering torque value. The storage device is configured to store data and algorithms driven by the processor.

[0009] In an exemplary embodiment, the processor may be configured to determine whether the driving path is a straight road. The processor may also be configured to determine whether the driver's lane departure intention is continuous. Furthermore, when the driver's lane departure intention is continuous, the processor may be configured to calculate an offset, which is the distance between the vehicle and a target path set to the center of the lane in which the vehicle is traveling.

[0010] When the deviation is within a predetermined range, the processor can be configured to enter a lane departure mode. When entering lane departure mode, the processor can be configured to determine whether the driver's steering torque is greater than a predetermined threshold. Furthermore, when the driver's steering torque is equal to or less than the predetermined threshold, the processor can be configured to maintain a target path centered on the lane in which the vehicle is traveling.

[0011] In an exemplary embodiment, when the driver's steering torque is greater than a predetermined threshold, the processor may be configured to calculate the difference between the driver's steering torque and the threshold. The processor may be configured to calculate a target path offset for modifying the target path by utilizing the difference between the driver's steering torque and the threshold, the time the driver maintains steering, and the difference between the target path and the vehicle's current position.

[0012] Furthermore, the processor can be configured to calculate a target path offset for modifying the target path by dividing the product of the difference between the driver's steering torque and a threshold and the time the driver maintains steering by the product of the threshold and the difference between the target path and the vehicle's current position. The processor can be configured to modify the target path by shifting the target path to the left or right by the target path offset.

[0013] Additionally, when the vehicle is traveling within a lane and on a straight road, the processor can be configured to determine whether there is a vehicle in the left or right lane within a predetermined distance ahead. In an exemplary embodiment, when there is no vehicle in the left or right lane within the predetermined distance ahead, the processor can be configured to determine that the driver's lane departure intention is continuous.

[0014] The processor can be configured to compare the speed of the vehicle closest to it among the vehicles in the left or right lane within a predetermined distance ahead with the speed of the vehicle itself.

[0015] In an exemplary implementation, when the speed of the nearest vehicle is greater than the speed of the vehicle itself, the processor may be configured to determine that the driver's lane departure intention is continuous. Furthermore, when the speed of the nearest vehicle is equal to or less than the speed of the vehicle itself, the processor may be configured to determine whether the nearest vehicle is entering the vehicle's lane in a lane departure mode.

[0016] Furthermore, when the nearest vehicle is entering its lane in a lane-departure mode, the processor can be configured to determine that the driver's lane-departure intention is temporary, and when the nearest vehicle is not entering its lane in a lane-departure mode, it can determine that the driver's lane-departure intention is continuous. In an exemplary embodiment, when the vehicle makes a lane departure to overtake a vehicle ahead or to overtake the nearest vehicle in the left or right lane, the processor can determine that the driver's lane-departure intention is temporary, thereby disabling the lane-departure mode.

[0017] An exemplary embodiment of the present invention provides a vehicle system that may include: a sensing device and a lane keeping control device, the sensing device being configured to detect lane information and forward vehicle information; the lane keeping control device being configured to support a lane departure mode during lane keeping control by determining the driver's intention based on the sensing results of the sensing device, the driver's steering direction, and the driver's steering torque value.

[0018] The present invention provides a lane keeping control method, the lane keeping control method comprising: detecting lane information and forward vehicle information; and during lane keeping control, determining the driver's intention based on lane information, the driver's steering direction, and the driver's steering torque value to support a lane departure mode.

[0019] According to this technology, unnecessary driver steering intervention can be minimized to support the lane departure pattern intended by the user by determining the driver's steering direction and torque value. Furthermore, various effects that can be directly or indirectly identified through this document can be provided. Attached Figure Description

[0020] Figure 1 A block diagram illustrating the configuration of a vehicle system including a lane-keeping control device according to an exemplary embodiment of the present invention is shown.

[0021] Figure 2 An example of an interface for describing whether a driver’s intent persists, according to an exemplary embodiment of the present invention, is shown.

[0022] Figure 3A and Figure 3B An example of an interface for changing the target path to the left is shown according to an exemplary embodiment of the present invention.

[0023] Figure 4A and Figure 4B An example of an interface for changing the target path to the right according to an exemplary embodiment of the present invention is shown.

[0024] Figure 5 A flowchart illustrating a lane keeping control process according to an exemplary embodiment of the present invention is shown.

[0025] Figure 6A and Figure 6B Examples of the interface during driver override according to an exemplary embodiment of the present invention and graphs representing torque values ​​are shown respectively.

[0026] Figure 7A and Figure 7B Examples of interfaces and graphs representing torque values ​​are shown respectively, according to exemplary embodiments of the present invention, when the target path has been modified but the target path and the driver's intended path are different from each other.

[0027] Figure 8A and Figure 8B Examples of interfaces and graphs representing torque values ​​are shown respectively, according to an exemplary embodiment of the present invention, when the target path and the driver's intended path are matched by modifying the target path.

[0028] Figure 9 A flowchart illustrating a lane keeping control method according to an exemplary embodiment of the present invention is shown.

[0029] Figure 10 A flowchart illustrating a method for determining whether a driver's intent persists according to an exemplary embodiment of the present invention is shown.

[0030] Figure 11 A computing system according to an exemplary embodiment of the present invention is shown. Detailed Implementation

[0031] In the following, some exemplary embodiments of the present invention will be described in detail with reference to the exemplary accompanying drawings. It should be noted that when adding reference numerals to the constituent elements of each figure, the same constituent elements may have the same reference numerals even if they are shown in different figures. Furthermore, in describing exemplary embodiments of the present invention, detailed descriptions of related known configurations or functions will be omitted when it is determined that such detailed descriptions would hinder understanding of the embodiments of the present invention.

[0032] It should be understood that the term “vehicle” or “of a vehicle” or other similar terms as used herein generally include motor vehicles, such as passenger vehicles including sport utility vehicles (SUVs), buses, trucks, and various commercial vehicles, including various boats, ships, aircraft, etc., and includes hybrid vehicles, electric vehicles, internal combustion engine vehicles, hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from non-fossil energy sources).

[0033] While the exemplary embodiments are described as using multiple units to perform the exemplary process, it should be understood that the exemplary process may also be performed by one or more modules. Furthermore, it should be understood that the term controller / control unit refers to a hardware device that includes a memory and a processor and is specifically programmed to perform the processes described herein. The memory is configured to store modules, and the processor is specifically configured to run said modules to perform one or more processes further described below.

[0034] Furthermore, the control logic of the present invention can be implemented as a non-volatile computer-readable medium on a computer-readable medium, comprising executable program instructions that are executed by a processor, controller / control unit, etc. Examples of computer-readable media include, but are not limited to, ROM, RAM, optical disc (CD)-ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer-readable recording medium can also be distributed across a network-connected computer system, such that the computer-readable medium is stored and executed in a distributed manner, for example, via a telematics server or a controller area network (CAN).

[0035] Unless otherwise stated or obvious from the context, the term "approximately" as used herein is understood to mean within the normal tolerance range in the field, such as within the standard deviation of two means. "Approximately" can be understood as within 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%, 0.5%, 0.1%, 0.05%, or 0.01% of the specified value. Unless the context clearly indicates otherwise, all numerical values ​​provided herein are modified by the term "approximately".

[0036] In describing the constituent elements of exemplary embodiments of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are used only to distinguish constituent elements from other constituent elements and do not limit the nature, order, or sequence of the constituent elements. Furthermore, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains (those skilled in the art), unless otherwise defined. Terms defined in common dictionaries should be interpreted as having the meaning consistent with their meaning in the context of the relevant field and should not be interpreted as having an idealized or overly formal meaning unless expressly defined in this specification.

[0037] In the following text, reference will be made to Figures 1 to 11 Exemplary embodiments of the present invention will be described in detail below. Figure 1 A block diagram illustrating the configuration of a vehicle system including a lane-keeping control device 100 according to an exemplary embodiment of the present invention is shown.

[0038] refer to Figure 1A vehicle system according to an exemplary embodiment of the present invention may include a lane keeping control device 100, a sensing device 200, a steering control device 300, a braking control device 400, and an engine control device 500.

[0039] The lane keeping control device 100 according to an exemplary embodiment of the present invention can be implemented inside a vehicle. Specifically, the lane keeping control device 100 can be integrally formed with the vehicle's internal control unit, or it can be implemented as a separate device connected to the vehicle's control unit via a separate connection device. During lane keeping control, the lane keeping control device 100 can support lane departure modes by determining the driver's intention based on the driver's steering direction and the driver's steering torque value. The lane keeping control device 100 of the present invention can be applied to a lane following assist (LFA) system.

[0040] refer to Figure 1 The lane keeping control device 100 may include a communication device 110, a storage device 120, a display device 130, and a processor 140. The communication device 110 is a hardware device that utilizes various electronic circuits to send and receive signals via wireless or wired connections, and can send and receive information based on in-vehicle devices and in-vehicle network communication technologies. For example, in-vehicle network communication technologies may include controller area network (CAN) communication, local internet (LIN) communication, flex-ray communication, etc.

[0041] Furthermore, the communication device 110 can be configured to perform communication via wireless internet access or short-range communication technologies, such as through a server, infrastructure, or a third vehicle outside the vehicle. Here, wireless communication technologies can include wireless local area networks (WLAN), Wibro, Wi-Fi, and Global Microwave Access Interoperability (WiMAX). Additionally, short-range communication technologies can include Bluetooth, ZigBee, ultra-wideband (UWB), radio frequency identification (RFID), and the Infrared Data Association (IrDA).

[0042] For example, communication device 110 may be configured to share data by communicating with inter-vehicle devices such as sensing device 200. Specifically, the data may include forward image data, the speed of obstacles ahead (e.g., vehicles), their position in the lane, etc. Storage device 120 may be configured to store sensing results from sensing device 200, as well as data and / or algorithms required for processor 140 to run.

[0043] For example, storage device 120 may be configured to store information related to obstacles ahead (e.g., vehicles ahead sensed by sensing device 200). Storage device 120 may include at least one type of storage medium such as flash memory, hard disk memory, micro-memory, card-type memory (e.g., security digital (SD) card or extreme digital (XD) card), random access memory (RAM), static RAM (SRAM), read-only memory (ROM), programmable ROM (PROM), electrically erasable PROM (EEPROM), magnetic RAM (MRAM), magnetic disk, and optical disk.

[0044] Display device 130 may include input devices for receiving control commands from the user and output devices for outputting the operating status and results of device 100. Here, input devices may include buttons, and may include a mouse, joystick, rotary knob, stylus, etc. Furthermore, input devices may include soft keys implemented on the display. Display device 130 may be implemented as a head-up display (HUD), instrument cluster, audio-visual navigation (AVN), human-machine interface (HM), or user-selectable menu (USM).

[0045] The output device may include a display, or a voice output device such as a speaker. Specifically, when a touch sensor formed by a touch film, touch sheet, or touchpad is disposed on the display, the display can operate as a touch screen and can be implemented in a form that integrates input and output devices. In this invention, the output device can display the target path, the changed target path, the start of lane keeping control, the end of lane keeping control, etc. Specifically, the display may include at least one of a liquid crystal display (LCD), a thin-film transistor liquid crystal display (TFT LCD), an organic light-emitting diode display (OLED display), a flexible display, a field emission display (FED), and a 3D display.

[0046] The processor 140 can be electrically connected to the communication device 110, storage device 120, display device 130, etc., and can electrically control the various components. It can also be an electronic circuit that executes software instructions to perform the various data processing and calculations described below. The processor 140 can be configured to process signals transmitted between the constituent elements of the lane-keeping control device 100. For example, the processor 140 can be an electronic control unit (ECU), a microcontroller unit (MCU), or other sub-controllers installed in the vehicle.

[0047] During lane keeping control, processor 140 can support lane departure mode by determining whether the driver's intention is continuous based on the driver's steering direction and the driver's steering torque value. Processor 140 can be configured to determine whether the driving road is a straight road and whether the driver's lane departure intention is continuous.

[0048] When the vehicle is traveling in a lane and on a straight road, the processor 140 can be configured to determine whether there is a vehicle in the left or right lane within a predetermined distance ahead. When the vehicle is traveling on a road without lane markings or on a curved road, for safety reasons, the processor 140 may not support lane departure mode. When there are no vehicles in the left or right lanes within a predetermined distance ahead, the processor 140 can be configured to determine that the driver's lane departure intention is continuous. Specifically, the predetermined distance can be predetermined by experimental values. Additionally, when there are vehicles in the left or right lane within a predetermined distance ahead and the vehicle needs to overtake, it is determined that the driver temporarily wishes to deviate from the lane to overtake.

[0049] When a vehicle is present or appears in the left or right lane within a predetermined distance ahead, processor 140 can be configured to compare the speed of the nearest vehicle among the vehicles in the left or right lane within the predetermined distance ahead with the speed of the vehicle itself. When the speed of the nearest vehicle is greater than the speed of the vehicle itself, processor 140 can be configured to determine that the driver's lane departure intention is continuous. When the speed of the nearest vehicle is equal to or less than the speed of the vehicle itself, processor 140 can be configured to determine whether the nearest vehicle is entering the vehicle's lane in a lane departure mode.

[0050] When the nearest vehicle is entering the vehicle's lane in lane departure mode, the processor 140 can be configured to determine that the driver's lane departure intention is temporary, and when the nearest vehicle is not entering the vehicle's lane in lane departure mode, the processor 140 can determine that the driver's lane departure intention is continuous. Figure 2 An example of an interface for describing whether a driver's intention persists, according to an exemplary embodiment of the present invention, is shown. (Reference) Figure 2For example, when vehicle 10 is traveling at approximately 50 kph and vehicle 20 to its left is traveling at approximately 40 kph or is approaching vehicle 10 in a lane-departure mode, lane keeping control 100 can be configured to determine that the driver of vehicle 10 intends to temporarily travel in a lane-departure mode. When vehicle 30 traveling in the right lane of vehicle 10 is traveling at approximately 40 kph (less than the speed of vehicle 10) and vehicle 30 is not approaching vehicle 10 or vehicle 10 in a lane-departure mode, lane keeping control 100 can be configured to determine that the driver of vehicle 10 continuously intends to deviate from the lane.

[0051] Therefore, when the vehicle veers into a lane to overtake a vehicle ahead or the closest vehicle in the left or right lane, the processor 140 can determine that the driver's lane-vehicle intention is temporary and therefore does not support a lane-vehicle vehicular mode. When the road is straight and the driver's intention is continuous, the processor 140 can be configured to calculate an offset, which is the distance between the target path set to the lane center of the lane the vehicle is traveling on and the vehicle. When the offset is within a predetermined range, the processor 140 can be configured to enter a lane-vehicle vehicular mode.

[0052] When entering lane departure mode, processor 140 can be configured to determine whether the driver's steering torque is greater than a predetermined threshold. Specifically, this threshold can be predetermined through experimental values. When the driver's steering torque is equal to or less than the predetermined threshold, processor 140 can be configured to maintain the target path C0, which is set to the center of the lane in which the vehicle is traveling. When the driver's steering torque is greater than the predetermined threshold, processor 140 can be configured to calculate the difference between the driver's steering torque and the threshold (Tq - threshold).

[0053] As shown in Equation 1 below, processor 140 can be configured to calculate a target path offset for modifying the target path by utilizing the difference between the driver's steering torque and a threshold, the time the driver maintains steering, and the difference between the target path and the current position of the vehicle.

[0054] Equation 1

[0055] Target path offset (Tq offset) = (Tq - threshold) * Ts (time) / threshold * (C1 - C0)

[0056] As in Equation 1, processor 140 can be configured to calculate a target path offset for modifying the target path by dividing the product of the difference between the driver's steering torque and a threshold and the time the driver holds the steering by the product of the threshold and the difference between the target path and the current position of the vehicle.

[0057] The processor 140 can be configured to modify the target path by shifting the target path offset to the left or right. Figure 3A and Figure 3B An example of an interface for changing the target path to the left, according to an exemplary embodiment of the present invention, is shown. Figure 4A and Figure 4B An example of an interface for changing the target path to the right according to an exemplary embodiment of the present invention is shown.

[0058] refer to Figure 3A The lane keeping control device 100 can be configured to set the center road within the lane as the target path C0 during the initial phase of lane keeping control. Then, when driver steering intervention occurs, i.e., when the driver attempts to change the target path C0 to the left, the lane keeping control device 100 moves the target path C0 to the left by M0 to set a new target path C1. Specifically, the target path C1 is a path biased to the left, rather than the center of the lane. (See reference...) Figure 3B It can be seen that by... Figure 3A The modified target path C1 is then moved to the left to set a new target path C2.

[0059] refer to Figure 4A The lane keeping control device 100 can be configured to set the center road within the lane as the target path C0 during the initial phase of lane keeping control. Then, when driver steering intervention occurs—that is, when the driver attempts to change the target path C0 to the right—the lane keeping control device 100 moves the target path C0 to the right to set a new target path C1. Specifically, the target path C1 is a path biased towards the right side of the lane, rather than the center of the lane. (See reference...) Figure 4B It can be seen that by... Figure 4A The modified target path C1 is then moved to the right again to set a new target path C2.

[0060] The sensing device 200 may include one or more sensors that sense obstacles (e.g., a vehicle in front) located around the vehicle and measure the distance and / or relative speed to the obstacles. The sensing device 200 may also include multiple sensors that sense external objects around the vehicle to obtain information about the position, speed, direction of movement, and / or type of the external object (e.g., vehicle, pedestrian, bicycle, or motorcycle). Therefore, the sensing device 200 may include a camera, ultrasonic sensor, radar, laser scanner and / or angle radar, lidar, acceleration sensor, yaw rate sensor, torque measurement sensor and / or wheel speed sensor, steering angle sensor, etc. In this invention, a front-facing camera may be used to capture images of the area ahead, which are then provided to the processor 140. Therefore, the processor 140 may be configured to acquire lane information, the position information of vehicles ahead in the lane, etc., from the image data obtained by capturing images of the area ahead.

[0061] The steering control device 300 can be configured to adjust the steering angle of the vehicle and may include a steering wheel, an actuator linked to the steering wheel, and a controller for controlling the actuator. The braking control device 400 can be configured to adjust the braking of the vehicle and may include a controller configured to operate the brakes. The engine control device 500 can be configured to control the engine drive of the vehicle and may include a controller configured to adjust the speed of the vehicle.

[0062] Figure 5 A flowchart illustrating a lane-keeping control process according to an exemplary embodiment of the present invention is shown. (Reference) Figure 5 The lane keeping control device 100 can be configured to calculate a target path based on image data acquired via a front-facing camera and determine the driver's intent. In other words, the lane keeping control device 100 can be configured to determine whether the driver intends to continue lane departure or to determine the intent of the surrounding situation (e.g., overtaking by a vehicle ahead, lane departure by a vehicle ahead, etc.).

[0063] In response to determining that the driver has a persistent intention to deviate from the lane, the lane keeping control device 100 moves and modifies the target path to the right or left based on the driver's steering torque and steering direction. Therefore, the lane keeping control device 100 can minimize driver steering intervention by controlling vehicle movement according to the modified target path.

[0064] Figure 6A and Figure 6B Examples of the interface during driver overdrive according to an exemplary embodiment of the present invention and graphs representing torque values ​​are shown respectively. Reference Figure 6A The target path 501 of the lane keeping control device 100 is different from the target path 503 of the driver steering control, and references Figure 6BIt can be seen that there is a large difference between the driver's steering torque and the LFA's steering torque.

[0065] Figure 7A and Figure 7B Examples of interfaces and graphs representing torque values ​​are shown respectively, according to exemplary embodiments of the present invention, when the target path has been modified but the target path and the driver's intended path are different from each other. Reference Figure 7A When the lane keeping control device 100 begins to modify the target path 501, the target path is modified to path 502, which is closer to the target path 503 that the driver is turning towards, and references... Figure 7B It can be seen that the difference between the driver's steering torque and the LFA's steering torque is less than... Figure 6B The difference between the steering torque of the tachometer and the steering torque of the LFA.

[0066] Figure 8A and Figure 8B Examples of interfaces and graphs representing torque values ​​are shown respectively, according to an exemplary embodiment of the present invention, when the target path and the driver's intended path are matched by modifying the target path. (Reference) Figure 8A When the modification of the target path 501 by the lane keeping control device 100 is completed, the driver's steering target path 503 coincides with the target path 501. (Reference) Figure 8B As can be seen, the driver's steering torque matches the LFA's steering torque.

[0067] Therefore, in the case of conventional lane keeping control devices, after creating the center road within the lane as the target path, the driver only follows the center road without considering the driver's characteristics, which often leads to driver intervention in lateral steering. However, according to the present invention, the frequent lateral steering intervention can be minimized by supporting the lane departure pattern that supports the driver's intention and reflecting the driver's intention, thereby performing stable lane keeping control.

[0068] In the following text, reference will be made to Figure 9 and Figure 10 A lane keeping control method according to an exemplary embodiment of the present invention is described in detail. Figure 9 A flowchart illustrating a lane keeping control method according to an exemplary embodiment of the present invention is shown. Figure 10 A flowchart illustrating a method for determining whether a driver’s lane departure intention continues according to an exemplary embodiment of the present invention is shown.

[0069] In the following text, it is assumed that... Figure 1 Lane keeping control device 100 performs Figure 9 and Figure 10 The process. Additionally, in Figure 9 and Figure 10In the description, the operations described as being performed by the device can be understood as being controlled by the processor 140 of the lane keeping control device 100 of the vehicle.

[0070] Reference Figure 9 , the lane keeping control device 100 starts lane following assist (LFA), and can be configured to determine whether the driving road is a straight section, and determine whether the driver's lane deviation intention is continuous (S100). Subsequently, reference Figure 10 A method for determining whether the driving road is a straight section and determining whether the driver's intention is continuous will be described in detail.

[0071] When the driving road is a straight section and the driver's intention is continuous, the lane keeping control device 100 can be configured to obtain lane information by using a front camera (S200). In other words, the lane keeping control device 100 can be configured to extract lane information from the image data in front captured by the front camera. The lane keeping control device 100 can be configured to identify or detect two lane lines from the lane information obtained by the front camera, obtain the center of the lane according to the lane lines, and set the center of the lane as the target path. Next, the lane keeping control device 100 can be configured to calculate the vehicle offset C1 - C0, which is the difference between the current vehicle position and the center of the lane (target path) (S300).

[0072] The lane keeping control device 100 can be configured to determine whether the vehicle offset from the target path satisfies a predetermined range (-Am < vehicle offset < Am) (S400). Specifically, when the vehicle offset is outside the predetermined range, the lane keeping control device 100 does not support the lane deviation mode, but when the vehicle offset is within the predetermined range, the lane keeping control device 100 supports the lane deviation mode. For example, A can be 1.0.

[0073] Next, when the predetermined range is satisfied, the lane keeping control device 100 can be configured to determine whether the driver's steering torque Tq exceeds a threshold value (S500). When the driver's steering torque exceeds the threshold value, the lane keeping control device 100 can be configured to calculate the torque value exceeding the threshold value (Tq - threshold value) (S600), and calculate the target path offset by using the torque value exceeding the threshold value (Tq - threshold value) to reflect the target path to be moved by the target path offset (S700). Specifically, the lane keeping control device 100 does not directly move to the driver's intended path C1 through driver steering control, but gradually moves the target path C0 as shown in Equation 1.

[0074] When the steering torque of the target path is greater than a threshold (Tq > threshold), the lane keeping control device 100 can be configured to calculate the target path deviation according to Equation 1 above. In other words, the lane keeping control device 100 can be configured to calculate the target path deviation (Tq deviation) by dividing the product of the torque value exceeding the threshold (Tq - threshold) and the time spent Ts by the product of the threshold and the difference between the target path C0 and the driver's intended path C1 (C1 - C0).

[0075] The lane keeping control device 100 can move the target path by the target path offset calculated in Equation 1. Therefore, the lane keeping control device 100 can minimize driver steering intervention by changing the target path offset (S800). On the other hand, when the steering torque to the driver is less than or equal to a threshold (Tq≦threshold), the target path offset remains at the previous value to maintain the existing path without changing the target path (S900). Therefore, by continuously changing the target path on a straight road, a target path reflecting the driver's intention can be generated to minimize driver steering intervention.

[0076] In the following text, reference will be made to Figure 10 Describe the lane keeping control device 100. Figure 9 Step S100 is the process of determining whether the driver's intention continues. The lane keeping control device 100 can be configured to determine whether the vehicle is currently traveling within the lane (S101). When the vehicle is currently traveling within the lane, the lane keeping control device 100 can be configured to determine whether the vehicle is currently traveling on a straight road (S102).

[0077] When the vehicle is not traveling within the lane or the road is not straight, the lane keeping control device 100 can be configured to determine that the driver's lane departure intention is temporary (S107). In other words, the lane keeping control device 100 can be configured to determine that the driver temporarily desires lane departure but does not want continuous lane departure. In this invention, it is determined whether the driver continuously desires lane departure, and when the driver continuously desires lane departure, lane departure is supported.

[0078] When a vehicle is traveling on a straight road, the lane keeping control device 100 can be configured to determine whether there is a vehicle in the left or right lane within a predetermined distance (e.g., 30m) ahead (S103). Specifically, the lane keeping control device 100 can be configured to determine whether there is a vehicle ahead based on the sensing results of the sensing device 200. When there are no vehicles in the left and right lanes within the predetermined distance ahead, the lane keeping control device 100 can be configured to determine that the driver's lane departure intention is continuous (S106). In other words, when there are no vehicles in the left and right lanes ahead, the lane keeping control device 100 can be configured to determine that the driver continuously desires lane departure rather than temporary lane departure to overtake the vehicle ahead.

[0079] When a vehicle is present in the left or right lane within a predetermined distance ahead, the lane keeping control device 100 can be configured to determine whether the speed of the vehicle traveling at the closest distance (closest point) in the left or right lane within the predetermined distance ahead is higher than the speed of the vehicle itself (S104). When the speed of the vehicle traveling at the closest distance (closest point) is higher than the speed of the vehicle itself, the lane keeping control device 100 can be configured to determine that the driver's lane departure intention is continuous (S106).

[0080] In response to determining that the speed of the nearest vehicle is less than or equal to the speed of the current vehicle, the lane keeping control device 100 may be configured to determine whether the nearest vehicle is entering the current vehicle's lane in a lane departure mode (S105). When the nearest vehicle is not entering the current vehicle's lane in a lane departure mode, the lane keeping control device 100 may be configured to determine that the driver's lane departure intention is continuous (S106).

[0081] On the other hand, when the nearest vehicle is entering the lane in a lane-departure mode, the lane-keeping control device 100 can be configured to determine that the driver's lane-departure intention is temporary (S107). Therefore, the lane-keeping control device 100 can be configured to detect when the driver temporarily wishes to deviate from the lane to overtake the vehicle in front, and when the driver temporarily wishes to deviate from the lane, the lane-departure mode may not be supported.

[0082] Figure 11 A computing system according to an exemplary embodiment of the present invention is shown. (Reference) Figure 11 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, and a storage device 1600, as well as a network interface 1700, all connected via a bus 1200.

[0083] Processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in memory 1300 and / or storage device 1600. Memory 1300 and storage device 1600 may include various types of volatile or non-volatile storage media. For example, memory 1300 may include read-only memory (ROM) 1310 and random access memory (RAM) 1320.

[0084] Therefore, the steps of the methods or algorithms described in conjunction with the exemplary embodiments disclosed herein can be directly implemented by hardware, software modules, or a combination of both executed by processor 1100. The software modules can reside in storage media (i.e., memory 1300 and / or storage device 1600), such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, and CD-ROMs.

[0085] An exemplary storage medium can be coupled to processor 1100, enabling the processor to read information from or write information to the storage medium. Alternatively, the storage medium can be integrated with processor 1100. The processor and storage medium can reside in an application-specific integrated circuit (ASIC). The ASIC can reside within the user terminal. Alternatively, the processor and storage medium can reside as separate components within the user terminal.

[0086] The above description is merely an illustration of the technical concept of the present invention. Those skilled in the art can make various modifications and changes without departing from the essential characteristics of the present invention. Therefore, the exemplary embodiments disclosed in this invention are intended to explain the technical concept of the invention, not to limit it, and the scope of the technical concept of the invention is not limited by the exemplary embodiments. The scope of protection of this invention should be interpreted by the appended claims, and all technical concepts falling within the equivalent scope of the claims should be interpreted as being included within the scope of protection of this invention.

Claims

1. A lane keeping control device, comprising: The processor is configured to support lane departure mode during lane keeping control by determining the driver's intent based on the driver's steering direction and the driver's steering torque value. as well as Storage devices configured to store processor-driven data and algorithms. The lane departure mode is a mode that causes the vehicle to respond to the driver's lane departure intention by driving away from the center of the lane. The processor is configured as follows: Determine whether the driver's lane departure intention is continuous; Lane deviance mode is not supported when it is determined that the driver's lane deviance intention is temporary. When it is determined that the driver's lane departure intention is continuous, determine whether to enter lane departure mode.

2. The lane keeping control device according to claim 1, wherein, The processor is configured to determine whether the driving route is a straight road.

3. The lane keeping control device according to claim 1, wherein, When the driver's lane departure intention persists, the processor is configured to calculate an offset, which is the distance between the target path and the vehicle, the target path being set as the center of the lane in which the vehicle is traveling.

4. The lane keeping control device according to claim 3, wherein, When the offset is within a predetermined range, the processor is configured to enter lane departure mode.

5. The lane keeping control device according to claim 4, wherein, When entering lane departure mode, the processor is configured to determine whether the driver's steering torque is greater than a predetermined threshold.

6. The lane keeping control device according to claim 5, wherein, When the driver's steering torque is equal to or less than a predetermined threshold, the processor is configured to maintain a target path centered on the lane in which the vehicle is traveling.

7. The lane keeping control device according to claim 5, wherein, When the driver's steering torque is greater than a predetermined threshold, the processor is configured to calculate the difference between the driver's steering torque and the threshold.

8. The lane keeping control device according to claim 7, wherein, The processor is configured to calculate a target path offset for modifying the target path by utilizing the difference between the driver's steering torque and the threshold, the time the driver maintains steering, and the difference between the target path and the vehicle's current position.

9. The lane keeping control device according to claim 8, wherein, The processor is configured to modify the target path by shifting the target path offset to the left or right.

10. The lane keeping control device according to claim 1, wherein, When the vehicle is traveling in a lane and on a straight road, the processor is configured to determine whether there is a vehicle in the left or right lane within a predetermined distance ahead.

11. The lane keeping control device according to claim 10, wherein, When there are no vehicles in the left and right lanes within a predetermined distance ahead, the processor is configured to determine that the driver's lane departure intention is continuous.

12. The lane keeping control device according to claim 11, wherein, When there is a vehicle in the left or right lane within a predetermined distance ahead, the processor is configured to compare the speed of the vehicle closest to the vehicle in the left or right lane within the predetermined distance ahead with the speed of the vehicle itself.

13. The lane keeping control device according to claim 12, wherein, When the speed of the nearest vehicle is greater than the speed of the vehicle, the processor is configured to determine that the driver's lane departure intention is continuous.

14. The lane keeping control device according to claim 12, wherein, When the speed of the nearest vehicle is equal to or less than the speed of the vehicle, the processor is configured to determine whether the nearest vehicle is entering the vehicle's lane in a lane departure mode.

15. The lane keeping control device according to claim 14, wherein, The processor is configured as follows: When the nearest vehicle is entering the vehicle's lane in a lane-departure pattern, it is determined that the driver's lane-departure intention is temporary. When the nearest vehicle does not enter the lane of this vehicle in a lane departure pattern, it is determined that the driver's lane departure intention is continuous.

16. The lane keeping control device according to claim 1, wherein, When the vehicle makes a lane departure to overtake a vehicle in front or to overtake the nearest vehicle in the left or right lane, the processor determines that the driver's lane departure intention is temporary.

17. A vehicle system comprising The sensing device is configured to detect lane information and information about vehicles ahead; as well as The lane keeping control device is configured to support lane departure mode during lane keeping control by determining the driver's intention based on the driver's steering direction and the driver's steering torque value, using the sensing results of the sensing device. The lane departure mode is a mode that causes the vehicle to respond to the driver's lane departure intention by driving away from the center of the lane. The lane keeping control device is configured as follows: Determine whether the driver's lane departure intention is continuous; Lane deviance mode is not supported when it is determined that the driver's lane deviance intention is temporary. When it is determined that the driver's lane departure intention is continuous, determine whether to enter lane departure mode.

18. A lane keeping control method, comprising: The controller detects lane information and information about vehicles ahead; During lane keeping control, the controller determines the driver's intent based on lane information, the driver's steering direction, and the driver's steering torque value to support the lane departure mode. The lane departure mode is a mode that causes the vehicle to respond to the driver's lane departure intention by driving away from the center of the lane. Lane departure modes supported include: The controller determines whether the driver's lane departure intention is continuous; When it is determined that the driver's lane departure intention is temporary, the controller determines that lane departure mode is not supported. When the driver's lane departure intention is determined to be continuous, the controller determines whether to enter lane departure mode.

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