Apparatus for assisting travel of a vehicle and method thereof

Abstract

The present invention relates to an apparatus for assisting driving of a vehicle and a method thereof. The apparatus for assisting driving of a vehicle includes a camera provided to the vehicle, having a front field of view of the vehicle, and obtaining image data, and a controller processing the image data. The controller identifies a surrounding object of the vehicle and a lane line defining a lane in which the vehicle is driving, based on processing of the image data. The controller identifies the lane in which the vehicle is driving, based on a relative position of the surrounding object. The controller controls the vehicle to change lanes, based on a distance to an additional lane for the vehicle to exit a road on which the vehicle is driving.

Description

Technical Field

[0001] The disclosed invention relates to devices for assisting the driving of a vehicle, and more specifically, to devices and methods for assisting the driving of a vehicle in leaving and entering a road. Background Technology

[0002] In modern society, vehicles are the most common means of transportation, and the number of people using them is gradually increasing. With the development of vehicle technology, although they have advantages such as easy long-distance travel and convenience, in densely populated areas like South Korea, severe traffic congestion and deteriorating road conditions are common problems.

[0003] In recent years, in order to reduce the burden on drivers and increase convenience, there has been active research on vehicles equipped with Advanced Driver Assist Systems (ADAS) that can proactively provide information related to vehicle status, driver status and the surrounding environment.

[0004] Examples of advanced driver assistance systems (ADAS) installed in vehicles include Forward Collision Avoidance (FCA), Autonomous Emergency Braking (AEB), and Driver Attention Warning (DAW). Such systems assess the risk of collision with an object while the vehicle is in motion, and if a collision is imminent, they avoid it by applying emergency braking and provide a warning.

[0005] However, previous driver assistance systems could not assist drivers in entering or exiting highways, so drivers had to rely solely on the vehicle's navigation information to navigate. As a result, vehicles frequently missed highway entrances or exits. Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] In view of this, one aspect of the disclosed invention provides a device and method for assisting a vehicle in driving off and onto a road.

[0008] One aspect of the disclosed invention provides a device and method for guiding lane changes based on a navigation path, thereby assisting in the driving of an auxiliary vehicle that leaves and enters a road.

[0009] Methods for solving problems

[0010] A side-mounted assistive device for driving a vehicle, disclosed in the invention, includes: a camera disposed on the vehicle, having a forward view of the vehicle and acquiring image data; and a controller that processes the image data. Based on the processing of the image data, the controller identifies surrounding objects of the vehicle and lane lines defining the lane in which the vehicle is traveling. Based on the relative positions of the surrounding objects, the controller identifies the lane in which the vehicle is traveling. Based on the distance to an additional lane, the controller controls the vehicle to change lanes, the additional lane being used by the vehicle to enter an exit lane from the currently traveling road.

[0011] A method for assisting a vehicle in driving from one side of the disclosed invention includes: acquiring image data via a camera installed on the vehicle and having a forward view of the vehicle; identifying surrounding objects of the vehicle and lane lines defining the lane in which the vehicle is traveling by a processor based on processing the image data; identifying the lane in which the vehicle is traveling by the processor based on the relative positions of the surrounding objects; and controlling the vehicle by the processor based on the distance to an additional lane, so that the vehicle changes lanes, the additional lane being used by the vehicle to enter an exit road from the road it is traveling on.

[0012] Invention Effects

[0013] According to one aspect of the disclosed invention, there is a device and method for assisting a vehicle in driving off and onto a road.

[0014] According to one aspect of the disclosed invention, a device and method for guiding lane changes based on a navigation path, thereby assisting in the driving of an auxiliary vehicle that leaves and enters a road. Attached Figure Description

[0015] Figure 1 The structure of a vehicle and driver assistance device according to one embodiment is shown.

[0016] Figure 2 The field of view of the camera and radar included in one embodiment of the driver assistance device is shown.

[0017] Figure 3 A software module of a controller included in a driver assistance device in one embodiment is shown.

[0018] Figure 4 An example of a driver assistance device in one embodiment is shown to identify the lane in which the vehicle is traveling.

[0019] Figure 5An example of a method for evaluating the reliability of a lane identified as the lane in which a driver assistance device is traveling is shown in one embodiment.

[0020] Figure 6 An example of a method by which a driver assistance device guides a vehicle to an exit road is shown in one embodiment.

[0021] Figure 7 An example of a path generated by a driver assistance device in one embodiment for changing the vehicle's lane is shown.

[0022] Figure 8 An example of a path generated by a driver assistance device in one embodiment for changing the vehicle's lane is shown. Detailed Implementation

[0023] Throughout this specification, the same symbols denote the same constituent elements. This specification does not describe all the elements of the embodiments; descriptions of general content in the technical field to which the disclosed invention pertains or content repeated between embodiments are omitted. Terms such as 'part, module, component, block' used in the specification can be implemented in software or hardware. According to embodiments, multiple 'parts, modules, components, blocks' are implemented by one constituent element, or a 'part, module, component, block' includes multiple constituent elements.

[0024] Throughout the instruction manual, when referring to a part as being "connected" to other parts, this includes not only direct connections but also indirect connections, including connections via wireless communication networks.

[0025] Furthermore, when it is mentioned that a certain part "includes" a certain element, it does not exclude other elements unless otherwise stated, and indicates that other elements may also be included.

[0026] Throughout the instruction manual, when referring to a component as being "on" another component, this includes not only cases where one component is connected to another component, but also cases where there are other components between the two components.

[0027] The terms "first" and "second" are used to distinguish one element from other elements of a constitution, and these terms do not limit the elements of a constitution.

[0028] Unless explicitly excluded in the text, singular expressions can also mean plural.

[0029] The numbers in each step are for ease of explanation and do not indicate the order of the steps. If a specific order is not explicitly stated in the text, the steps may be performed in a different order than that stated.

[0030] The working principle and embodiments of the disclosed invention will now be described with reference to the accompanying drawings.

[0031] Figure 1 The structure of a vehicle according to one embodiment is shown.

[0032] like Figure 1 As shown, vehicle 1 includes a navigation device 10, a drive device 20, a braking device 30, a steering device 40, and a driver assistance device 100. These components can communicate with each other via a vehicle communication network (NT). For example, the electrical devices 10, 20, 30, 40, and 100 included in vehicle 1 transmit and receive data via Ethernet, Media Oriented Systems Transport (MOST), Flexray, Controller Area Network (CAN), Local Interconnect Network (LIN), etc.

[0033] The navigation device 10 generates a route to the destination input by the driver and provides the generated route to the driver. The navigation device 10 receives GNSS signals via the Global Navigation Satellite System (GNSS) and identifies the position of the vehicle 1 based on the GNSS signals. The navigation device 10 generates the route to the destination based on the location (coordinates) of the destination input by the driver and the current location (coordinates) of the vehicle 1.

[0034] The navigation device 10 provides map data and the vehicle 1's location data to the driver assistance device 100. Additionally, the navigation device 10 provides information related to the route to the destination to the driver assistance device 100. For example, the navigation device 10 provides information such as the distance to an entrance road for the vehicle 1 to enter a new road or the distance to an exit road for the vehicle 1 to leave the currently traveling road.

[0035] The drive unit 20 moves the vehicle 1, and includes, for example, an engine, an engine management system (EMS), a transmission, and a transmission control unit (TCU).

[0036] The engine generates power to drive the vehicle 1, and the engine management system controls the engine in response to the driver's acceleration intention expressed through the accelerator pedal or the request of the driver assistance device 100.

[0037] The transmission decelerates the power generated by the engine and transmits it to the wheels. The transmission control unit controls the transmission in response to the driver's shift commands based on the gear lever and / or requests from the driver assistance device 100.

[0038] The braking device 30 stops the vehicle 1, and includes, for example, a brake caliper and a brake control module (EBCM).

[0039] The brake caliper uses friction between itself and the brake disc to slow down or stop the vehicle 1. The electronic brake control module controls the brake caliper in response to the driver's braking intention based on the brake pedal and / or the request of the driver assistance device 100.

[0040] For example, the electronic brake control module receives a deceleration request, including a deceleration rate, from the driver assistance device 100, and electrically or hydraulically controls the brake calipers according to the requested deceleration rate to decelerate the vehicle 1.

[0041] The steering system 40 includes an electric power steering control module (EPS).

[0042] The steering device 40 can change the driving direction of the vehicle 1. The electronic steering control module responds to the driver's steering intentions based on the steering wheel and assists the steering device 40 in its operation, making it easier for the driver to operate the steering wheel. Additionally, the electronic steering control module responds to requests from the driver assistance device 100 and controls the steering device accordingly. For example, the electronic steering control module receives a steering request including steering torque from the driver assistance device 100 and controls the steering device based on the requested steering torque to steer the vehicle 1.

[0043] The driver assistance device 100 can provide the driver with various functions. For example, the driver assistance device 100 can provide Lane Departure Warning (LDW), Lane Keeping Assist (LKA), High Beam Assist (HBA), Autonomous Emergency Braking (AEB), Traffic Sign Recognition (TSR), Adaptive Cruise Control (ACC), and Blind Spot Detection (BSD).

[0044] The driver assistance device 100 includes a camera 110, a radar 120, and a controller 140. The driver assistance device 100 is not limited to... Figure 1 The scenario shown may also include radar (lidar) that scans the vicinity of vehicle 1 to sense objects.

[0045] like Figure 2 As shown, camera 110 has a field of view 110a facing forward of vehicle 1. Camera 110 is installed, for example, on the windshield of vehicle 1.

[0046] Camera 110 captures images of the area in front of vehicle 1, obtaining image data of the area in front of vehicle 1. The image data of the area in front of vehicle 1 includes information related to other vehicles, pedestrians, cyclists, or lane markings (markers that separate lanes) located in front of vehicle 1.

[0047] The camera 110 includes multiple lenses and an image sensor. The image sensor includes multiple photodiodes that convert light into electrical signals, and the multiple photodiodes are arranged in a two-dimensional matrix.

[0048] Camera 110 is electrically connected to controller 140. For example, camera 110 is connected to controller 140 via a vehicle communication network (NT), a hard wire, or a printed circuit board (PCB). Camera 110 transmits image data of the area in front of vehicle 1 to controller 140.

[0049] like Figure 2 As shown, the radar 120 has a sensing field 120a facing forward of the vehicle 1. The radar 120 is installed, for example, on the grille or bumper of the vehicle 1.

[0050] Radar 120 includes a transmitting antenna (or transmitting antenna array) that transmits radio waves toward the front of vehicle 1 and a receiving antenna (or receiving antenna array) that receives reflected radio waves reflected from an object. Radar 120 obtains sensing data from the transmitted radio waves transmitted through the transmitting antenna and the reflected radio waves received through the receiving antenna. The sensing data includes distance information and speed levels relative to other vehicles, pedestrians, or cyclists located in front of vehicle 1. Radar 120 calculates the state distance to the object based on the phase difference (or time difference) between the transmitted and reflected radio waves, and calculates the relative speed of the object based on the frequency difference between the transmitted and reflected radio waves.

[0051] Radar 120 is connected to controller 140, for example, via a vehicle communication network (NT) or by hardwire or printed circuit board. Radar 120 transmits sensed data to controller 140.

[0052] The controller 140 can be referred to by various names such as ECU (Electronic Control Unit) or DCU (Domain Control Unit).

[0053] The controller 140 is electrically connected to the camera 110 and the radar 120. In addition, the controller 140 is connected to the navigation device 10, the drive device 20, the braking device 30 and the steering device 40 via a vehicle communication network (NT).

[0054] The controller 140 is disposed separately from the camera 110 and / or the radar 120. For example, the controller 140 is disposed in a housing separate from the housing of the camera 110 and / or the housing of the radar 120. The controller 140 transmits and receives data with the camera 110 and / or the radar 120 via a broadband network.

[0055] The controller 140 includes a processor 141 and a memory 142.

[0056] The processor 141 processes the image data from the camera 110 and the sensing data from the radar 120. The processor 141 generates drive signals, braking signals, and steering signals for controlling the drive unit 10, the braking unit 20, and the steering unit 30, respectively.

[0057] For example, processor 141 includes an image processor that processes image data from camera 110 and / or a digital signal processor that processes sensing data from radar 120 and / or a micro control unit (MCU) that generates drive signals / brake signals / steering signals.

[0058] The memory 142 stores programs (e.g., a set of instructions) and / or data for processing image data by the processor 141, and programs and / or data for processing sensed data. The memory 142 also stores programs and / or data for generating drive signals and / or braking signals and / or steering signals by the processor 141.

[0059] The memory 142 temporarily stores image data received from the camera 110 and / or sensing data received from the radar 120 and 130, and temporarily stores the processing results of the image data and / or sensing data of the processor 141.

[0060] The memory 142 includes not only volatile memories such as S-RAM and D-RAM, but also non-volatile memories such as flash memory, read-only memory (ROM), and erasable programmable read-only memory (EPROM).

[0061] The controller 140 functionally includes a perception module 146 that collects information about the vehicle 1 and objects around the vehicle 1, a decision module 147 that generates a detailed path to avoid collisions with objects around the vehicle 1, and a control module 148 that controls the vehicle 1 to travel along the generated detailed path. The perception module 146, decision module 147, and control module 148 are software modules (programs and data) stored in the memory 142 or hardware modules (ASIC or FPGA) included in the processor 141.

[0062] The identification module 146 of the controller 140 may include sensor fusion 146a, which fuses image data from the camera 110 and sensing data from the radar 120 to detect objects around the vehicle 1.

[0063] For example, the controller 140 senses objects around the vehicle 1 (e.g., other vehicles, pedestrians, cyclists, etc.) based on image data from the camera 110 and sensing data from the radar 120.

[0064] The controller 140 obtains the relative positions (distance from the vehicle and angle relative to the direction of travel) and classifications (e.g., whether the object is another vehicle, a pedestrian, or a cyclist) of objects surrounding the vehicle 1 based on image data from the camera 110. The controller 140 also obtains the relative positions (distance from the vehicle and angle relative to the direction of travel) and relative speeds of objects surrounding the vehicle 1 based on sensing data from the radar 120. Furthermore, the controller 140 matches objects sensed by the sensing data with objects sensed by the image data, and obtains the classification, relative positions, and relative speeds of objects surrounding the vehicle 1 based on the matching results.

[0065] Additionally, the controller 140 obtains information related to the lane lines of the road on which the vehicle 1 is traveling based on the image data from the camera 110. For example, the controller 140 identifies the lateral position of the lane lines.

[0066] The identification module 146 includes a location determination (Localization) 146b that identifies the position of vehicle 1 based on image data from camera 110, sensing data from radar 120, map data, and position data of vehicle 1.

[0067] For example, controller 140 identifies landmarks surrounding vehicle 1 from map data based on vehicle 1's location data. Controller 140 identifies the relative positions of landmarks related to vehicle 1 based on image data and sensor data. Controller 140 corrects vehicle 1's location data based on the absolute coordinates of landmarks obtained from map data and the relative coordinates obtained from image data and sensor data. In other words, controller 140 can identify the absolute coordinates of vehicle 1.

[0068] The recognition module 146 includes a map projection 146c that projects the vehicle 1 and objects around the vehicle 1 onto the map data.

[0069] For example, the controller 140 projects vehicle 1 onto map data based on vehicle 1's location data, and projects objects around vehicle 1 onto map data based on the relative positions and relative speeds of objects around vehicle 1.

[0070] The decision module 147 of the controller 140 includes a collision risk decision 147a that predicts collisions with surrounding objects of the vehicle 1 based on the relative position and relative speed of surrounding objects and identifies collision hazards.

[0071] For example, controller 140 calculates the time to collision (TTC) (or the distance to collision (TTD)) until a collision occurs between vehicle 1 and a surrounding object based on the position (distance) and relative speed of the surrounding object. Additionally, controller 140 identifies a collision hazard with a surrounding object based on either the time to collision or the distance to collision.

[0072] The decision module 147 includes target selection 147b, which selects a target for collision avoidance or for tracking.

[0073] For example, during automatic emergency braking, the controller 140 selects the surrounding object with the highest collision risk (or the shortest time until a collision) as the target based on the collision hazard (or the time until a collision occurs). Additionally, during cruise control, the controller 140 selects the vehicle ahead traveling in the same lane as the vehicle 1 as the target.

[0074] The decision module 147 includes a path generation 147c that generates a detailed path to avoid collisions with the target or a detailed path to reach the destination.

[0075] For example, controller 140 generates a detailed path for maintaining the lane in order to track a target or for changing lanes in order to avoid a collision with the target.

[0076] The control module 148 of the controller 140 includes drive control 148a for controlling the drive device 20, brake control 148b for controlling the brake device 30, and steering control 148c for controlling the steering device 40.

[0077] The controller 140 generates drive signals, braking signals, or steering signals to track a target or to avoid a collision with the target. For example, the controller 140 transmits drive signals and / or braking signals to the drive unit 20 and / or the braking unit 30 to make the distance to the target (or the time until reaching the position of the vehicle in front) a distance set by the driver. In addition, the controller 140 transmits braking signals and / or steering signals to the braking unit 30 and / or the steering unit 40 to avoid a collision with the target.

[0078] Additionally, the controller 140 obtains information related to the path to the destination from the navigation device 10 (e.g., distance to the entrance or exit road). Based on image data from the camera 110, the controller 140 obtains information related to the lane in which the vehicle 1 is traveling (e.g., which lane the vehicle is in from the center line). Based on the information related to the path to the destination and the lane-related information, the controller 140 guides the driver to change lanes or provides a turn signal for lane changing to the steering device 40, causing the vehicle 1 to leave or enter the road.

[0079] Driver assistance device 100 is not limited to Figure 2 The scenario shown may also include radar (lidar) that scans the area around vehicle 1 and senses objects.

[0080] The driver assistance device 100 obtains the route of vehicle 1 to its destination from the navigation device 10. Additionally, the driver assistance device 100 generates a detailed route for vehicle 1 from its current lane to its destination. For example, the driver assistance device 100 determines whether to maintain the current lane or change lanes, etc., to reach the destination.

[0081] The driver assistance device 100 identifies the lane in which the vehicle 1 is currently traveling in order to generate a detailed path for the vehicle 1.

[0082] The controller 140 identifies the number of lanes on the road that the vehicle 1 is currently traveling on from the map data.

[0083] The controller 140 identifies the lane in which the vehicle 1 is currently traveling based on the position of objects around the vehicle 1.

[0084] For example, the controller 140 identifies the relative positions of moving objects (e.g., other vehicles, etc.) around the vehicle 1 and / or the relative positions of stationary objects (e.g., traffic infrastructure, etc.) around the vehicle 1 and / or the relative positions of the central divider based on image data and / or sensing data.

[0085] The controller 140 identifies moving and stationary objects based on their relative speeds. The controller 140 identifies stationary objects whose relative speed is the same as the vehicle 1's speed but in the opposite direction. Conversely, when the relative speed of a surrounding object differs from the vehicle 1's speed, the controller 140 identifies it as a moving object.

[0086] The controller 140 identifies the lane in which a surrounding object is located based on its relative position. The controller 140 also identifies the lateral distance of the surrounding object based on its relative position. Furthermore, the controller 140 identifies the lane in which the surrounding object is located based on the quotient of the lateral distance divided by the lane width.

[0087] The controller 140 calculates a driving lane score for each lane of the road based on the lane where the surrounding objects are located, and identifies the driving lane of the vehicle 1 based on the calculated driving lane score.

[0088] For example, the controller 140 uses [Mathematical Formula 1] to calculate the driving lane score based on the moving object moving in the a-th lane on the left side of the vehicle 1.

[0089] [Mathematical Expression 1]

[0090] P m.left [i] = 0, i = 0, ..., a-1

[0091] P m.left [i] = 1, i = a, ..., N-1

[0092] Here, Pm.left represents the driving lane fraction based on the moving object on the left, a represents the position of the lane the moving object on the left is moving in (the a-th lane on the left), and N represents the number of lanes on the road.

[0093] Thus, when a moving object is sensed on the left side of vehicle 1, controller 140 assigns driving lane scores to the lane where the moving object was sensed and the lane to its right.

[0094] The controller 140 uses [Mathematical Formula 2] to calculate the driving lane score based on the moving object moving in the a-th lane to the right of the vehicle 1.

[0095] [Mathematical Expression 2]

[0096] P m.right [i] = 1, i = 0, ..., Na-1

[0097] P m.right [i] = 0, i = Na, ..., N-1

[0098] Here, Pm.right represents the driving lane fraction based on the moving object on the right, a represents the position of the lane the moving object on the right is moving in (the a-th lane on the right), and N represents the number of lanes on the road.

[0099] Thus, when a moving object is sensed on the right side of vehicle 1, controller 140 assigns driving lane scores to the lane where the moving object was sensed and the lane to its left.

[0100] The controller 140 uses [Mathematical Formula 3] to calculate the driving lane score based on a stationary object located in the a-th lane to the left of the vehicle 1.

[0101] [Mathematical Expression 3]

[0102] P s.left [i] = 1, i = 0, ..., a-1

[0103] P s.left [i] = 0, i = a, ..., N-1

[0104] Here, Ps.left represents the driving lane score based on the stationary object on the left, a represents the position of the stationary object in the lane (the a-th lane on the left), and N represents the number of lanes on the road.

[0105] Thus, when a stationary object is sensed on the left side of vehicle 1, controller 140 assigns a driving lane score to the left lane of the lane where the stationary object was sensed.

[0106] The controller 140 uses [Mathematical Formula 4] to calculate the driving lane score based on the stationary object located in the a-th lane to the right of the vehicle 1.

[0107] [Mathematical Expression 4]

[0108] P s.right [i] = 0, i = 0, ..., Na-1

[0109] P s.right [i] = 1, i = Na, ..., N-1

[0110] Here, Ps.right represents the driving lane fraction based on the stationary object on the right, a represents the position of the lane where the stationary object on the right is located (the a-th lane on the right), and N represents the number of lanes on the road.

[0111] Thus, when a stationary object is sensed on the right side of vehicle 1, controller 140 assigns a driving lane score to the right lane of the lane where the stationary object was sensed.

[0112] The controller 140 uses [Mathematical Formula 5] to calculate the driving lane fraction based on the central divider of the vehicle 1.

[0113] [Mathematical Expression 5]

[0114] P rb [i] = 1, i = a - 1

[0115] P rb [i] = 0, i ≠ a-1

[0116] Here, Prb represents the driving lane fraction based on the median strip, a represents the position of the median strip (the a-th lane on the left), and N represents the number of lanes on the road.

[0117] The controller 140 identifies the lane in which the vehicle 1 is traveling based on the sum of the driving lane score obtained from the moving object on the left, the driving lane score obtained from the moving object on the right, the driving lane score obtained from the stationary object on the left, the driving lane score obtained from the stationary object on the right, and the driving lane score obtained from the central divider.

[0118] The controller 140 uses [Mathematical Formula 6] to identify the lane in which the vehicle 1 is traveling.

[0119] [Mathematical Expression 6]

[0120] P[i] = P m.left [i]+P m.right [i]+P s.left [i]+P s.right [il+P rb [i]

[0121] Here, P represents the driving lane score, i represents (lane number - 1), Pm.left represents the driving lane score based on the driving lane score obtained from the moving object on the left, Pm.right represents the driving lane score based on the driving lane score obtained from the moving object on the right, Ps.left represents the driving lane score based on the driving lane score obtained from the stationary object on the left, Ps.right represents the driving lane score based on the driving lane score obtained from the stationary object on the right, and Prb represents the driving lane score based on the driving lane score obtained from the median strip.

[0122] The controller 140 identifies the maximum driving lane score among the driving lane score P[0] of lane 1, driving lane score P[1] of lane 2, driving lane score P[3] of lane 3, ..., driving lane score P[N-1] of lane N, and identifies the lane corresponding to the maximum driving lane score as the lane in which vehicle 1 is driving.

[0123] Figure 4 An example of a driver assistance device in one embodiment is shown for identifying the lane in which the vehicle is traveling.

[0124] like Figure 4 As shown, the first moving object 2 moves in the second lane to the left of vehicle 1, the second moving object 3 moves in the first lane to the left of vehicle 1, and the third moving object 4 moves in the first lane to the right of vehicle 1.

[0125] It can be that the driving lane score Pm.left[0] of lane 1 of the first moving object 2 is 0, the driving lane score Pm.left[1] of lane 2 is 1, the driving lane score Pm.left[2] of lane 3 is 1, and the driving lane score Pm.left[3] of lane 4 is 1.

[0126] It can be that, based on the second moving object 3, the driving lane score Pm.left[0] of lane 1 is 0, the driving lane score Pm.left[1] of lane 2 is 0, the driving lane score Pm.left[2] of lane 3 is 1, and the driving lane score Pm.left[3] of lane 4 is 1.

[0127] It can be that, based on the third moving object 4, the driving lane score Pm.right[0] of lane 1 is 1, the driving lane score Pm.right[1] of lane 2 is 1, the driving lane score Pm.right[2] of lane 3 is 0, and the driving lane score Pm.right[3] of lane 4 is 0.

[0128] It can be that the driving lane fraction P[0] of lane 1 is 1, the driving lane fraction P[1] of lane 2 is 2, the driving lane fraction P[2] of lane 3 is 3, and the driving lane fraction P[3] of lane 4 is 2.

[0129] The controller 140 identifies the three lanes with the highest driving lane scores as the lanes in which vehicle 1 is driving.

[0130] In this way, the controller 140 calculates the driving lane score for each of the multiple lanes for at least one object (moving object or stationary object). The controller 140 calculates the sum of the driving lane scores for each of the multiple lanes and identifies the lane in which the vehicle 1 is traveling based on the sum of the driving lane scores for each of the multiple lanes.

[0131] The controller 140 then evaluates the reliability of the lane identified as the lane in which vehicle 1 is traveling.

[0132] Figure 5 An example of a method for evaluating the reliability of a lane identified as the lane in which a driver assistance device is traveling is shown in one embodiment.

[0133] Reference Figure 5 A method (1000) for evaluating the reliability of the lane in which the driver assistance device 100 identifies the vehicle 1 is traveling is described.

[0134] The driver assistance device 100 calculates the driving lane score (1010).

[0135] The controller 140 calculates the driving lane score for each of the multiple lanes for at least one object (moving object or stationary object). The controller 140 then calculates the sum of the driving lane scores for each of the multiple lanes.

[0136] The driver assistance device 100 identifies whether the driving lane of vehicle 1 has been determined (1020).

[0137] When the reliability of identifying the lane in which vehicle 1 is traveling is high, controller 140 can determine the driving lane of vehicle 1. Controller 140 determines whether to confirm the previously identified lane as the driving lane of vehicle 1.

[0138] When determining the driving lane of vehicle 1 (1020), driver assistance device 100 identifies whether there is a lane with the maximum driving lane score (1030).

[0139] As described above, the controller 140 calculates the sum of the driving lane scores for each of the multiple lanes.

[0140] At this point, based on the surrounding objects of vehicle 1, multiple lanes can represent the maximum driving lane score. For example, if there are no surrounding objects for vehicle 1, all lanes may have the same driving lane score. In such a case, there may be multiple lanes with the maximum driving lane score.

[0141] When there is only one lane with the maximum driving lane score (1030), the driver assistance device 100 increases the reliability of lane recognition (1040).

[0142] The controller 140 can increment the lane recognition reliability value.

[0143] When there is not a single lane with the maximum driving lane score (No in 1030), the driver assistance device 100 reduces the reliability of lane recognition (1045).

[0144] The controller 140 can decrease the lane recognition reliability value incrementally.

[0145] Whether the reliability of the driver assistance device 100 is above the benchmark value (1050).

[0146] The controller 140 compares the reliability value obtained by action 1040 or action 1045 with the reference value and identifies whether the reliability value is above the reference value.

[0147] When the reliability is above the baseline value (1050), the driver assistance device 100 determines the driving lane of the vehicle 1 (1060).

[0148] The controller 140 determines the driving lane of vehicle 1 as a lane based on the driving lane score.

[0149] When the reliability is not above the baseline value (1050 no), the driver assistance device 100 is uncertain about the driving lane of the vehicle 1 (1065).

[0150] The controller 140 may not determine the driving lane of vehicle 1.

[0151] When the driving lane of vehicle 1 is not determined (No in 1020), driver assistance device 100 identifies whether there is a lane with the maximum driving lane score (1035).

[0152] Action 1035 is the same as action 1030 described above.

[0153] When there is only one lane with the maximum driving lane score (1035), the driver assistance device 100 increases the reliability of lane recognition (1070).

[0154] The controller 140 can increment the lane recognition reliability value.

[0155] When the lane with the maximum driving lane score is not a single lane (1035 no), the driver assistance device 100 resets the reliability of lane recognition (1075).

[0156] The controller 140 resets the lane recognition reliability value to "0".

[0157] Whether the reliability of the driver assistance device 100 is above the benchmark value (1080).

[0158] The controller 140 compares the reliability value obtained by action 1070 or action 1075 with the reference value and identifies whether the reliability value is above the reference value.

[0159] When the reliability is above the baseline value (1080), the driver assistance device 100 determines the driving lane of the vehicle 1 (1090).

[0160] The controller 140 determines the driving lane of vehicle 1 as a lane based on the driving lane score.

[0161] When the reliability is not above the baseline value (No in 1080), the driver assistance device 100 is uncertain about the driving lane of the vehicle 1 (1095).

[0162] The controller 140 may not determine the driving lane of vehicle 1.

[0163] As explained above, the driver assistance device 100 evaluates the lanes identified based on the driving lane score and determines the lane in which the vehicle 1 is driving based on the evaluation results.

[0164] The driver assistance device 100 tracks the lane in which vehicle 1 is traveling.

[0165] The driver assistance device 100 identifies lane changes based on the processing of image data. For example, the controller 140 identifies lane lines based on the processing of image data. The controller 140 identifies the coordinates of the left lane line and the right lane line using the center line of the vehicle 1 as a reference. When the difference between the current coordinates of the left lane line and the previous coordinates of the left lane line is a positive threshold or higher, and the difference between the current coordinates of the right lane line and the previous coordinates of the right lane line is a positive threshold or higher, the controller 140 can identify that the lane is being changed to the left lane. When the difference between the current coordinates of the left lane line and the previous coordinates of the left lane line is a negative threshold or lower, and the difference between the current coordinates of the right lane line and the previous coordinates of the right lane line is a negative threshold or lower, the controller 140 can identify that the lane is being changed to the right lane.

[0166] The driver assistance device 100 can change the lane number of the vehicle 1 based on lane changes. For example, the controller 140 decreases the lane number by "1" when the vehicle 1 changes to the left lane. Conversely, the controller 140 increases the lane number by "1" when the vehicle 1 changes to the right lane.

[0167] The driver assistance device 100 changes the lane number of the vehicle 1 based on the lane branching of the road. For example, the controller 140 identifies the lane number of the vehicle 1 on the branch road based on the difference between the stored lane number and the number of lanes on the road before the branch.

[0168] Additionally, the driver assistance device 100 can change the lane number of the vehicle 1 based on the lane merging situation of the road. For example, the controller 140 identifies the lane number of the vehicle 1 on the branch road based on the lane merging situation of the road, and the sum of the stored lane numbers and the number of lanes on the new road.

[0169] Figure 6 An example of a method by which a driver assistance device guides a vehicle to an exit road is shown in one embodiment. Figure 7 An example of a path generated by a driver assistance device in one embodiment for changing the vehicle's lane is shown. Figure 8 An example of a path generated by a driver assistance device in one embodiment for changing the vehicle's lane is shown.

[0170] Reference Figure 6 , Figure 7 and Figure 8 The method (1100) by which the driver assistance device 100 guides the vehicle 1 to the exit of the road will be described.

[0171] The driver assistance device 100 acquires image data and sensor data (1110).

[0172] The controller 140 acquires image data from the camera 110 and sensing data from the radar 120. Based on the processing of the image data and / or sensing data, the controller 140 acquires information related to surrounding objects, including the relative position and / or relative speed of objects surrounding the vehicle 1. Additionally, based on the processing of the image data and / or sensing data, the controller 140 acquires information related to lane markings on the road on which the vehicle 1 travels.

[0173] Driver assistance device 100 acquires map data (1120).

[0174] The controller 140 obtains map data from the navigation device 10 or from an external device of the vehicle 1. The map data may include, for example, a navigation map of the navigation device 10 for guiding the route to the destination or a high-resolution map (HD map) for autonomous driving to the destination.

[0175] The controller 140 identifies the road on which the vehicle 1 travels based on map data. Additionally, the controller 140 identifies the number of lanes on the road on which the vehicle 1 travels based on map data.

[0176] The driver assistance device 100 identifies whether the distance between the starting position of the additional lane ER1 used to leave the road and the vehicle 1 is less than or equal to a first reference distance D1 (1140).

[0177] The controller 140 identifies when the vehicle 1 leaves the road it is currently traveling on based on the route to the destination obtained from the navigation device 10. In addition, the controller 140 identifies the location of the exit road ER2 for the vehicle 1 to leave the road it is currently traveling on and the starting position of the additional lane ER1 for the vehicle 1 to enter the exit road ER2 based on map data.

[0178] The controller 140 identifies the distance between the starting position of the additional lane ER1 for entering the exit road ER2 and the vehicle 1 based on the position of the vehicle 1 and the starting position of the additional lane ER1 for entering the exit road ER2. In addition, the controller 140 identifies whether the distance between the starting position of the additional lane ER1 for entering the exit road ER2 and the vehicle 1 is less than or equal to a first reference distance D1.

[0179] Here, the first reference distance D1 is set through experimentation or experience for the purpose of safely entering exit road ER2. The first reference distance D1 is set by the driver.

[0180] The first reference distance D1 varies based on the number of lanes on the road that vehicle 1 is traveling on and the lane that vehicle 1 is traveling in. The more lane changes required to enter exit road ER2 (e.g., when there are many lanes and vehicle 1 is traveling in the first lane or the second lane, etc.), the more the first reference distance D1 increases.

[0181] Furthermore, the first reference distance D1 varies based on the vehicle 1's speed. For example, the faster the vehicle 1 travels, the greater the first reference distance D1 becomes.

[0182] When the distance between the starting position of the additional lane ER1 used to enter the exit road ER2 and the vehicle 1 is not less than the first reference distance D1 (No in 1140), the driver assistance device 100 controls the vehicle 1 to keep in the lane (1145).

[0183] If the distance between the starting position of the additional lane ER1 used to enter exit road ER2 and the vehicle 1 is greater than the first reference distance D1, preparation for entering exit road ER2 may not be necessary. Therefore, the controller 140 controls the drive unit 20, the braking unit 30, or the steering unit 40 to keep the vehicle 1 in the lane.

[0184] When the distance between the starting position of the additional lane ER1 used to enter the exit road ER2 and the vehicle 1 is less than the first reference distance D1 (1140 is), the driver assistance device 100 identifies whether the lane in which the vehicle 1 is traveling is the last lane (or the first lane) of the road (1150).

[0185] When the distance between the starting position of the additional lane ER1 used to enter the exit road ER2 and the vehicle 1 is less than the first reference distance D1, the controller 140 identifies whether a lane change is required to leave the road.

[0186] When the exit road is located outside the last lane, the controller 140 identifies whether the lane in which vehicle 1 is traveling is the last lane of the road. Conversely, when the exit road is located inside the first lane, the controller 140 identifies whether the lane in which vehicle 1 is traveling is the first lane of the road.

[0187] When the vehicle 1 is traveling in a lane that is not the last lane (or the first lane) of the road (1150 No), the driver assistance device 100 recommends a lane change to the driver or automatically performs a lane change (1155).

[0188] When vehicle 1 is traveling in a lane that is not the last lane (or the first lane) of the road, a lane change is required to enter exit lane ER2. For example, Figure 7 As shown, when the distance between the starting position of the additional lane ER1 used to enter the exit road ER2 and the vehicle 1 is less than the first reference distance D1 and the vehicle 1 is traveling in the first lane, a lane change is required to exit the road by passing through the exit road ER2 located on the outside of the second lane.

[0189] The controller 140 may display, for example, a visual message recommending lane changes to the driver on a display screen of the vehicle 1 or output a voice message recommending lane changes to the driver through a speaker of the vehicle 1.

[0190] Additionally, the controller 140 controls the drive unit 20, the braking unit 30, and / or the steering unit 40 to attempt automatic lane changes.

[0191] As a result of vehicle 1 changing lanes, vehicle 1 is now traveling in the last lane (or the first lane) of the road.

[0192] When vehicle 1 is traveling in the last lane (or the first lane) of the road (1150), driver assistance device 100 identifies whether the distance between the exit road ER2 and vehicle 1 is less than or equal to the second reference distance D2 (1160).

[0193] The controller 140 identifies the location of the exit road ER2 for the vehicle 1 to leave the road it is currently traveling on based on map data.

[0194] The controller 140 identifies the distance between the exit road ER2 and the vehicle 1 based on the location of the exit road ER2. Additionally, the controller 140 identifies whether the distance between the exit road ER2 and the vehicle 1 is less than or equal to a second reference distance D2.

[0195] Here, the second reference distance D2 is approximately the same as the length of the additional lane ER1 used to enter the exit road ER2.

[0196] When the distance between the exit road ER2 and vehicle 1 is not less than the second reference distance D2 (1160 no), driver assistance device 100 controls vehicle 1 to maintain vehicle speed and lane in order to leave the road (1165).

[0197] When the distance between the exit road ER2 and vehicle 1 is greater than the second reference distance D2, vehicle 1 cannot enter the additional lane ER1 used to enter the exit road ER2. Therefore, controller 140 controls drive unit 20, braking device 30 or steering device 40 to make vehicle 1 maintain speed and stay in lane in order to leave the road.

[0198] When the distance between the exit road ER2 and vehicle 1 is less than the second reference distance D2 (1160), the driver assistance device 100 recommends a lane change to the driver or automatically performs a lane change (1170).

[0199] When the distance between the exit road ER2 and vehicle 1 is less than the second reference distance D2, vehicle 1 may enter the additional lane ER1 used to enter the exit road ER2. For example, Figure 8 As shown, when vehicle 1 is traveling in the last lane of the road and has passed the starting position of the additional lane ER1 for entering exit road ER2, vehicle 1 needs to change lanes to the additional lane ER1 for entering exit road ER2.

[0200] The controller 140 may display, for example, a visual message recommending lane changes to the driver on a display screen of the vehicle 1 or output a voice message recommending lane changes to the driver through a speaker of the vehicle 1.

[0201] Additionally, the controller 140 controls the drive unit 20, the braking unit 30, and / or the steering unit 40 to attempt automatic lane changes.

[0202] As a result of changing the lane of vehicle 1, vehicle 1 can travel in the additional lane ER1 used to enter exit road ER2. Alternatively, vehicle 1 can exit the road via exit road ER2.

[0203] As explained above, the driver assistance device 100 identifies the lane in which the vehicle 1 is traveling and recommends lane changes to the driver for leaving the road based on the lane in which the vehicle 1 is traveling.

[0204] Therefore, the driver operates vehicle 1 to change lanes and leave the road at the appropriate time.

[0205] On the other hand, the disclosed embodiments can be implemented in the form of a recording medium storing computer-executable instructions. The instructions are stored in the form of program code, which, when executed by a processor, generates a program module to perform the actions of the disclosed embodiments. The recording medium can be a computer-readable recording medium.

[0206] As a computer-readable recording medium, it includes all kinds of recording media that store instructions that can be interpreted by a computer. Examples include ROM (Read Only Memory), RAM (Random Access Memory), magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

[0207] Machine-readable storage media can be provided in the form of non-transitory storage media. Here, 'non-transitory storage media' refers to a tangible device, simply meaning it does not include signals (e.g., electromagnetic waves). This term does not distinguish between cases where data is stored semi-permanently and cases where it is temporarily stored. For example, 'non-transitory storage media' includes buffers for temporarily storing data.

[0208] The disclosed embodiments have been described above with reference to the accompanying drawings. Those skilled in the art can implement the present invention in different forms than the disclosed embodiments without changing the technical concept or essential features of the invention. The disclosed embodiments are merely illustrative, and the present invention is not limited thereto.

Claims

1. A device for assisting in the movement of a vehicle, comprising: A camera, which is installed on the aforementioned vehicle, has a forward view of the vehicle and acquires image data; and The controller processes the aforementioned image data. Based on the processing of the aforementioned image data, the controller identifies objects surrounding the vehicle and defines lane lines for the vehicle's driving lane. The controller identifies the lane in which the vehicle is traveling based on the relative positions of the surrounding objects. The controller controls the vehicle based on its distance to the additional lane, enabling the vehicle to change lanes. This additional lane is used for the vehicle to enter the exit lane from the currently traveling road. The controller described above is configured as follows: When the aforementioned vehicle is currently traveling in a lane, a driving lane score is calculated for at least two lanes of the aforementioned road based on the relative positions of the surrounding objects. as well as When the aforementioned vehicle is currently traveling in a lane, based on the calculated lane score, the lane with the highest lane score among the at least two lanes of the aforementioned road is identified as the lane in which the vehicle is currently traveling. When the central divider is detected, the controller identifies the lane in which the vehicle is traveling based on the lane where the central divider is located. When a moving object is detected on the left side of the vehicle, the controller assigns a driving lane score to the lane where the moving object was detected and all lanes to its right. When a moving object is detected on the right side of the vehicle, the controller assigns a driving lane score to the lane where the moving object was detected and all lanes to its left. When a stationary object is detected to the left of the vehicle, the controller assigns a driving lane score to all lanes to the left of the lane where the stationary object was detected. When a stationary object is detected to the right of the vehicle, the controller assigns a driving lane score to all lanes to the right of the lane where the stationary object was detected. The controller identifies the lane in which the vehicle is traveling based on the sum of the lane score obtained from the moving object on the left, the moving object on the right, the stationary object on the left, the stationary object on the right, and the lane score obtained from the central divider.

2. The apparatus according to claim 1, wherein, The controller calculates the driving lane score by taking into account the relative position of at least one stationary object, including traffic infrastructure such as the median strip that defines the road boundaries.

3. The apparatus according to claim 1, wherein, When there is only one lane with the highest driving lane score, the controller increases the reliability value of the lane identified as the driving lane. When there are two or more lanes with the highest driving lane scores, the controller reduces the reliability value of the lanes identified as driving lanes. The controller determines the lane identified as the driving lane based on the reliability value of the lane being identified as the driving lane being above a benchmark value.

4. The apparatus according to claim 1, wherein, The controller controls the vehicle's steering mechanism based on the condition that the distance to the additional lane is less than a first reference distance, so that the vehicle changes lane to the last lane of the road.

5. The apparatus according to claim 4, wherein, The aforementioned first reference distance is set based on the vehicle's speed and at least one of the lanes in which the vehicle is traveling.

6. The apparatus according to claim 4, wherein, The controller controls the vehicle's steering device based on the condition that the distance to the exit road is less than the second reference distance, so that the vehicle changes lanes to the additional lane.

7. The apparatus according to claim 6, wherein, The second reference distance mentioned above is the same as the length of the additional lanes mentioned above.

8. A method for assisting a vehicle in driving, comprising: Image data is obtained by a camera installed on the aforementioned vehicle and having a forward view of the vehicle. Based on the processing of the above image data, the processor identifies objects around the vehicle and defines lane markings for the road the vehicle is traveling on. Based on the relative positions of the surrounding objects, the processor identifies the lane in which the vehicle is traveling. The processor controls the vehicle based on its distance to an additional lane, causing the vehicle to change lanes. This additional lane is used by the vehicle to enter an exit lane from its current driving lane. The lanes in which the aforementioned vehicles are traveling include: When the aforementioned vehicle is currently traveling in a lane, based on the relative positions of the surrounding objects, a lane score is calculated for at least two lanes of the road; and When the aforementioned vehicle is currently traveling in a lane, based on the calculated lane score, the lane with the highest lane score among the at least two lanes of the aforementioned road is identified as the lane in which the vehicle is currently traveling. When the central divider is detected, the lane in which the vehicle is traveling is identified based on the lane in which the central divider is located. The calculation of the above driving lane scores includes: When a moving object is detected to the left of the aforementioned vehicle, a driving lane score is assigned to the lane where the moving object was detected and all lanes to its right. When a moving object is detected to the right of the aforementioned vehicle, a driving lane score is assigned to the lane where the moving object was detected and all lanes to its left. When a stationary object is detected to the left of the aforementioned vehicle, all lanes to the left of the lane where the stationary object was detected are assigned a driving lane score. When a stationary object is detected to the right of the aforementioned vehicle, all lanes to the right of the lane where the stationary object was detected are assigned a driving lane score. The lane in which the aforementioned vehicle is traveling is identified by summing the lane score obtained from the moving object on the left, the moving object on the right, the stationary object on the left, the stationary object on the right, and the median strip.

9. The method according to claim 8, wherein, The aforementioned driving lane score is calculated by taking into account the relative position of at least one stationary object, including traffic infrastructure such as the median strip that defines the road boundaries.

10. The method according to claim 8, wherein, The above methods also include: When there is only one lane with the highest score among the aforementioned driving lanes, the reliability value of the lane identified as the aforementioned driving lane is increased. When there are two or more lanes with the highest scores among the aforementioned driving lanes, the reliability value of the lanes identified as driving lanes is reduced. The lane identified as the aforementioned driving lane is determined based on the fact that the reliability value of the lane identified as the aforementioned driving lane is above the benchmark value.

11. The method according to claim 8, wherein, The above-mentioned lane changes include: If the distance to the additional lane is less than the first reference distance, the vehicle will change lanes to the last lane of the road.

12. The method according to claim 11, wherein, The aforementioned first reference distance is set based on the vehicle's speed and at least one of the lanes in which the vehicle is traveling.

13. The method according to claim 11, wherein, The aforementioned lane changes also include: If the distance to the aforementioned exit road is less than the second reference distance, the aforementioned vehicle will change lanes to the aforementioned additional lanes.

14. The method according to claim 13, wherein, The second reference distance mentioned above is the same as the length of the additional lanes mentioned above.

15. A computer-readable storage medium storing a program for performing the method of claim 8.

Images