Abnormality detection method and device for lane keeping assistance system

Abstract

The invention relates to an anomaly detection method and device of a lane keeping auxiliary system. The anomaly detection method of the lane keeping auxiliary system comprises the following steps that an electronic device receives a GPS signal of a running vehicle; the electronic device analyzes the GPS signal to confirm whether the road on which the vehicle is traveling is a straight line; the electronic device accumulates an abnormality determination count based on a steering control signal confirmed while traveling on a straight road; and the electronic device detects whether the lane keeping assist system is abnormal based on the accumulated abnormality determination count, and the present invention can be applied to other embodiments.

Description

Technical Field

[0001] The invention relates to an abnormality detection method and device for a lane keeping assist system. Background Art

[0002] Recently, research on vehicles equipped with an advanced driver assist system (ADAS) that proactively provides information on a vehicle state, a driver state, and surroundings to reduce a driver's burden and improve convenience is being actively conducted.

[0003] Among such advanced driver assistance systems, lane following assist (LFA) and lane keeping assist (LKA), which can also be applied to driverless cars, are functions that help the driver to drive more safely.

[0004] At this time, the lane keeping assist system refers to a driving convenience system that controls the steering so that the vehicle can keep driving in the center of the road when no one is driving. However, when the lane keeping assist system functions abnormally, the vehicle cannot accurately keep in the center of the lane and the vehicle shakes left / right, which also causes inconveniences such as motion sickness to the driver.

[0005] As described above, when a driver is inconvenienced by an abnormality of the lane keeping assist system while driving, he or she visits a repair shop and solves the problem by methods such as calibration of the front camera, wheel alignment, air pressure confirmation, etc. However, up to now, since no guidance on the repair time of the lane keeping assist system has been provided, it is generally the case that drivers visit the repair shop only after they feel inconvenienced. Summary of the invention

[0006] Technical issues to be solved

[0007] An embodiment of the present invention for solving this existing problem provides a lane keeping assist system abnormality detection method and device, which can confirm whether the road a vehicle is traveling on is a straight line based on a Global Positioning System (GPS) signal, and detect whether the lane keeping assist system is abnormal based on a steering angle obtained from the vehicle traveling on the straight road.

[0008] Methods used to solve problems

[0009] According to an embodiment of the present invention, a method for detecting an abnormality of a lane keeping assist system includes the following steps: an electronic device receives a GPS signal of a moving vehicle; the electronic device analyzes the GPS signal to confirm whether the road on which the vehicle is moving is a straight line; the electronic device accumulates an abnormality determination count based on a steering control signal confirmed when the vehicle is moving on a straight road; and the electronic device detects whether the lane keeping assist system is abnormal based on the accumulated abnormality determination count.

[0010] In addition, before the step of receiving the GPS signal, the following steps are also included: the electronic device confirms and analyzes image data about the front of the vehicle being driven; and the electronic device generates the steering control signal for controlling the steering of the vehicle based on the image data.

[0011] In addition, the abnormality detection method of the lane keeping assist system further includes the following step: the electronic device detects an abnormal signal based on the change of the steering control signal.

[0012] Furthermore, in the step of receiving the GPS signal, when the abnormal signal is detected, the GPS signal is periodically confirmed.

[0013] In addition, the step of accumulating the abnormality determination count includes the steps of: continuously confirming the steering control signal; detecting the abnormal signal through a change in the confirmed steering control signal; and confirming whether the detected abnormal signal continues for more than a critical time.

[0014] Furthermore, in the step of accumulating the abnormality determination count, when the vehicle is traveling on a straight road, if the detected abnormal signal continues for more than the critical time, the abnormality determination count is accumulated.

[0015] In addition, in the step of detecting whether the lane keeping assist system is abnormal, when the abnormality determination count exceeds a critical number of times, it is confirmed that an abnormality is detected in the lane keeping assist system.

[0016] In addition, the abnormality detection method of the lane keeping assist system further includes the following step: an electronic device generates and outputs a message notifying that an abnormality has occurred in the lane keeping assist system.

[0017] In addition, in the step of confirming whether the road is a straight line, a slope between a GPS signal at a current time point and a GPS signal at at least one previous time point is analyzed to confirm whether the road is a straight line.

[0018] In addition, in the step of detecting the abnormal signal by confirming the change in the steering control signal, the electronic device detects as the abnormal signal a case where the amplitude of the change in the steering control signal is above a critical value or below the critical value with respect to 0.

[0019] In addition, according to an embodiment of the present invention, the abnormality detection device of the lane keeping assist system includes: a communication unit, which receives a GPS signal of a moving vehicle; and a control unit, which analyzes the GPS signal, and when it is confirmed that the road on which the vehicle is moving is a straight road, accumulates an abnormality determination count based on a steering control signal confirmed when the vehicle is moving on the straight road, and detects whether the lane keeping assist system is abnormal based on the accumulated abnormality determination count.

[0020] In addition, the control unit confirms and analyzes image data regarding the front of the traveling vehicle, and generates the steering control signal for controlling the steering of the vehicle based on the image data.

[0021] In addition, the control unit detects an abnormal signal based on a change in the steering control signal.

[0022] Furthermore, when the abnormal signal is detected, the control unit periodically checks the GPS signal.

[0023] In addition, the control unit continuously checks the steering control signal to check whether the abnormal signal detected by the change of the steering control signal continues for more than a critical time.

[0024] Furthermore, when the vehicle is traveling on a straight road, the control unit accumulates the abnormality determination count if the abnormality signal detected continues for more than the critical time.

[0025] In addition, the control unit confirms that an abnormality is detected in the lane keeping assist system when the abnormality determination count exceeds a critical number of times.

[0026] In addition, the control unit generates a message notifying that an abnormality has occurred in the lane keeping assist system.

[0027] In addition, the control unit analyzes a slope between a GPS signal at a current time point and a GPS signal at at least one previous time point to confirm whether the road is a straight line.

[0028] Furthermore, the control unit detects, as the abnormal signal, a case where the width of the change in the steering control signal is equal to or greater than a critical value or equal to or less than the critical value with respect to zero.

[0029] Effects of the Invention

[0030] As described above, the abnormality detection method and device of the lane keeping assist system according to the present invention have the following effects: confirming whether the road the vehicle is traveling on is a straight line based on the GPS signal, and confirming whether the lane keeping assist system is abnormal based on the steering angle obtained from the vehicle traveling on the straight road, thereby being able to provide a maintenance alert before the user experiences the inconvenience caused by the abnormality of the lane keeping assist system. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 1 is a diagram showing a main structure of an electronic device that performs abnormality detection of a lane keeping assist system according to an embodiment of the present invention.

[0032] Figure 2 This is a flowchart for explaining an abnormality detection method of a lane keeping assist system according to an embodiment of the present invention.

[0033] Figure 3 It is a detailed flowchart for explaining the abnormality detection method according to the embodiment of the present invention.

[0034] Figure 4 : is a graph for explaining the abnormality detection method of the lane keeping assist system according to the embodiment of the present invention. DETAILED DESCRIPTION

[0035] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Figure 1 The detailed description disclosed below is intended to describe exemplary embodiments of the present invention, but is not intended to represent the only implementation method that can implement the present invention. In order to clearly illustrate the present invention, parts that are not related to the description may be omitted from the drawings, and the same reference numerals may be used for the same or similar elements throughout the specification.

[0036] Figure 1 1 is a diagram showing a main structure of an electronic device that performs abnormality detection of a lane keeping assist system according to an embodiment of the present invention.

[0037] Reference Figure 1 , the electronic device 100 according to the present invention may include a communication part 110 , an input part 120 , a sensor part 130 , a camera 140 , a display part 150 , a memory 160 , and a control part 170 .

[0038] The communication unit 110 can provide the sensing data and image data acquired from the sensor unit 130 to the control unit 170 through communication with the sensor unit 130 and the camera 140. To this end, the communication unit 110 can perform communications such as controller area network (CAN), near field communication (NFC), Zigbee, etc., and can perform serial communication such as RS-232.

[0039] The input unit 120 generates input data in response to an input of a user driving the vehicle. To this end, the input unit 120 may include a key pad, a dome switch, a touch panel, a touch key, and a button.

[0040] The sensor unit 130 may include a steering sensor for sensing a steering angle. Based on this, the sensor unit 130 may obtain the steering angle actually confirmed when the vehicle is traveling, and provide it to the control unit 170. To this end, the sensor unit 130 may perform wireless communication such as Bluetooth, Bluetooth low energy (BLE), controller area network (CAN), near field communication (NFC), Zigbee, etc. with the control unit 170, and may perform serial communication such as RS-232.

[0041] The camera 140 is installed in the vehicle and acquires image data about the external environment of the vehicle. In particular, the camera 140 can acquire image data about the front of the vehicle while it is traveling and provide the image data to the control unit 170.

[0042] The display unit 150 displays display data related to the actions performed in the electronic device 100. The display unit 150 includes a liquid crystal display (LCD), a light emitting diode (LED) display, an organic light emitting diode (OLED) display, a micro electromechanical system (MEMS) display, and an electronic paper display. The display unit 150 can be combined with the input unit 120 and implemented by a touch screen capable of input.

[0043] The memory 160 stores an action program for the electronic device 100 to perform actions. In particular, the memory 160 may store an algorithm for detecting an abnormal signal based on a steering control signal or a steering angle confirmed when the vehicle is traveling, and may store an algorithm for confirming whether the vehicle is traveling on a straight road so as to analyze a signal received through a GPS (not shown). The memory 160 may store an algorithm for confirming whether the lane keeping assist system is abnormal based on the detected abnormal signal.

[0044] The control unit 170 can confirm whether the road the vehicle is traveling on is a straight line by analyzing the received GPS signal, and can accumulate an abnormality determination count based on the steering control signal or steering angle obtained when the vehicle is traveling on a straight road to detect whether the lane keeping assist system is abnormal. To this end, the control unit 170 may include a measuring unit 171 and an abnormality detection unit 172.

[0045] The measuring unit 171 checks whether the vehicle is traveling. When it is confirmed that the vehicle is traveling, the measuring unit 171 checks whether a lane following assist (LFA; not shown) system provided in the vehicle is activated. At this time, the LFA may be activated at the same time as the unmanned driving mode of the vehicle is activated.

[0046] When LFA is not activated, the measuring unit 171 confirms the steering angle acquired from the steering sensor included in the sensor unit 130. In addition, when LFA is activated, the measuring unit 171 analyzes the image data acquired from the camera 140 about the front of the vehicle being driven. The measuring unit 171 generates a steering control signal for controlling the steering of the vehicle based on the analysis result of the image data. When LFA is not activated, the measuring unit 171 may provide the steering angle to the abnormality detecting unit 172, and when LFA is activated, the measuring unit 171 may provide the steering control signal to the abnormality detecting unit 172.

[0047] When it is confirmed that the abnormality detection unit 172 detects an abnormal signal based on the steering control signal or the steering angle, the measurement unit 171 analyzes the GPS signal. At this time, the measurement unit 171 confirms whether the road the vehicle is currently traveling on is a straight road by confirming the slope between the GPS signal at the current time point and the GPS signal at at least one previous time point.

[0048] When confirming that the road on which the vehicle is currently traveling is a straight road, the measuring section 171 supplies a signal notifying that the vehicle is traveling on the straight road to the abnormality detecting section 172 .

[0049] The abnormality detection unit 172 confirms whether an abnormal signal is detected based on the steering control signal or the steering angle provided by the measuring unit 171. More specifically, if the magnitude of the change in the steering control signal or the steering angle provided by the measuring unit 171 is above or below a critical value with respect to 0, the abnormality detection unit 172 may confirm it as an abnormal signal.

[0050] When an abnormal signal is detected based on the steering control signal or the steering angle, the abnormality detection section 172 supplies a signal notifying generation of the abnormal signal to the measurement section 171 so that the measurement section 171 can analyze the GPS signal.

[0051] Next, when receiving a signal notifying that the road currently being traveled by the vehicle is a straight road from the measuring unit 171, the abnormality detecting unit 172 confirms the change in the steering control signal or the steering angle by continuously confirming the steering control signal or the steering angle. When the abnormal signal confirmed by the change in the steering control signal or the steering angle continues for more than a critical time, the abnormality detecting unit 172 accumulates 1 in the abnormality determination count. When the abnormality determination count exceeds the critical value, the control unit 170 determines that an abnormality has occurred in the LFA or the device in charge of the steering of the vehicle. The control unit 170 may generate a message notifying that an abnormality has occurred in the LFA or the device in charge of the steering of the vehicle, and output it to the display unit 150.

[0052] Figure 2 This is a flowchart for explaining an abnormality detection method of a lane keeping assist system according to an embodiment of the present invention.

[0053] Reference Figure 2 In step 201, the control unit 170 confirms whether the vehicle is traveling. As a result of the confirmation of step 201, when it is confirmed that the vehicle is traveling, the control unit 170 executes step 203. In step 203, the control unit 170 confirms whether a lane keeping assist system (not shown) provided in the vehicle is activated. At this time, the lane keeping assist system may be activated at the same time as the unmanned driving mode of the vehicle is activated.

[0054] As a result of the confirmation in step 203 , the control unit 170 executes step 205 when LFA is activated, and executes step 209 when LFA is not activated. In step 209 , the control unit 170 confirms the steering angle acquired from the steering sensor included in the sensor unit 130 , and executes step 211 .

[0055] On the contrary, in step 205, the control unit 170 analyzes the image data acquired from the camera 140 regarding the front of the traveling vehicle, and executes step 207. In step 207, the control unit 170 generates a steering control signal for controlling the steering of the vehicle based on the analysis result of the image data.

[0056] In step 211, the control unit 170 confirms whether an abnormal signal is detected based on the steering control signal generated in step 207 or the steering angle confirmed in step 209. More specifically, if the magnitude of the change in the steering control signal or the steering angle is above or below a critical value with respect to 0, the control unit 170 may confirm it as an abnormal signal.

[0057] In step 213, the control unit 170 analyzes the GPS signal. At this time, the control unit 170 confirms whether the road on which the vehicle is currently traveling is a straight road by confirming the slope between the GPS signal at the current time point and the GPS signal at at least one previous time point.

[0058] In step 215, when it is confirmed that the road on which the vehicle is currently traveling is a straight road, the control unit 170 executes step 217, and when it is not a straight road, the control unit 170 executes step 219. In step 219, the control unit 170 confirms whether the vehicle has stopped traveling, and ends the process when the vehicle has stopped traveling. On the contrary, when the control unit 170 confirms that the vehicle has not stopped traveling, it can return to step 211 and re-execute steps 211 to 217.

[0059] In step 217, the control unit 170 determines whether an abnormality occurs in the LFA or the device responsible for steering the vehicle, which will be determined by the following: Figure 3 Provide a more detailed explanation.

[0060] Figure 3 It is a detailed flowchart for explaining the abnormality detection method according to the embodiment of the present invention.

[0061] Reference Figure 3 When it is confirmed that an abnormal signal is detected according to the steering control signal or the steering angle, in step 301, the control unit 170 confirms the change of the steering control signal or the steering angle by continuously confirming the steering control signal or the steering angle. In step 303, when an abnormal signal is confirmed according to the change of the steering control signal or the steering angle, the control unit 170 may execute step 305, and when the abnormal signal is not confirmed, the control unit 170 may return to step 301 and continuously confirm the change of the steering control signal or the steering angle.

[0062] In step 305, when the abnormal signal confirmed based on the change of the steering control signal or the steering angle continues for more than the critical time, the control unit 170 executes step 307, and when it does not continue for more than the critical time, the control unit 170 may return to step 301 and continue to confirm the change of the steering control signal or the steering angle. In step 307, when the abnormal signal continues for more than the critical time, the control unit 170 accumulates 1 in the abnormal determination count and executes step 309. In step 309, when the abnormal determination count accumulated by 1 exceeds the critical value, the control unit may execute step 311, and when it does not exceed the critical value, the control unit may return to step 301.

[0063] In step 311, the control unit 170 may determine that an abnormality occurs in the LFA or the device in charge of the vehicle's steering, and execute step 313. In step 313, the control unit 170 may generate a message notifying that an abnormality occurs in the LFA or the device in charge of the vehicle's steering, and output it to the display unit 150.

[0064] Figure 4 : is a graph for explaining the abnormality detection method of the lane keeping assist system according to the embodiment of the present invention.

[0065] Reference Figure 4 As shown by reference numerals 401, 403, and 405, the control unit 170 may detect as an abnormal signal a state where the amplitude of the change in the steering control signal of the moving vehicle relative to 0 is above or below a critical value and remains above a critical time.

[0066] For example, when an abnormal signal is first detected from the steering control signal, the control unit 170 periodically checks the GPS signal from the time when the abnormal signal is first detected. The control unit 170 determines whether the vehicle is traveling on a straight road by comparing multiple GPS signals. When the vehicle is traveling on a straight road, Figure 4 As shown, the control unit 170 confirms the change of the steering control signal. Figure 4 The x-axis represents time, and the y-axis represents LFA torque overlay.

[0067] As shown by reference numeral 401, when it is confirmed that the steering control signal is an abnormal signal within the critical time, the control unit 170 may add 1 to the abnormal determination count, and as shown by reference numeral 403, when it is confirmed that the steering control signal is an abnormal signal within the critical time, the control unit 170 may further add 1 to the abnormal determination count. Next, as shown by reference numeral 405, when it is confirmed that the steering control signal is an abnormal signal within the critical time, the control unit 170 may further add 1 to the abnormal determination count.

[0068] like Figure 4As shown, when the abnormality determination count accumulated within a critical time (eg, 15 seconds) exceeds a critical value (eg, 3), the control portion 170 may determine that an abnormality occurs in the LFA.

[0069] In addition, Figure 4 In the present invention, the example of determining whether an abnormality occurs in LFA based on a steering control signal is used for explanation, but it is not necessarily limited to this, and it is clear that the determination of whether an abnormality occurs in the device responsible for steering the vehicle based on the steering angle can be changed. Therefore, the present invention can determine whether an abnormality occurs in the device responsible for steering the vehicle even when the unmanned driving mode of the vehicle is not activated.

[0070] The embodiments of the present invention shown in this specification and the drawings are only specific examples for more easily explaining the technical content of the present invention and facilitating the understanding of the present invention, and are not intended to limit the scope of the present invention. Therefore, the scope of the present invention should be interpreted as including all changes or modifications based on the technical ideas of the present invention in addition to the embodiments disclosed herein.

Claims

1. A method for detecting abnormality of a lane keeping assist system, characterized in that: The steps include: The electronic device receives a GPS signal from a moving vehicle; The electronic device analyzes the GPS signal to confirm whether the road on which the vehicle is traveling is a straight line; The electronic device accumulates an abnormality determination count based on a steering control signal confirmed while traveling on a straight road; as well as The electronic device detects whether a lane keeping assist system is abnormal based on the accumulated abnormality determination count.

2. The abnormality detection method of the lane keeping assist system according to claim 1, characterized in that: Before the step of receiving the GPS signal, the method further includes the following steps: The electronic device confirms and analyzes image data in front of the vehicle while it is traveling; and The electronic device generates the steering control signal for controlling the steering of the vehicle based on the image data.

3. The abnormality detection method of the lane keeping assist system according to claim 2, characterized in that: The following steps are also included: The electronic device detects an abnormal signal based on a change in the steering control signal.

4. The abnormality detection method of the lane keeping assist system according to claim 3, characterized in that: In the step of receiving the GPS signal, When the abnormal signal is detected, the GPS signal is periodically confirmed.

5. The abnormality detection method of the lane keeping assist system according to claim 4, characterized in that: The step of accumulating the abnormality determination count comprises the following steps: continuously confirming the steering control signal; detecting the abnormal signal by confirming the change of the steering control signal; and It is confirmed whether the detected abnormal signal continues for more than a critical time.

6. The abnormality detection method of the lane keeping assist system according to claim 5, characterized in that: In the step of accumulating the abnormality determination count, When the vehicle is traveling on a straight road, if the detected abnormal signal continues for a critical time or longer, the abnormality determination count is accumulated.

7. The abnormality detection method of the lane keeping assist system according to claim 6, characterized in that: In the step of detecting whether the lane keeping assist system is abnormal, When the abnormality determination count exceeds a critical number of times, it is confirmed that an abnormality is detected in the lane keeping assist system.

8. The abnormality detection method of the lane keeping assist system according to claim 7, characterized in that: The following step is also included: the electronic device generates and outputs a message notifying that an abnormality has occurred in the lane keeping assist system.

9. The abnormality detection method of the lane keeping assist system according to claim 1, characterized in that: In the step of confirming whether the road is a straight line, The slope between the GPS signal at the current time point and the GPS signal at at least one previous time point is analyzed to confirm whether the road is a straight line.

10. The abnormality detection method of the lane keeping assist system according to claim 4, characterized in that: In the step of detecting the abnormal signal by confirming the change of the steering control signal, The electronic device detects, as the abnormal signal, a case where the amplitude of the change in the steering control signal is greater than or equal to a critical value and less than the critical value with respect to 0.

11. An abnormality detection device for a lane keeping assist system, characterized in that: include: A communication unit, receiving GPS signals from a moving vehicle; as well as The control unit analyzes the GPS signal, and when it is confirmed that the road on which the vehicle is traveling is a straight road, accumulates an abnormality determination count based on the steering control signal confirmed when the vehicle is traveling on the straight road, and detects whether the lane keeping assist system is abnormal based on the accumulated abnormality determination count.

12. The abnormality detection device of the lane keeping assist system according to claim 11, characterized in that: The control unit, Image data about the front of the traveling vehicle is confirmed and analyzed, and the steering control signal for controlling the steering of the vehicle is generated based on the image data.

13. The abnormality detection device of the lane keeping assist system according to claim 12, characterized in that: The control unit, An abnormal signal is detected based on a change in the steering control signal.

14. The abnormality detection device of the lane keeping assist system according to claim 13, characterized in that: The control unit, When the abnormal signal is detected, the GPS signal is periodically confirmed.

15. The abnormality detection device of the lane keeping assist system according to claim 14, characterized in that: The control unit, The steering control signal is continuously checked to check whether the abnormal signal detected by the change of the steering control signal continues for more than a critical time.

16. The abnormality detection device of the lane keeping assist system according to claim 15, characterized in that: The control unit, When the vehicle is traveling on a straight road, if the detected abnormal signal continues for more than the critical time, the abnormality determination count is accumulated.

17. The abnormality detection device of the lane keeping assist system according to claim 16, characterized in that: The control unit, When the abnormality determination count exceeds a critical number of times, it is confirmed that an abnormality is detected in the lane keeping assist system.

18. The abnormality detection device of the lane keeping assist system according to claim 17, characterized in that: The control unit, A message notifying that an abnormality has occurred in the lane keeping assist system is generated.

19. The abnormality detection device of the lane keeping assist system according to claim 11, characterized in that: The control unit, The slope between the GPS signal at the current time point and the GPS signal at at least one previous time point is analyzed to confirm whether the road is a straight line.

20. The abnormality detection device of the lane keeping assist system according to claim 14, characterized in that: The control unit, The case where the amplitude of the change in the steering control signal is greater than or equal to a critical value or less than the critical value with respect to 0 is detected as the abnormal signal.

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